• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.55-56
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• 2006

This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. White each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 mm in width and length, respectively, and 200 mm in height. Its mass is slightly over 14 kg. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.3
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• pp.9-18
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• 2000

This paper presents methods for reducing odometer errors caused by kinematic imperfections in wheeled mobile robots. Wheel diameters and wheelbase are corrected by using encoders without landmarks. And a new velocity trajectory is proposed that compensates for an orientation error due to acceleration-resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. and discuss the results.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.5
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• pp.617-623
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• 2010

In this research an LMI based mixed $H_2/H_{\infty}$ controller for a Wheeled Inverted Pendulum is designed and a numerical simulation of that is carried out. The Wheeled Inverted Pendulum is a kind of an inverted pendulum that has two equivalent points. To keep that the naturally unstable equivalent point, a controller should control the wheels persistently. Dynamic equations of the Wheeled Inverted Pendulum are derived with considering inclined road that is one of the representative road conditions. A Linear Matrix Inequality method is used to construct a controller that is able to stabilize the Wheeled Inverted Pendulum with considering the inclined road condition aggressively. Various numerical simulations show that the LMI based controller is doing well on not only flat road but also inclined road condition.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.6
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• pp.185-194
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• 1998

In this study, the rotary bending fatigue test was carried out with two kinds of material, S43C and S50C, using in the Front engine and Front drive wheels(F.F.) of vehicle. The one part of specimens was heated by high frequency induction method(about 1mm depth and $H_RC$ 56~60) and tested environment temperature were $-30^{\circ}C$, $+25^{\circ}C$ and $+80^{\circ}C$ in order to look over the influence of the heat treatment and the temperatures. In the experimented result at $+25^{\circ}C$ and $+80^{\circ}C$, the fatigue life of non-heated specimens were decreased about 35%, but that of heated specimens were decreased about only 5% at $+80^{\circ}C$ more than at $25^{\circ}C$. And in the experiment result at $-30^{\circ}C$ and $+25^{\circ}C$, the non-heated and heated specimens were about 110%, 120% higher fatigue life at $-30^{\circ}C$ than at the $+25^{\circ}C$ each other. On the other hand, the fatigue crack propagation rate of S50C was higher than that of S43C.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.6
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• pp.505-510
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• 2016

This paper presents a searching method of corresponding points robust to rotational error for scan-matching used for SLAM(Simultaneous Localization and Mapping) in mobile robot. A differential driving mechanism is one of the most popular type for mobile robot. For driving curved path, this type controls the velocities of each two wheels independently. This case increases a wheel slip of the mobile robot more than the case of straight path driving. And this is the reason of a drifting problem. To handle this problem and improves the performance of scan-matching, this paper proposes a searching method of corresponding points using extraction of a closest point based on rotational radius of the mobile robot. To verify the proposed method, the experiment was conducted using LRF(Laser Range Finder). Then the proposed method is compared with an existing method, which is an existing method based on euclidian closest point. The result of our study reflects that the proposed method can improve the performance of searching corresponding points.

• Journal of the Korean Institute of Gas
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• v.26 no.2
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• pp.9-13
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• 2022

Electric wheelchairs, the output from the motor is mainly applied to a speed reducer using a power transmission device such as a belt or a chain. However, although a speed reducer using a belt or chain is a simple device, it occupies a lot of space and has a space limitation, so it is not suitable for an electric wheelchair driving part. However, since the speed reducer of the planetary gear type is decelerated on the same axis, the volume can be reduced, so the space constraint is less than that of the belt or chain type reducer. Therefore, in this study, a driving part that can obtain great propulsion with a speed reducer using a planetary gear type was developed through a study on the driving part of a wheelchair that can be switched between manual and electric. Accordingly, the tooth shape of the planetary gear applied to the reducer was designed using the Kisssoft program. In addition, the drive part was designed to be applicable to the existing wheelchair wheels, and the mechanism was optimized for the manual/electric switching principle and operation principle of the drive part. Based on the research contents, the final design and manufacture of the wheelchair reducer drive unit in the form of a planetary gear having one sun gear, two planetary gears and one ring gear was carried out.

