• Journal of the Korean Institute of Gas
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• v.22 no.6
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• pp.59-64
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• 2018

As part of measures to reduce fine dust, the government is promoting a project to convert the fuel of Yard Tractors(YT, tractors operated at ports), from diesel to LNG (Liquefied Natural Gas). While a port having a small number of yard tractors, it is not proper to construct a stationary LNG fueling station and supply LNG to YT due to a problem of BOG (Boil off gas) generation. Therefore, it is necessary to make a regulation and a standard on mobile LNG YT refueling station installation and inspection as an alternative. In this study, we have investigated domestic and foreign mobile LNG refueling cases and refueling standards, including the USA and Europe. In addition, we have suggested the risk reduction method according to the cause after investigation of the cause of LNG accidents. And last, based on the proposed risk reduction measures, we have proposed an amendment to the Regulation of the Urban Gas Business Law in Korea. The proposed mobile LNG YT refueling amendment of the Regulation includes ; maintenance of the safety distance from the protection facility, installation of an interlock device to prevent refueling in places other than the authorized place, installation of the identification system through biometrics, separation of the tank lorry and tow vehicle before refueling, checking the wheel fixed status of tank lorry before refueling, construction of the impounding area, safety measures before, during and after refueling, etc. The safety standards proposed in this study could be used as a reference in establishing standards for mobile LNG vehicle refueling in the near future.

• Journal of the Korean Institute of Gas
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• v.23 no.4
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• pp.40-45
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• 2019

This paper is a purpose to study the failure example for heavy-duty vehicle fire. The first example, the researcher found the engine over-heating phenomenon causing a coolant leakage by the sealing poor of head-gasket because of D-ring part deformation contacting with cylinder liner top-part and cylinder head. He certified a fire breakout by short transferred to surrounding wiring of air-cleaner. The second example, a brake lining by return fault of break operating S cam causing with much wear of a rear 4 wheel brake lining repeatably was worn by friction. In the long run, it became the cause of fire. The third example, the researcher knew the fire cause was came about the short of wire by overload of tilting motor when the driver tilted up the cap to inspect a engine. Therefore, a heavy-duty fire must minimize the fire occurrence by thorough controlling.

• Journal of The Korean Society For Urban Railway
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• v.6 no.4
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• pp.319-326
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• 2018

The safety interval to prevent collision between trains in a train control system is based on the braking distance according to the emergency braking of the train. The evaluation of the braking performance is based on the longitudinal train dynamics or the commissioning test in the test track, but since the conditions such as the weakening of the adhesion coefficient between the wheel and rail can not all be considered, these conventional methods are not sufficient to design of the train control systems. Therefore, in this study, the Monte Carlo Method (MCM) which can consider various environments is used to analyze braking performance and limitations. The braking model is based on the air braking used in the emergency braking and is modeled to take into account the braking pressure, efficiency, friction coefficient, adhesion condition, and vehicle mass distribution. It is confirmed that braking performance can be improved by controlling the quality of braking device. In addition, the change of the braking performance was confirmed according to the vehicle constituting the train. The results of this study are expected to be used as basic information for designing safety clearance for the train control systems and as a basis for improving the braking performance of railway vehicles.

• Journal of Korean Society of Forest Science
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• v.101 no.3
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• pp.344-355
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• 2012

