• International Journal of Precision Engineering and Manufacturing
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• v.9 no.4
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• pp.32-38
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• 2008

This paper describes a fast tool control (FTC)-based diamond turning process for fabricating large-area high-quality micro-lens arrays. The developed FTC unit has a stroke of $48{\mu}m$ and a resonance frequency of 4.9 kHz. Micro-lens arrays were fabricated using a micro-cutting tool with a nose radius of $50{\mu}m$. The FTC unit was integrated with a force sensor so that the initial position of the micro-cutting tool with respect to the workpiece surface could be detected through monitoring the contacting force. The length and depth of the designed parabolic micro-lens profile were $190{\mu}m$ and $20{\mu}m$, respectively. A micro-lens array was fabricated on a cylinder surface over an area of ${\phi}55 mm{\times}40 mm$.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1231-1236
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• 2008

Since the bi-modal tram is too long so that the traditional steering system controlled only the first axle increases its turning radius, it is not suitable to the domestic road environment. In addition, it become hard to make fine parking with the traditional steering system. To resolve the problem, the bi-modal tram requires an all wheel steering system (AWS) that the second axle is controlled by the first axle's degree and the velocity of vehicle, and the third axle is steered by the articulation angle's degree and the velocity of degree. This paper addresses the factors for the AWS ECU design, the strategies to solve the problems, the core technologies for the implementation, and also the outcomes and analysis of the performance evaluation of implemented system.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.584-589
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• 2008

A bi-modal tram has been developing to consist of articulated-two cars propelled by CNG hybrid (series type) in Korea since 2003. All wheels are driven by electrical motors independently, which can eliminate differential gears to reduce turning radius and make low floor to provide the old and the handicapped with easy access. In the bi-modal tram, therefore, reduction gear unit is key technology to make low floor and drive wheels independently. This study was aimed at performance evaluations of the reduction gear unit for the bi-modal tram. Oil leakage, oil temperature, vibration, acoustic noise in idle operations were measured for the reduction gear unit of the bimodal tram.

• Magazine of the Korean Society of Agricultural Engineers
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• v.12 no.3
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• pp.2019-2028
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• 1970

1. Experiments were made for the efficient plowing method by the 4 wheel tractor, the results are as follow; 1) In case of plowing of inner side of the field, the efficient turning method to be the smallest turning time is the $\Omega$-shaped turning method in the turning distance less than 2r (r is the minimum turning radius of the tractor), and also, it is the U-shaped turning method in the turning distance larger than 2r. 2) 2.5r is most efficient in the unit turning section 'w' on plowing of the inner side of the field. 3) In case of plowing of outer side of the field, intermitted plowing method is efficient in case of W>-0.0345 L + 35.84, and also, semi-followed plowing method is efficient in case of W<-0.0345 L + 35.84. 4) The smaller the width of outer side of outer side of the field 'I' is, the higher is the plowing efficiency, and it is estimated that the minimum value 2r is suitable to 'I' in plowing of inner side and outer side of the field. 2. Study on the correlation between the unit field and plowing efficiencies obtained the following results; 1) plowing efficienies increase generally according as length-width ratio L/W and area A increase. 2) Percent of increase of plowing efficiencies decreases generally according as length-width ratio and area enlarge. 3) The limit that change of T is large owing to L/W is 6 for 20 a, 5 for 30 a, 4 for 50 a, 3 for 80 a, less than 2.5 for 100 a, generally, in L/W-T curve. 4) Rate of change of T-A curve is similar to rate of change of $T=A-\frac{2}{3}$ curve in spite of influence of L/W. 5) In case that length-width ratio is more than 3, effects of increase of 10 a area influenced upon plowing efficiencies are as much as effects of about 5 increase of length width ratio without correlation of size of the field. 6) In case that length-width ratio is 2 to 3, effects of increase of 10 a area influenced upon plowing efficiencies are as much as effects of about 4 to 2 increase of length-width ratio without correlation of size of the field, and the effects decrease according as not only length-width ratio decreases but also area increases, generally.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.851-860
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• 2020

With an increase in the aging population and a rising social interest in health and welfare, studies to improve healthcare in the elderly are being actively conducted. This study attempted to improve the current design and manufacture of elevating electric wheelchairs to enhance user safety and convenience. Seat design based on the user's body shape, convenience while boarding or alighting, caster turning radius and, safety and stability features that prevent shaking when the user gets up or sits down were improved. A driving experiment was conducted to evaluate the operation of the indoor electric wheelchair designed and manufactured with these additional functionalities. During the test, the performance parameters evaluated were continuous driving time, turning radius, maximum lifting and lowering load, maximum lifting height, noise level, minimum distance sensing by the driving auxiliary sensor, ability to interact with server and app programs, and the duty cycle maximum error rate. The test confirmed that this improved electric wheelchair successfully met target parameters. In a future study, we will evaluate this improved electric wheelchair from a user's perspective for its usability parameters, such as satisfaction, convenience and stability.

