• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.44-44
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• 2000

Firstly, kinematic model of various type of wheels which includesskidding and skidding friction are presented. Tend, the transfer method of generalized coordinates which is useful to model the parallel mechanisms, can be applied to mobile robot by including such friction terms. Particularly, by appling the modeling method to mobile robot consisting of two conventional wheels and one caster wheel, forword/reverse kinematic modeling could be obtained without using pseudoinverse solutions.

• 항공우주기술
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• 제13권2호
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• pp.18-28
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• 2014

네 개의 반작용휠이 장착된 위성에 두 개의 우주검증용 제어모멘트자이로가 탑재되었다고 가정하고, 이들을 이용한 위성 고기동 방법에 대해서 연구해 보았다. 토크가 큰 제어모멘트자이로를 먼저 사용하여 위성의 자세오차를 줄인 후에, 반작용휠을 통해 나머지 자세오차를 제어하는 방법을 제안하였다. 본 방법을 사용할 경우, 제어모멘트자이로에서 발생하는 특이점 문제를 회피할 수 있으며, 토크 명령 계산시 김벌각 정보가 필요 없다는 장점이 있다. 또한 시뮬레이션을 통해, 본 방법이 기존에 연구된 방법들에 비해 위성의 기동성능에는 큰 차이가 없으며, 필요한 반작용휠의 모멘텀도 크게 줄어드는 것을 확인하였다.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.696-703
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• 2005

Since most autonomous mobile robots are powered by a battery, it is important to increase the continuous operating time without recharging. This can be achieved by improving the energy efficiency of a mobile robot, but little research on energy efficiency has been performed. This paper proposes two methods for improving the energy efficiency of an omnidirectional mobile robot.. One method is to realize a continuously variable transmission (CVT) by adopting the mechanism of steerable omnidirectional wheels. The other is the proposed steering algorithm in which wheel arrangement of the mobile robot is continuously adjusted so as to obtain the maximum energy efficiency of the motors during navigation. In addition, new omnidirectional wheels which can be transformed to the conventional wheels depending on the driving conditions are proposed to compensate for less efficient omnidirectional drive mode. Various tests show that motion control of the OMR-SOW works satisfactorily and the proposed steering algorithm for CVT can provide higher energy efficiency than the algorithm using a fixed steering angle. In addition, it is shown that the differential drive mode can give better energy efficiency than the omnidirectional drive mode.

• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.573-580
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• 2009

In this paper, we develop a functional test model for magnetic bearing wheels. The functional test model is an electromagnetic levitation system that has three degree of freedom, which consists of one axial suspension from gravity and two axes gimbaling capability to small angels. A nonlinear controller with high-gain observers is proposed and the real-time experiment results show that the rotor is accurately levitated at the desired position and well-balanced, which is a suitable result for the potential use an magnetic bearing wheels. Also, the proposed scheme exhibits better performance when it is compared with the conventional PID control method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2066-2071
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• 2003

In this paper, we identify the isotropic configurations of an omnidirectional mobile robot with three caster wheels, depending on the selection of actuated joints. First, We obtain the kinematic model of a caster wheeled omnidirectional mobile robot(COMR) without matrix inversion. For a given task velocity, the instantaneous motion of each wheel is decomposed into two orthogonal instantaneous motions of the steering and the rotating joints. Second, with the characteristic length introduced, we derive the isotropy conditions of a COMR having $n({\ge}3)$ actuated joints, which are imposed on two Jacobian matrices, $A{\in}R^{n{\times}3}$ and $B{\in}R^{6{\times}6}$. Under the condition of $B{\propto}I_6$, three caster wheels should have identical structure with the length of the steering link equal to the radius of the wheel. Third, depending on the selection of actuated joints, we derive the conditions for $A^t$ $A{\propto}I_3$ and identify the isotropic configurations of a COMR. All possible actuation sets with different number of actuated joints and different combination of rotating and steering joins are considered.