This study was conducted to analyze on the operational time and productivities of logging operations in whole-tree logging operation system by tower-yarder and swing-yarder, and in cut-to-length logging operation system by excavator with grapple in order to establish the efficient logging operation system and to spread logging operation technique. In the analysis of operational time, in case of whole-tree logging operation system, the felling time was 46.6 sec/cycle by chain saw, the yarding time was 480.6 sec/cycle by tower-yarder, the yarding time was 287.4 sec/cycle by swing-yarder and the bucking time was 155.14 sec/cycle by chain saw. In case of the cut-to-length logging operation system, the felling and bucking time was 225.65 sec/cycle by chain saw, the cut-to-length extraction time was 4,972 sec/cycle by excavator with grapple, the branches and leaves extraction time was 3,143 sec/cycle by excavator with grapple. The forwarding time was 4,688 sec/cycle by wheel type mini-forwarder, the forwarding time was 2,118 sec/cycle by excavator with grapple and small forwarding vehicle. In the analysis of operational productivities, in case of whole-tree logging operation system, the average felling performance was $57.89m^3/day$ by chain saw, the average yarding performance was $20.3m^3/day$ by tower-yarder, $31.55m^3/day$ by swing-yarder respectively, the average bucking performance was $20.3m^3/day$ by chain saw. In case of the cut-to-length logging operation system, the average felling and bucking performance was $11.96m^3/day$ by chain saw, the average cut-to-length extraction performance was $34.75m^3/day$ by excavator with grapple, the average branches and leaves extraction performance was $37.66m^3/day$ by excavator with grapple, the average length of operation road construction was 73.8 m/day by excavator with grapple. The average forwarding performance by wheel type mini-forwarder and the average forwarding performance by excavator with grapple and small forwarding vehicle was $15.73m^3/day$ and $65.03m^3/day$, respectively.

• Journal of Korean Society of Transportation
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• v.20 no.3
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• pp.115-128
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• 2002

Dislike the tangent sections, the horizontal curve sections of roads should be designed, considering several factors : one of such factors is widening. In other words, since widening results from that when a vehicle runs on the horizontal curve sections, the rear wheels of the vehicle run not along with tracks of the front wheels but out of that, such offtracking should be exactly investigated and reflected in design of the curve sections. Especially in the case of industrial roads which semi-trailers and large trucks run frequently or arterial roads with small curve radiuses in mountainous regions. serious offtracking Phenomenons result in increasing the risk of accidents. decreasing the capacities and jeopardizing pedestrians' safety on the curve sections. For the offtracking, widening amounts of roads has been determined under the traditional presumption that vehicles run at a low speed and there is no superelevation. In fact, however, since the vehicles run at a high speed as well as at a low speed and the superelevation is installed on the horizontal curve sections in the structural aspect of roads, the existing standards for installing widening have a limitation to reflect exactly actual Phenomenons. In particular, for articulated wheel axles of a tractor and a trailer and long articulated vehicles, not only the offtracking degree is very high but also the interpretation shows different aspects from one of single axles. Comparing and reviewing the results of Korean and foreign studies related to the trailer offtracking model theory and the standards for installing widening, this study developed a realistic dynamic offtracking model which considers geometric structures of roads and speeds of vehicles, suggested how to measure widening with this model and examined applicability of the model. The findings of this study are as follows ; First. a dynamic offtracking model. which considers dynamic movements of a tractor and a trailer and the superelevation, was developed. Second, a new method to measure widening with the developed dynamic offtracking model was developed and a method to measure widening with swept path width was suggested as well. Finally, validity of the current standards for installing widening was examined by determining actual offtracking and widening amounts with the developed model and the applicability was investigated through the case studies. Compared with the existing offtracking models, the dynamic offtracking model developed in this study can reflect practically vehicle speed. dimension and geometric structural aspects of roads. In conclusion, the meaning of this study is that it reviews validity of the current standards for installing widening and provides a base to establish such standards by suggesting new methods to measure the widening with this dynamic offtracking model.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.77-77
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• 2017