• Journal of Biosystems Engineering
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• v.43 no.4
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• pp.285-295
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• 2018

Purpose: The aim of this study is to develop a three-wheel riding cultivator for improving the performance of the current four-wheel riding cultivators in the market. Methods: A prototype three-wheel riding cultivator with the rated power of 15.5-kW, a primary hydrostatic and a two-speed selective gear transmission shifts, front/rear three-wheel drive, a hydraulic wheel tread adjustment, and the mid-section attachment of the major implements was designed and constructed. Its specifications and basic performance are investigated. Results: The maximum speeds of the prototype at the low and high stages were measured to be approximately 7.31, and 11.29 km/h in forward travel, respectively, and approximately 3.60, and 6.37 km/h in rearward travel, respectively. The minimum ground clearance is shown to be 670 mm. The rotating speeds of the power takeoff (PTO) shaft at the low and high stages are shown to be approximately 795 and 1,140 rpm, respectively. The tread of the rear wheels, the minimum radius of turning, and the maximum lifting height of the parallel link device are measured to be within 1,320-1,720 mm, 2.80 m, and 390 mm, respectively. Approximately 25.3% and 74.7% of the total weight of the prototype are distributed in the front and rear wheels on flat ground, respectively. When the tread of rear wheels increased from 1,320 to 1,720 mm, the left and right static lateral overturning angles increased from $33.4^{\circ}$ to $39.1^{\circ}$ and from $29.0^{\circ}$ to $36.1^{\circ}$, respectively. Conclusions: The prototype three-wheel riding cultivator showed a wide range of travel and PTO speeds, high minimum ground clearance, small minimum radius of turning, and easy control of the rear wheel tread. Further, the easy observation of cultivating operations by mid-mounting the implements can improve quality of work. Therefore, the prototype is expected to contribute to the riding mechanization of cultivating operations for various upland crops in Korea.

• Journal of the Korean Society for Railway
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• v.11 no.3
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• pp.225-232
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• 2008

AWS (all wheel steering) is applied to improve the stability and the turning performance. Most automotive cars are mainly controlled by FWS (front wheel steering) system except some cars which are made to improve their stability by using AWS. Articulated vehicles with a pivoting joint for easy turn are difficult to make a sharp turn because of the long body and long wheelbase. Therefore applying AWS to the articulated vehicles is effective to reduce the turning radius. The AWS control method for the articulated vehicles is currently applied to only Phileas vehicles which were developed by APTS. The paper on the design of a controller to guide an articulated vehicle along the path was published but control algorithm for manual driving has not been reported. In the present paper, steering, characteristics of the Phileas vehicles have been analyzed and then new algorithm has been proposed. To verify the AWS algorithm, Commercial S/W, ADAMS was used for validity of the dynamic model and algorithm.

• Journal of the Society of Naval Architects of Korea
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• v.57 no.5
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• pp.287-296
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• 2020

The present study aims to improve the accuracy of the maneuvering simulations based on captive model test results. To derive the hydrodynamic coefficients in a self-propelled condition, a mathematical maneuvering model using a whole vehicle model was established. Captive model tests were carried out using the Vertical Planar Motion Mechanism (VPMM) equipment. A motor controller was used to control the constant propeller revolution rate during pure motion tests. The resistance tests, self-propulsion tests, static drift tests, and VPMM tests were performed in the towing tank of Seoul National University. When the vertical drift angle changes, the gravity load on the sensors were changed. The hydrodynamic forces were deduced by subtracting the gravity load from the measured forces. The hydrodynamic coefficients were calculated using the least-square method. The simulation of the turning circle test was compared with the free-running model test result, and the error of the turning radius was 8.3 % compared to the free-running model test.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.251-259
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• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.10
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• pp.415-424
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• 2019

In this paper, a minimum rotation radius was designed and fabricated to overcome the threshold so that elderly or disabled people who have difficulty moving can move and transfer safely and conveniently in a narrow room. In the indoor environment, where the sedentary culture develops, this study aimed to provide convenience for passengers with fracture diseases, geriatric diseases, and other knee and waist diseases. First, links, seats, armrests, covers, motors, batteries, chargers, controllers, etc. were attached to the frame so that they could be moved and lifted indoors. The product design and structure were designed considering the user's environment and physical characteristics, and IoT functions were added. A driving experiment was performed to confirm the operating performance of the manufactured indoor moving and lifting wheelchair. The performance tests, such as continuous running time, turning radius, maximum actuator load, maximum lift height, sound pressure level, minimum sensing distance of the driving aid sensor, interworking of server and app programs, device compatibility, and duty cycle error rate, were performed. As a result of the test, the built-in wheelchair could achieve the performance test target of each item and operate successfully.