• 대한기계학회논문집
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• 제8권6호
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• pp.591-598
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• 1984

본 논문에서는 고체상호간 미끄름접촉에 의해 발생하는 진동과 소음의 특성을 조사하기 위해서 실험과 이론해석을 행하였다. 미끄름접촉과 관련된 소음에는 brake squeal 혹은 wheel screech등과 같이 stick-slip 형태의 동적 불안정 상태와 관련이 있는 squeal noise와, 겉보기로 동적 안정 상태에 있으나 미끄름접촉면간에 내재하는 미끄름접촉 고유의 불규칙한 동특성에 기인하여 발생하는 rubbing noise가 있다. 본 연구의 대상은 보다 기본적인 형태인 후자에 한한다.

• 대한임베디드공학회논문지
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• 제12권4호
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• pp.213-221
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• 2017

Utilizing the existing polishing robot prevents unrestricted change of direction, driving, and identification of driving pathway. To overcome this barrier, driving mechaism has been designed with Omniwheels with encoders and RSSI method of beacon system has been utilized to identify the driving path by position recognition. Due to the wheel characteristics, the Omniwheel mobile robot generates greater slip than the conventional mobile robot, which reduces its driving accuracy. Therefore, to improve the driving accuracy, the localization is conducted through the fusion of encoder and RSSI of beacon data to compensate for the errors caused by Dead Reckoning and inaccuracy of sensors. Finally, the localization accuracies of the proposed and conventional indoor localization method are compared to show effectiveness of the proposed driving control for a polishing robot.

• 한국정밀공학회지
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• 제28권3호
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• pp.330-338
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• 2011

Odometry is the critical factor to estimate the location of the robot. In the mobile robot with wheels, odometry can be performed using the information from the encoder. However, the information of location in the encoder is inaccurate because of the errors caused by the wheel's alignment or slip. In general, visual odometer has been used to compensate for the kinetic errors of robot. In case of using the visual odometry under some robot system, the kinetic analysis is required for compensation of errors, which means that the conventional visual odometry cannot be easily applied to the implementation of the other type of the robot system. In this paper, the novel visual odometry, which employs only the single camera toward the ground, is proposed. The camera is mounted at the center of the bottom of the mobile robot. Feature points of the ground image are extracted by using median filter and color contrast filter. In addition, the linear and angular vectors of the mobile robot are calculated with feature points matching, and the visual odometry is performed by using these linear and angular vectors. The proposed odometry is verified through the experimental results of driving tests using the encoder and the new visual odometry.

• 드라이브 ㆍ 컨트롤
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• 제17권4호
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• pp.133-140
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• 2020

Traction performance of a tractor varies depending on soil conditions. Sinkage and slip of the driving wheel for tractor frequently occur in a reclaimed land. The objective of this study was to develop a tractor suitable for a reclaimed land. Traction performance was evaluated according to soil conditions of reclaimed land and paddy field. Field experiments were conducted at two test sites (Fields A: paddy field; and Field B: reclaimed land). The tractor load measurement system was composed of an axle rotation speed sensor, a torque meter, a six-component load cell, GPS, and a DAQ (Data Acquisition System). Soil properties including soil texture, water content, cone index, and electrical conductivity (EC) were measured. Referring to previous researches, the tractor traveling speed was set to B3 (7.05 km/h), which was frequently used in ridge plow tillage. Soil moisture contents were 33.2% and 48.6% in fields A and B, respectively. Cone index was 2.1 times higher in field A than in field B. When working in the reclaimed land, slip ratios were about 10.5% and 33.1% for fields A and B, respectively. The engine load was used almost 100% of all tractors under the two field conditions. Traction powers were 31.9 kW and 24.2 kW for fields A and B, respectively. Tractive efficiencies were 83.3% and 54.4% for fields A and B, respectively. As soil moisture increased by 16.4%, the tractive efficiency was lowered by about 28.9%. Traction performance of tractor was significantly different according to soil conditions of fields A and B. Therefore, it is necessary to improve the traction performance of tractor for smooth operations in all soil conditions including a reclaimed land by reflecting data of this study.