현재 국내의 경우 4륜 승용관리기가 개발되었으나 성능 미비와 편이성 부족으로 승용관리기 및 부속 작업기 보급이 매우 저조한 상태이다. 3륜 승용관리기는 작업기 복부 장착으로 작업의 정밀도, 편이성, 관측의 용이성 향상과 함께 지상고 제고, 차폭 조절, 조향 등의 성능 개선을 기할 수 있다. 국내에서는 3륜 승용관리기용 복부 장착 부속작업기가 거의 개발되어 있지 않으며, 특히 두류 재배에 있어서 일관기계화 작업을 위한 관리작업기의 개발은 매우 필요한 실정이다. 승용관리기에 의한 중경제초는 잡초방제는 물론 물 빠짐과 토양 속 통기가 좋아지고, 지온 조절, 쓰러짐 방지, 부정근 발생을 조장하여 콩의 생육과 결실을 좋게 함으로써 수량이 증가되는 효과가 있다. 따라서 본 연구는 3륜 승용관리기에 적합한 복부장착형의 중경제초기를 설계 제작하였다. 3륜 승용관리기용 중경제초기는 승용관리기의 복부 PTO에서의 구동력 전달을 위한 연결 조인트, 중간축, 기어 및 체인 전동기구, 구동축으로 구성된 동력전달부, 중경제초를 위한 5개의 로타리 날과 후방 1개의 제초날로 구성된 3조의 작업날, 경심 조절을 위한 바퀴, 다양한 조간거리에 적응을 위한 조간조정 나사부, 흙의 비산 방지를 위한 로타리 날 커버 및 케이스, 3륜 승용관리기에의 부착을 위한 프레임 및 부착보조 작업기 이동용 바퀴장치 등으로 구성 설계 제작하였다. 로타리 날은 기존 시판 관리기용 로타리 중경 날을 사용하였는데 진행방향에 역으로 회전하도록 하였고, 날의 회전반경은 약 330 mm, 조당 경운 폭은 약 250 mm, 최대 경심 100 mm로 설계하였다. 조간거리의 조절범위는 수동나사에 의하여 620~900 mm 범위로 무단조절 할 수 있도록 하였다. 중경제초기는 3륜 승용 관리기 복부의 평행링크에 부착되므로 작업기의 이동 및 부착 편이성을 위하여 이동용 바퀴를 설치하였다. 제작된 중경제초기의 크기는 길이${\times}$폭${\times}$높이가 $660{\times}2072{\times}880mm$, 중량은 약 200 kg으로 제작되었다.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.76-76
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• 2017

4륜 승용관리기는 보통 후방이나 전방에 작업기를 장착하여 작업하나 3륜 승용관리기는 작업기를 복부에 장착함으로 작업의 정밀도, 편이성, 관측의 용이성 향상과 함께 지상고 제고, 차폭 조절, 조향 등의 성능 개선을 기할 수 있다. 국내에서는 3륜 승용관리기용 복부 장착 부속작업기가 거의 개발되어 있지 않으며, 특히 두류 재배에 있어서 일관기계화 작업을 위한 관리작업기의 개발이 매우 필요한 실정이다. 승용관리기의 중경배토기에 의한 작업은 기존 인력에 의한 작업보다 약 87%의 노력을 절감할 수 있으며, 잡초방제 효과도 인력에 비하여 크게 떨어지지 않고, 수량도 증가하는 것으로 보고되고 있다. 따라서 본 연구는 3륜 승용관리기에 적합한 복부장착형의 중경배토기를 설계 제작하였다. 3륜 승용관리기용 중경배토기는 승용관리기의 복부 PTO에서의 구동력 전달을 위한 연결 조인트, 중간축, 기어 및 체인 전동기구, 구동축으로 구성된 동력전달부, 4개의 로타리 날과 후방 1개의 배토날로 구성된 3조의 작업날, 로타리 날과 배토날의 경심 조절을 위한 3조의 바퀴, 흙의 비산 방지를 위한 로타리날 커버 및 케이스, 다양한 조간거리에 적응을 위한 조간조정 나사부, 3륜 승용관리기에의 부착을 위한 프레임 및 부착보조 작업기 이동용 바퀴장치 등으로 구성 설계 제작하였다. 로타리 날과 배토날은 기존 시판 관리기용 날을 사용하였다. 로타리 날은 진행방향으로 회전하도록 하였으며, 날의 회전반경은 약 330 mm, 조당 경운 폭은 약 230 mm 설계하였다. 최대 경심은 100 mm이며, 조간거리의 조절범위는 수동 나사에 의하여 620~900 mm 범위로 무단조절 할 수 있도록 하였다. 중경제초기는 3륜 승용 관리기 복부의 평행링크에 부착되므로 작업기의 이동 및 부착 편이를 위하여 이동용 바퀴를 설치하였다. 제작된 중경배토기의 크기는 길이${\times}$폭${\times}$높이가 $660{\times}2072{\times}880mm$, 중량은 약 200 kg으로 제작되었다.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.75-75
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• 2017

