• 한국철도학회논문집
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• 제14권3호
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• pp.203-210
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• 2011

본 논문에서는 열차 충돌로 발생되는 충격으로 차축에 큰 수직하중 및 수평하중이 부과될 때 플랜지가 레일을 타고 오르는 탈선현상을 예측할 수 있는 단일 윤축의 이론적 탈선 모델을 연구하였다. 철도차량 충돌 시 크게 타고오름(wheel-climbing), 들려오름(lift-up), 전복(roll-over) 등과 이들의 복합유형탈선이 발생할 수 있다. 타고오름 및 복합 유형의 탈선은 세 가지(Climb-over, Climb/roll-over, Roll-over)로 정의할 수 있다. 본 논문에서는 충돌 후 탈선거동을 예측하기 위하여 타고오름 및 복합 유형 탈선에 대한 단일윤축 이론모델을 제안하고, 정의한 세 가지 탈선거동이 발생하기 위한 조건을 제시하였다. 타고오름 및 복합 유형의 탈선거동을 예측하기 위하여 제안된 단일윤축 이론모델의 타당성을 단순플랜지 형상 윤축모델을 사용한 동역학 시뮬레이션을 통하여 검증하고, 타당성을 보인다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.373-374
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• 2010

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.323-324
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• 2010

• 한국정밀공학회지
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• 제30권1호
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• pp.32-38
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• 2013

Small mobile robots which use round wheels are suitable for driving on a flat surface, but it cannot climb the obstacle whose height is greater than the radius of wheels. As an alternative, legged-wheels have been proposed by many researchers due to its better climbing performance. However, driving and climbing performances have a trade-off relationship so that their driving performance should be sacrificed. In this study, in order to achieve both driving and climbing performances, a new transformable wheel was developed. The developed transformable wheel can have a round shape on a flat surface and change its shape into legged-wheel when it makes a contact with an obstacle. For design of the transformable wheel, the performance of legged-wheel was analyzed with respect to the number and curvature of the leg, and then the new transformable wheel was designed based on the analysis. Contrary to the existing transformable wheels that contain additional actuators for the transformation, the developed transformable wheel can be unfolded without any additional actuator. In this study, in order to validate the transformable wheel, a simple robot platform was fabricated. Consequently, it climbed the obstacle whose height is 2.6 times greater than the wheel radius.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.740-743
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• 2005

Most works of the large vertical ceiling structures have been performed by human manually. These works require much more operation costs, labors and times, etc. Beside most people avoid this works because of it's characteristic such as danger, dirty and difficulty. So necessity of automation for these works has been rising. This automation needs a wall climbing mobile vehicle because of the movement of platform large workspace. In this study, we aim at develop the wheel which can be used for vertical wall-climbing mobile robot using electromagnet wheel. The wheel proposed can be available for several working processes on structures which consist magnetic substance.

• 한국지능시스템학회논문지
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• 제18권3호
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• pp.329-334
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• 2008

바퀴구동형 메커니즘은 다양한 서비스 로봇에 유용하게 활용되고 있다. 이러한 로봇을 위하여 가장 기본적이면서 중요하게 요구되는 성능중의 하나는 경사진 도로를 어려움없이 주행할 수 있는 등반능력으로 볼 수 있다. 본 논문에서는 이러한 바퀴 구동형 로봇 메커니즘의 등반능력을 고려하고, 경사면을 원활하게 주행하기 위한 구동기의 사양을 결정하는데 유용한 필요조건을 제시하고자 한다. 결과적으로, 이러한 조건은 이동로봇 메커니즘의 설계에 유용하게 활용될 수 있을 것으로 기대한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.169-170
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.215-216
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• 2010

• 로봇학회논문지
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• 제6권2호
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• International Journal of Railway
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• 제3권2호
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• pp.60-67
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• 2010

This paper deals with an experimental study on the wheel flange climbing of railway vehicles, which is a major factor leading to derailment. An experiment is carried out on a 1/5-scale model wheelset of a truck used on a standard-gauge track, which is placed on a roller rig. The lateral external force acting on the wheelset is ramped up until derailment occurs under the condition of a fixed attack angle and wheel-load unbalance ratio. Three parameters, the height of wheel lift, the lateral force, and the wheel load acting on the outer rail, are measured until derailment occurs. From these measurements, it is possible to observe the behavior of the wheelset and to elucidate how the attack angle, the wheel-load unbalance ratio and the lateral external force affect flange-climb derailment. Then, a numerical simulation is carried out using an analytical model based on a single wheelset. As a result, the flange-climb behavior observed in the experiment can be explained theoretically on the bases of the analytical results, although further improvement of the model is desired.