• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.80-85
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• 2011

This paper presents the design of the power-assisted controller for the in-wheel type smart wheelchair by using torque estimation that is predicted by relationship between input voltage and output wheel angular velocity. Nowadays, interest of the moving assistant aids is increased according to the increase in population of the elderly and the handicapped person. However some of the moving assistant aids have problems. For example, manual wheelchair has difficulty moving at the slope, because users lack the muscular strength of their arm. In electric wheelchair case, users should be weak by being decreased muscles of upper body. To overcome these problems, power-assisted electric wheelchair are proposed. Most of the power-assisted electric wheelchair have the special rims that can measure the user's power. In here, the rims have to be designed to install the sensors to measure user's power. In this paper, we don't design the rim to measure the man power. To predict the man power, we propose a control algorithm of the in-wheeled electric wheelchair by using torque estimation from the wheel. First, we measure the wheel velocity and voltage at the in-wheel electric wheelchair. And then we extract driving will forces by using proposed mathematical model. Also they are applied at the controller as the control input, we verify to be able to control in-wheel type smart wheelchair by using simulation.

• Journal of Industrial Technology
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• v.26 no.B
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• pp.21-28
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• 2006

A diesel truck of 1 ton is re-powered by a gasoline engine and the fuelling system of gasoline engine modified to gasoline/CNG bi fuel system. The engine characteristics such as fuel economy and power are evaluated by driving rest, sloping test and dynamometer. The driving test prove the driving cost is saved by 55% and the maximum speed is raised by 13%, which is mainly due to the higher calorific value of CNG. The sloping test is done on the road of which slope is 15%. The truck shows the mean velocity of 88km/h, which means that a re-powered truck is working fine. The BHP are measured by dynamometer. The power and torque produced by a re-powered truck are reduced by 13% and 14% respectively from the power of gasoline engine. The BHP reduction is one of main problems which one has to solve in near future.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.4
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• pp.108-117
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• 2008

A transmission designed with P.T.O(Power Take-Off) axle for agricultural work vehicles including multi-purpose vehicles has been developed. It is focused on the 4-wheel drive transmission of synchronous contact type for practical use in fruit tree households which is required for a large-sized agricultural vehicle. Concerning to the specification performed, the load capacity is from 500kg to 1,000kg and the safety should be secured for passengers. In addition, the driving condition should also be secured under bad situations of the topographic slope, swampy land and the rest. In order to carry out above tests, a prototype vehicle through strength analysis of transmission design has been manufactured. Consequently, optimal design conditions on the power transmission with multi-purpose vehicle for various jobs are proposed such as an indication of optimal RPM and torque at a certain work situation. The performance test through the prototype of multi-purpose work vehicle is performed and the related data base is achieved. Finally, it is improved on troubles by the analysis of the results of R&D and provided the solutions on problems occurring to mass production in the future.

• Tunnel and Underground Space
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• v.31 no.6
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• pp.549-560
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• 2021

Forces exerted on a shield TBM (tunnel boring machine) such as cutter head torque, thrust force, chamber pressure, and upward force are key factors determining TBM performance. However, the forces acting on the TBM when tunnelling the mixed ground have different tendencies compared to that of the uniform ground, which could impair TBM performance. In this study, the effect of mixed ground tunnelling was numerically investigated with torque, thrust force, chamber pressure, and upward force. A coupled discrete element method (DEM) and finite difference method (FDM) model for TBM driving model was used. This numerical study simulates TBM tunnelling in mixed ground composed of upper weathered granite soil and lower weathered rock. The effect on the force acting on the TBM according to the location and slope of the boundary of the mixed ground was numerically examined.