• 한국철도학회논문집
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• 제19권1호
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• pp.20-28
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• 2016

스킬 소음은 곡선부에서 레일과 차륜 사이에 발생하는 순음의 큰 소음이다. 차륜과 레일 사이의 접촉은 점착-미끄러짐(stick-slip)현상을 보이면서 스킬 소음이 발생한다고 알려져 있다. 본 논문에서는 이러한 스킬 소음의 발생 메커니즘을 규명하기 위해 차륜, 레일의 주파수 관점에서의 접촉력 특성을 파악하고자 했다. 스킬 소음을 실험실 조건에서 발생시키기 위하여 축소 스킬소음 시험장치를 제작하였다. 접촉력을 구하기 위하여 레일 롤러를 지지하는 서브 프레임 진동 데이터와 응답특성을 측정하여, 접촉력을 예측하였다. 계산된 접촉력 결과를 검증하기 위해서, 레일 롤러의 접촉점 변위를 계산된 접촉력을 이용하여 계산하고 레이저 변위센서로 측정한 변위 실험결과와 비교하였다. 또한 시험장치를 유한요소로 모델링하여, 계산된 접촉력에 의한 음향 방사 해석을 수행하였고, 그 음압 결과를 반무향실 조건에서 축소 스킬소음 시험장치 운영시 발생되는 소음의 크기와 비교하였다. 변위와 음압 결과가 실험 결과와 유사한 경향을 나타내었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.475-478
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• 2004

In this paper, a magnet-type automatic pipe cutting machine that binds itself to the surface of the pipe using magnetic force and executes unmanned cutting process is proposed. During pipe cutting process when the machine moves around the pipe laid vertical to the gravitational field, the gravity acting on the pipe cutting machine widely varies as the position of the machine varies. That is, with same driving force from the driving motor the cutting machine moves faster when it climbs down the surface of the pipe and moves slower when it climbs up to the top of the pipe. To maintain a constant velocity of the pipe cutting machine and improve the cutting quality, the authors adopted a conventional PID controller with a feedforward effort designed based on the encoder measurement of the driving motor. It is, however, impossible for the encoder at the motor to measure the absolute position and consequently the absolute velocity of the cutting machine in the case where the slip between the surface of the pipe and wheel of the cutting machine is not negligible. As an attempt to obtain a better estimation of the absolution angular position/velocity of the machine the authors proposes the use of the MEMS-type accelerometer which can measure static acceleration as well as dynamic acceleration. The estimated angular velocity of the cutting machine using the MEMS-type accelerometer measurement is experimentally obtained and it indicates the significant slipping of the machine during the cutting process.

• 한국토양비료학회지
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• 제47권6호
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• pp.425-431
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• 2014

Most fields in highland areas are covered with rye or hairy vetch for conservation during a fallow. However, using cover crops needs an effort to sow, and this makes top soil more vulnerable to loss due to surface disturbances. The aims of this study were to develop an automatic seeding-regulator device using a low-price, extensive-use GPS sensors and a DC motors and to evaluate a working efficiency of it after adaptation to partial tillage machine for reducing seeding effort. The amount of runoff water and soil loss was evaluated with partial tillage and simultaneous-seeding after harvesting soybean, in 17% slope lysimeters. In results, the seeding amount with the machine speed was stable between $0.5{\sim}0.8m\;s^{-1}$ of working sections. The automatic control device of seeding-rate could be enough to solve the slip problems of power selecting supply system or five four-wheel drive device. In partial tillage and simultaneous seeding, runoff water was 11.6% ($1.8m^3ha^{-1}$) of the scatter-seeding control ($15.5m^3ha^{-1}$) and soil loss was 13.2% ($7kg\;ha^{-1}$) of the scatter-seeding control ($53kg\;ha^{-1}$). These results suggest that partial tillage and simultaneous-seeding methods are very effective in decreasing work effort and soil loss of sloped land.

• 대한토목학회논문집
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• 제38권2호
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• pp.311-317
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• 2018

아스팔트 콘크리트 포장의 예방적 유지보수방법 중 하나인 표면강화공법의 실내 성능 평가를 수행하였다. 표면강화공법과 아스팔트 콘크리트 포장과의 부착력 평가 결과 미끄럼방지 포장 및 교면방수재료 기준을 상회하는 부착성능을 나타내었다. 윤하중재하실험과 박리저항성, UV저항성 실험을 통해 교통 및 환경하중에 대해 충분한 내구성을 확보할 수 있는 것을 확인하였다. 표면강화공법은 내투수성과 내화학성이 뛰어나 포장내로 수분 침투를 막고 화학물질로부터 포장을 보호할 수 있으며, 노화된 아스팔트 바인더의 재생효과가 있어 재생 아스팔트 콘크리트에 적용하였을 때 재래식 가열 아스팔트 콘크리트 혼합물에 비하여 약 5%의 터프니스를 증가시켰다. 아스팔트 표면강화공법은 아스팔트 콘크리트 포장의 내구성을 향상시킬 수 있는 특성을 갖는 것으로 나타났다.