3륜 승용관리기는 4륜 승용관리기에 비하여 작업기를 복부에 장착함으로 작업의 정밀도, 편이성, 관측의 용이성 향상과 함께 지상고 제고, 차폭 조절, 조향 등의 성능 개선을 기할 수 있다. 국내에서는 3륜 승용관리기용 복부 장착 부속작업기가 거의 개발되어 있지 않으며, 특히 두류 재배에 있어서 일관기계화 작업을 위한 관리작업기의 개발이 매우 필요한 실정이다. 콩의 순 지르기 작업은 콩이 지나친 생육을 한 경우 미리 줄기의 윗부분을 제거하는 저심처리를 해주면 곁가지들의 왕성한 생육을 유도하여 많은 꼬투리를 얻고 쓰러짐도 줄어들어 수량을 높일 수 있다. 순 지르기 작업은 보통 낫이나 배부식 예취기를 이용하여 작업함으로 노동력이 많이 들고 작업부담이 심하여 개선이 필요한 실정이다. 따라서 본 연구는 3륜 승용관리기에 적합한 복부장착형의 순 지르기 작업기를 설계 제작하였다. 3륜 승용관리기용 순 지르기 작업기는 승용관리기의 복부 PTO에서의 구동력 전달을 위한 연결 조인트, 중간축, 기어 전동기구, 구동축으로 구성된 동력전달부, 2 조의 원판형 작업 날, 다양한 조간거리에 적응을 위한 조간조정 나사부, 3륜 승용관리기에의 부착을 위한 프레임 및 부착보조 작업기 이동용 바퀴장치 등으로 구성 설계 제작하였다. 원판형 칼날은 시판 중인 예취기의 외경 305 mm, 칼날 톱니 수 90개의 초경 비트 부착 날을 사용하였다. 작업 날의 승강높이는 150~540 mm 범위로 조절하도록 하였다. 조간거리의 조절범위는 수동나사에 의하여 660~860 mm 범위로 무단조절 할 수 있도록 하였다. 순 지르기 작업기는 3륜 승용 관리기 복부의 평행링크에 부착되므로 작업기의 이동 및 부착 편이를 위하여 이동용 바퀴를 설치하였다. 제작된 순 지르기 작업기의 크기는 길이${\times}$폭${\times}$높이가 $514{\times}1138{\times}810mm$, 중량은 약 100 kg으로 제작되었다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.26-34
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• 2008

The information of traversability and path planning is essential for UGV(Unmanned Ground Vehicle) navigation. Such information can be obtained by analyzing 3D terrain. In this paper, we present the method of 3D terrain modeling with color information from a camera, precise distance information from a 2D Laser Range Finder(LRF) and wheel encoder information from mobile robot with less data. And also we present the method of 3B terrain modeling with the information from GPS/IMU and 2D LRF with less data. To fuse the color information from camera and distance information from 2D LRF, we obtain extrinsic parameters between a camera and LRF using planar pattern. We set up such a fused system on a mobile robot and make an experiment on indoor environment. And we make an experiment on outdoor environment to reconstruction 3D terrain with 2D LRF and GPS/IMU(Inertial Measurement Unit). The obtained 3D terrain model is based on points and requires large amount of data. To reduce the amount of data, we use cubic grid-based model instead of point-based model.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.