• International Journal of Fluid Machinery and Systems
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• v.4 no.3
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• pp.334-340
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• 2011

Turbo-pumps have weak points, such as the pumping operation is unstable on the positive slope of the head curve and/or the cavitation occurs at the low suction head. To improve simultaneously both weak points, the first author invented the unique pumping unit composed of the tandem impellers and the peculiar motor with the double rotational armatures. The front and the rear impellers are driven by the inner and the outer armatures of the motor, respectively. Both impeller speeds are automatically and smartly adjusted in response to the pumping discharge, while the rotational torques between both impellers/armatures are counter-balanced. Such speeds contribute to suppress successfully not only the unstable operation at the low discharge but also the cavitation at the high discharge, as verified with the axial flow type pumping unit in the previous paper. Continuously, this paper investigates experimentally the effects of the tandem impeller profiles on the pump performances and the rotational speeds against the discharge, using the impellers whose loads are low and/or high at the normal discharge. The worthy remarks are that (a) the unstable operation is suppressed as expected and the shut off power is scarcely large in the smart control, (b) the blade profile contributes to determine the discharge giving the maximum/minimum rotational speed where the reverse flow may incipiently appears at the front impeller inlet, (c) the tandem impeller profiles scarcely affect the rotational speeds, while the loads of the front and the rear impellers are same, but (d) the impeller with the low load must run faster and the impeller with the high load must run slower at the same discharge to take the same rotational torque, and (e) the reverse flow at the inlet and the swirling velocity component at the outlet of the front impeller with the high load require making the rotational speed of the rear impeller with low load fairly faster at the lower discharge.

• Journal of IKEEE
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• v.14 no.2
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• pp.58-63
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• 2010

In this paper, design and implementation of multi-modular robots of similar structure to the arthropods for rock path driving. Each module corresponds to an arthropod joint, which has an independent power supply and control equipment including drive and short-range Zigbee wireless communication that were implemented. On various directions and paths each module has the same driving direction and each module is controlled to operate or not by wireless communication. Depending on path condition, each module calculate the speed and torque and depending on the slope of a rough path, the number of active modules can be changed for the efficient driving on a variety of roads conditions. Experimental driving through rough road model, variable multi-module robot is implemented.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1523-1531
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• 2011

Multi-axle driving vehicle are favored for military use in off road operations because of their high mobility on extreme terrains and obstacles. Especially, Military Vehicle needs an ability to driving on hills of 60% angle slope. This paper presents the improvement of the ability of hill climbing for 6WD/6WS vehicle through the optimal tire force distribution method. From the driver's commands, the desired longitudinal force, the desired lateral force, and the desired yaw moment were obtained for the hill climbing of vehicle using optimal tire force distribution method. These three values were distributed to each wheel as the torque based on optimal tire force distribution method using friction circle and cost function. To verify the performance of the proposed algorithm, the simulation is executed using TruckSim software. Two vehicles, the one the proposed algorithm is implemented and the another the tire's forces are equivalently distributed, are compared. At the hill slop, the ability to driving on hills is improved by using the optimum tire force distribution method.

• Journal of Korean Tunnelling and Underground Space Association
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• v.17 no.3
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• pp.393-401
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• 2015

In the construction of a TBM tunnel, it is very important to acquire accurate information of the excavated rock mass for an efficient and safe work. In this study, we developed the prediction system of TBM tunnel face ahead using probe drilling equipment and drilled hole imaging equipment to predict rock mass conditions of the tunnel face ahead. The prediction system consists of the probe drilling equipment, drilled hole imaging equipment and analysis software. The probe drilling equipment has been developed to be applicable to both non-coring and coring. Also the probe drilling equipment can obtain the drilling parameters such as feed pressure, torque pressure, rotation speed, drilling speed and so on. The drilling index is converted to the drilling index RMR through the correlation between a drilling index and core RMR. The developed system verification was carried out through a slope and tunnel field application. From the field application result, the non-coring is four times faster than a coring and the drilling index RMR and core RMR are similar in the distribution range. This system is expected to predict the rock mass conditions of the TBM tunnel face ahead very quickly and efficiently.