• Journal of Advanced Marine Engineering and Technology
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• 제38권10호
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• pp.1287-1296
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• 2014

This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. The Automated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steering driving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 춘계학술대회 논문집
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• pp.1097-1106
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• 2007

Rail provides running tract for train and broadly and widely conveys the weight of the train exerted from the train wheels that the rail directly supports onto the cross tie and roadbed, and supports the cross-sectional pressure exerted by centrifugal force at curvatures. That is, stationary rail provides surface on which dynamic train runs and guarantees cross-sectional resistance to enable the vertical snake motion of the train wheels as well as to maintain lateral force at curvatures. Rail provides running surface on which train wheels can run smoothly, and secures vertical and lateral force. However, it undergoes continuous destructive reactions (wearing and damages) and abrasion of the cladding by the train wheels. It is obvious that wearing will result when two metal parts act against each other. However, occurrence of abnormal wearing such as rapid wearing of the rail side due to complex generation of various mechanisms at the contact surface between the rail and train wheel flange. It is not easy to simply examine the causes of occurrence of abnormal wearing of rail and train wheel flange. Although countless number of academicians and specialists are conducting researches on abnormal wearing of rail and vertical wearing of train wheels, I believe it is too early to argue on pros and cons due to insufficiency of officially verified information on the issue. This review will be focusing on the examples of repairs that reduced the generation of abnormal wearing of rail by reviewing and improving characteristics of wearing and slack, speed of the train and cant as well as status of lubricator by choosing the compound curves present in the section between the $Anguk{\sim}Jongno3-ga$ Stations of the Route No. 3 among the compound curve tracks of the Seoul Metro Routes No. 3 & 4 at which abnormal wearing is generated continuously.

• 융합신호처리학회논문지
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• 제23권1호
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• pp.21-27
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• 2022

전통적인 자동차 또는 전통적인 두 바퀴형 차동 구동 로봇은 기구적인 구조 때문에 이동 동작에 제한이 있을 수밖에 없다. 자동차 산업에서 내연기관 자동차가 전기차로 빠르게 전환되면서 자동차에 로봇 공학 기술의 적용이 활발하게 모색되고 있다. 로봇 공학 분야에서는 이동체의 자세를 변화시키지 않고도 다양한 방향으로 이동할 수 있는 전방향 이동로봇에 대한 연구가 활발히 진행되어 왔으며 주목할 만한 연구 결과들도 많다. 하지만 대부분의 연구에서 이와 같은 전방향 이동을 구현하기 위해서는 메카넘휠 등과 같은 특수한 형태의 바퀴를 사용해야 하는 제한점이 있다. 우리는 전방향 이동을 위한 특수한 바퀴를 사용하지 않고도 전방향성을 구현할 수 있는 두 바퀴를 갖는 모듈형 로봇을 제안하였었다. 본 논문에서는 모듈형 로봇 2대를 전후로 결합하여 네 바퀴를 갖는 전방향 이동로봇을 새로이 제안하였다. 제안된 로봇은 차동 구동 방식의 이동로봇으로 전자브레이크를 사용하여 바퀴부와 로봇 몸체부를 선택적으로 분리, 결합하는 방식을 사용하며 두 개의 절대치형 엔코더와 네 개의 증분형 엔코더를 사용하여 로봇 바퀴부의 위치와 로봇 바퀴의 속도를 제어한다. 제안된 로봇은 일반적인 타이어 바퀴를 채택하고도 전방향 이동이 가능하다. 로봇을 실 제작하여 대각선 궤적과 정사각형 궤적에서의 주행 실험을 통하여 제안된 로봇의 유용성과 안정성을 검증하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 춘계학술대회 논문집
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• pp.206-211
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• 2011

In this paper, a control algorithm for the improvement of yaw and velocity stability of electrical vehicle with two or four in-wheel motors is proposed. The vehicle is modeled with independently operative in-wheel motor wheels. Different frictions on the wheels are regarded as disturbances, which causes driving instability. In this situation the proposed algorithm enables stabilizing the yaw motion and velocity of vehicle simultaneously. The proposed PID controller is composed with two techniques, which enhance the disturbance reject and point tracking performances. One is nonlinear gain function and the other one is improved integral controller operating as time based weight function. Simulation is conducted to reveal its efficient performance.

• 한국철도학회논문집
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• 제6권1호
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• pp.58-65
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• 2003

Wheel/Rail geometric constraint relationships, such as effective conicity and gravitational stiffness, strongly influence the lateral dynamics of railway vehicles. In general, these geometric contact characteristics are nonlinear functions of the wheelset lateral displacement. There is a need to develop a wheel/rail geometric contact simulation program for wheels and rails with arbitrary profiles for the prediction of the dynamic behavior of railway vehicles. An algorithm to simulate any combination of wheels and rails is employed and a GUI for easy analysis is constructed. The simulation program is applied to KTX which will run on both KTX and conventional rails, two rail standards having different rail profiles. The results show that the two rail systems have different geometric contact characteristic