• 디자인학연구
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• 제11권
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• pp.48-58
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• 1995

우리 나라에서도 1981년 UN이 정한 세계장애인의 해를 기점으로 장애인에 대한 인식이 점진적으로 개선되기 시작하였고, 장애 문제에 대한 일반인이 이해도 향상되었다. 본 연구에서는 장애인의 소득수준이나 우리 나라의 복지수준을 고려하여 가장 일반적이고 많이 사용되고 있는 수동식 휠체어를 연구대상으로 선정하였다. 디자인 전개를 위한 본 연구의 주요 분석내용은 다음과 같다. 1. MAN-AMCHINE INTERFACE에 의한 연구 분석/휠체어의 기본개념이 걸어서 이동할 수 없는 사람이 ‘앉아서’이동할 수 있도록 하기 위함이므로 의자에 바퀴를 설치한 기구라는 점을 고려하여 의자와 바퀴와의 상관관계를 중점적으로 연구 분석하였다. 2. 휠체어 주행동작 연구 분석/ 인간공학의 기본이라 할 수 있는 동작반석과 실험측정을 통하여 주행동작시의 움직임 및 그에 따른 동작변화를 관찰하고자 실시한 동자관찰 연구이다. 3. 뒷바퀴 및 핸드림이 사용성에 대한 동작 분석/휠체어의 주요 구성부분인 의자와 바퀴에 해당되는 것으로서, 장애인 본인이 이동할 때 핸드림과 손과의 관계를 실험을 통하여 살펴봄으로써 보다 효율적이고 쾌적함을 줄 수 있는 핸드림에 관한 연구이다. 이상과 같이 세 가지 연구방향으로 추진하여 그 결과 및 자료를 기초로 차체는 접는 식 X형을 기본으로 하고, 운반이 용이하게 최소화할 수 있는 구조 적 디자인을 바탕으로 휠체어의 각 부분을 크게 좌석(공기주머니 방식), 핸드림(미끄럼 방지 턱), 팔걸이(트랜스퍼 동작, 고무 받침대, 조형미), 손잡이(각도 조절, 둥근 형태) 구분, 개선된 휠체어 디자인을 제안하였다. 본 연구를 통하여 기술한 내용은 장애인을 이해하기 위한 목적 중 극히 일부분에 지나지 않는다. 또한 장애인 복지 증진을 위한 많은 사업중의 하나인 재활사업의 중요성, 재활을 위한 보장구 중에 단편적인 한 품목을 연구한 것에 불과하다.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.III
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• pp.819-826
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• 2000

This study was performed to develop a measurement system of tractor field performance for plow and rotary operations. Measurement system for tractor consisted of torque sensors to measure torque of drive axles and PTO axle, speed sensors to measure rotational speed of drive axles and engine, microcomputer to control data logger, and data logger as I/O interface system. The measurement system was installed on four-wheel-drive tractor. Four-element full-bridge type strain gages were used for torque measurement of drive axles and optical encoders were used to measure speeds of drive axles and engine. Slip rings were mounted on the rotational axles. Signals from sensors were inputted to data logger that was controlled by microcomputer with parallel communication. Sensors were calibrated before the field tests. Regression equations were found on completion of the calibrations. The field experiment was performed at paddy fields and uplands. Rotary and plow were used when the tractor was operated in the field. Travelling speeds of the tractor were 1.9 km/h, 2.7 km/h, 3.7 km/h, 5.5 km/h, 8.2 km/h, and 11.8 km/h. Operating depths of implements were maintained approximately 20cm during the tests. Torque data of drive axles were different at each location during plow and rotary operations. Results showed that torque of rear axles were greater than those of front axles. Total torque were 6860 - 11064 Nm at the upland and 7360 - 14190 Nm at the paddy field for plow operations. It was found that torque at the paddy field were about 20% greater than those at the upland for plow operations. Torque data showed that rotary operations required less power than plow operation at the paddy field and the upland. Torque measurements at each axle for rotary operations were only 8 - 16% of plow operations in the upland and 15 - 20% in the paddy field.