• Journal of the Korean Society of Food Science and Nutrition
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• v.36 no.11
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• pp.1399-1408
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• 2007

This study was conducted to compare health and nutritional status of 45 home-living elderly people receiving free Meals on Wheels (MOW) (13 men, 32 women) and 81 low income class elderly people receiving free congregate meals (CM) (10 men, 71 women) served in Seoul. Data were obtained from questionnaires, anthropometry and interviews for the 24-hour dietary recall methods. There were no significant differences between the two groups in age and body mass index. Education level, type of housing, family type and income of the two groups also were not significantly different. In MOW, frequencies of exercise were lower while the prevalence of stroke, respiratory disease and loneliness were higher, compared with the CM. The scores of ADL, IADL and food habit of MOW were lower than those of CM. The average daily nutritional intake of both MOW and CM were as a whole under the DRI for Koreans. Energy and macro-nutrient intakes of MOW were tended to be lower than CM (except protein intakes for female). Ca, K, vitamin A, vitamin $B_1$, vitamin $B_2$, vitamin C and folate intakes of MOW were less than 50% of DRI. Percentages of subjects consuming energy less than 75% of EER and 4 nutrients intakes less than EAR were higher in MOW (42.2%) than in CM (1.2%). Our results indicated that dietary nutritional status of MOW was very poor, especially in the case of female elderly groups. For the welfare of the home-living elderly people receiving free MOW, meal service programs should be improved in quality of diet by national supports.

• Journal of the Institute of Convergence Signal Processing
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• v.19 no.1
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• pp.20-27
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• 2018

In this paper, the problem of a double-parked car has been investigated and a method to solve it is studied. Double parking is very common in a public parking lot with insufficient parking space. If a double-parked car blocked the way, a person needs to push the double-parked car to move it. The problem is that moving a double-parked car with hands is very hard and dangerous, especially for the old and the weak. To solve the above mentioned problem, an automatic mover for a double-parked car is proposed and developed. The basic idea is that a double-parked car can be moved by rolling its one wheel. Two rollers are designed and manufactured, which are used to roll a wheel of a double-parked car. The developed automatic mover has two rollers, two driving wheels, and four castors. It also has several ultrasonic sensors so that it can detect obstacles in the way and prevent possible collision. It is verified through several experiments that the developed automatic mover can move a double-parked car safely and easily.

• Animal Bioscience
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• v.36 no.1
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• pp.132-143
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• 2023

Objective: The aim was to study the influence of cooling milk at 9℃ at the farm versus keeping it at 20℃ on Parmigiano Reggiano cheese lipolysis. Methods: A total of six cheesemaking trials (3 in winter and 3 in summer) were performed. In each trial, milk was divided continuously into two identical aliquots, one of which was kept at 9℃ (MC9) and the other at 20℃ (MC20). For each trial and milk temperature, vat milk (V-milk) and the resulting 21 month ripened cheese were analysed. Results: Fat and dry matter and fat/casein ratio were lower in MC9 V-milk (p≤0.05) than in MC20. Total bacteria, mesophilic lactic acid and psychrotrophic and lipolytic bacteria showed significant differences (p≤0.05) between the two V-milks. Regarding cheese, fat content resulted lower and crude protein higher (p≤0.05) both in outer (OZ) and in inner zone (IZ) of the MC9 cheese wheels. Concerning total fatty acids, the MC9 OZ had a lower concentration of butyric, capric (p≤0.05) and medium chain fatty acids (p≤0.05), while the MC9 IZ had lower content of butyric (p≤0.05), caproic (p≤0.01) and short chain fatty acids (p≤0.05). The levels of short chain and medium chain free fatty acids (p≤0.05) were lower and that of long chain fatty acids (p≤0.05) was higher in MC9 OZ cheese. The principal component analysis of total and free fatty acids resulted in a clear separation among samples by seasons, whereas slight differences were observed between the two different milk temperatures. Conclusion: Storing milk at 9℃ at the herd affects the chemical composition of Parmigiano Reggiano, with repercussion on lipolysis. However, the changes are not very relevant, and since the cheese can present a high variability among the different cheese factories, such changes should be considered within the "normal variations" of Parmigiano Reggiano chemical characteristics.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.9
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• pp.827-832
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• 2012

In this paper, we will design the speed measurement board of LEO Satellite's reaction wheel which has two speed measuring methods as M-Method type and T-Method type. therefore we can use the advantage of two methods. and we will verify the availability of design on the on-board computer at the real LEO Satellite(KOMPSAT-3). In the reaction wheels satellite that can change the satellite's attitude is one of the leading drivers by the rotational inertia of the motor will perform attitude control. Reaction methods for detecting wheel rotation speed generated during a certain period T internal reaction wheel tacho pulse counting M-Method to detect wheel speed and wheel tacho pulses are generated by measuring the time between the detection rate can be divided into T-Method. M-method is simple to implement and benefit measurement time is constant, but slow fall in the velocity measurement accuracy is a disadvantage. In contrast, the time between tacho pulses to measure the T-Method to measure the precise speed at low speed and to measure the time delay is small, has the advantage. However, this method also in the actual implementation and the complexity of the operation at different speeds depending on the speed of operation has the disadvantage.