• Archives of design research
• /
• v.16 no.1
• /
• pp.15-24
• /
• 2003

In the latest date, vehicles are offered to the drivers, not only the skill for shifting but the pleasure for driving vehicles that are existing today can be a social problem because the amount of vehicles that are increasing give difficulty for the traffic facilities and parking expansion. these day 80% of four wheeled vehicle carriers single or double person the reducing car scale is an important thing about the financial good use resources of energy and the storage of environment. A solution for these problem is a new general idea vehicle development for one or two person to ride. For the sake of these reasons, first, the information is collected and analyzed about existing foreign countries production. Car external design is intended by mathematical modeling, simulation and model testing about frame system of new concept specially we would like to show three wheeled vehicle that has active tilt control(ATC) system. This car tilts actively by the center rotation wheel and frame when the vehicle turns.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.8
• /
• pp.758-765
• /
• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.15 no.1
• /
• pp.28-38
• /
• 2016

Cooperative-Intelligent Transport Systems (c-ITS) has emphasized a real-time traffic safety service in urgent situations among highway infrastructure and four-wheeled vehicles, while two-wheeled vehicles, e.g. bicycles and motorcycle, sharing highway space and endangering highway safety, have yet been out of its interest. This paper delivers the results of a study conducted to analyze the patterns of two-wheeled-vehicle traffic accidents experienced in the past, the last three years (2011~2013), and to propose the types of service enhancing the safety of the riders of those. It was found from the analysis of historical accident data that the side collision on a link section should be taken care of for further safety treatment, while the old female drivers need additional care to decrease their fatality rate. By combining the services proposed for bicycles and motorcycles, this paper proposes (1) eight different bicycle-to-everything (B2X) services which can be eventually provided in c-ITS and (2) three of those that would be available in the near future with the current communication technologies.

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2497-2499
• /
• 2002

This raper proposes a simple robust nonlinear controller design method based on Lyapunov stability for tracking reference welding trajectory and velocity of a three wheel welding mobile robot (WMR). Control law is obtained from Lyapunov control function to ensure asymptotical stability of the system. The effectiveness of the proposed controller is shown through simulation results.

• Journal of Korean Society of Forest Science
• /
• v.82 no.2
• /
• pp.195-206
• /
• 1993

The purpose of this study is to provide a basis for establishing regional harvesting systems that ist the prerequisites for the forest mechanization. The factors restricting to the forest harvesting and logging methods from topographical aspects are studied for this purpose. Three main harvesting methods studied in this paper are : shortwood method, longwood method and full tree method. This study shows : the shortwood method is suitable for low, the longwood method for medium, the full tree method for high topographical conditions. For the logging methods, the focus of the study is on various ground based logging systems by animalpower, manpower, gravitation, wheeled & crawler vehicle and cable. The factors limiting the coverage of logging operation are slope and logging distance. The cable crane logging methods are classified by logging distance into short distance(to 300 or 400m), middle distance(to 700 or 800m) and long distance cable crane methods (over 700 or 800m). The wheeled vehicle method shows serious damages to forest resources, whereas the logging by log-line of the gravitation logging method and cable crane method tend to minimize such damages. The wheeled & crawler vehicle method also shows difficult to apply in the high slope conditions, whereas cable crane method can be applied to maximum 120% steep slope and uphill conditions.

• Journal of Advanced Marine Engineering and Technology
• /
• v.17 no.5
• /
• pp.44-53
• /
• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• Journal of the Korean Institute of Telematics and Electronics S
• /
• v.35S no.10
• /
• pp.64-76
• /
• 1998

In this paper, we propose the dynamic modeling, path planning and tracking algorithms of 4-wheeled 2-d.o.f.(degree of freedom) mobile robot(WMR). The gaussian functions are applied to design the smooth path of WMR. To calculate the WMR position in real time, we use three components of inertial measurement units(IMU). These units have initial error because of the rotation rate of earth, gravity acceleration and so on. Therefore we derive the initial error model of IMU, and compare the fitness diagnosis about probability characteristics of real data adn estimated data. The performance of IMU with error model and Kalman filter is compared to that without filter and error model. The simulation results show that the proposed dynamic model, path planning and tracking algorithms are more useful than the conventional control algorithm.

• MISULJARYO - National Museum of Korea Art Journal
• /
• v.101
• /
• pp.48-65
• /
• 2022

Three Japanese Buddhist scuptures of Daehyusa temple in Gimcheon, Gyeongsangbuk-do province(慶尙北道) are enshrined in the main hall(本堂) of Henjoin temple in Daegu, an annex temple built by the Chisan School(智山派) of Shingi Shingon sect(新義眞言宗) in Daegu around 1910 when the Japanese colonial period began. The following statues are believed to have been made around this time: the Statue of Kobo daishi(弘法大師像), which is the figure of monk Kukai(空海, 774-835), the founder of the Shingon sect(眞言宗) of Japan, and the Statue of Dainichi nyorai(大日如來像) and the Statue of Fudo myo-o(不動明王像), which are notable sculptures representing the thought and belief of the Shingon sect. Most statues identified of Dainichi nyorai, Kobo daishi, and Fudo myo-o from the Japanese colonial period thus far are rock-carved statues or stone statues. The statues of Daehyusa temple are noteworthy in that they are the first discovered Japanese Buddhist sculptures made of wood, known to have been enshrined in Japanese temples. Furthermore, they are valuable sources that can provide clues to the religious atmosphere of the temples of Chisan School of Shingi Shingon sect at the time. Although these statues have formative features that partially reflect modern aesthetics, their iconographic origins date back to the Heian period(平安時代, 794-1185). In other words, the Statue of Dainichi nyorai inherits the religious tradition of the Statue of Dainichi nyorai, which was created by monk Kakuban(覺鑁, 1095-1143), the founder of the Shingi Shingon sect. The Statue of Kobo daishi follows the Shinnyo Shinno(眞如親王) style founded by Monk-Imperial Prince Shinnyo who was a disciple of monk Kukai. The Statue of Fudo myo-o manifests the Genjo(玄祖) style among the statues of Fudo myo-o. Although not much is known about how the statues were enshrined in the Henjoin temple in Daegu during the Japanese colonial period, it is very likely that these statues were created as Shingi Shingon sect's statue of three-wheeled body(三輪身). That is, it is estimated that the Statue of Dainichi nyorai, Statue of Kobo daishi, and Statue of Fudo myo-o have the characteristics of the body of self-nature chakra(自性輪身), the body of great dharma chakra(正法輪身), and the body of order chakra(敎令輪身), respectively. The fact that the statue of three-wheeled body was established in the Shingon sect in Japan by monk Kakuban also lends credence to this possibility. It is thought that people who came to the Henjoin temple in Daegu worshiped the statue of three-wheeled body to understand the teachings of the Dainichi nyorai. Although it is the case of Sildalsa Temple (悉達寺, the successor of Henjoin temple in Daegu) in the first half of the 1950s, the main hall includes features that reinforce the idea that the tradition of Kobo daisi faith(弘法大師信仰) is passed on. To illustrate, the human skeletal remains in the main hall of Sildalsa Temple reflect Koyasan(高野山)'s tradition in laying ashes to rest, which has been popular in conjunction with the Kobo daishi faith in Japan since the 11th century.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.9
• /
• pp.766-773
• /
• 2001

Omni-directional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for redundantly actuated case which is common in omni-directional mobile robot such as the Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensively addressed. In light of this fact, this paper introduces two different kinematic approaches for omni-directional mobile robots. Then, a singular-free load distribution scheme for redundantly actuated three-wheeled omni-directional mobile robot is proposed. Through simulation, several advantages of redundantly actuated mobile robot in aspect of singularity avoidance, minimization of torque norm, and exploiting several subtasks are presented.

• The Journal of Korea Robotics Society
• /
• v.8 no.4
• /
• pp.229-237
• /
• 2013

In this paper, we report a self-balancing robot wheelchair which has the capability of keeping upright posture regardless of the terrain inclination in terms of the three dimensional balancing motion. It has the mobility of five degrees of freedom, where pitching, yawing, and forward motions are generated by the two-wheeled inverted pendulum mechanism and the rolling and vertical motions are implemented by the movement of the tilting mechanism. Several design considerations are suggested for the sliding type vehicle body, wheel actuator module, tilting actuator module, power and control system, and the riding module.