• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1435-1439
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• 2004

Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

• 한국산학기술학회논문지
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• 제17권2호
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• pp.1-7
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• 2016

차축 감속기와 차륜으로 구성된 고속철도차량 2차 구동장치는 일체형 조립체이지만, 상이한 기술사양으로 인하여 이들의 예방정비 주기는 서로 다르다. 특히, 이들은 완전분해 정비주기에 따라 매번 동시에 탈부착 작업을 수행한다. 따라서 불필요한 완전분해 정비를 감소하고 높은 열차 가용도를 유지하기 위해서는 신뢰성 중심 유지보수 관점에서 예방정비 비용의 최적화가 중요하다. 본 연구에서는 실제 정비이력으로부터 두 구성품들에 대한 결함나무 분석을 수행하고, 각 하부부품들의 치명도를 고려한 수정된 신뢰도를 각각 평가하였다. 두 구성품에 대한 예방 정비비용의 최적화는 기준 신뢰도 및 개선율을 고려한 유전자 알고리즘으로부터 구하였다. 비용의 최적화는 개체의 적합도 함수에 대한 최대값으로부터 얻는다. 유전자 알고리즘에 의한 최적의 완전분해 정비주기는 285만km로서, 기존 방법의 총비용과 비교하여 약 21% 감소하였다.

• Journal of Biosystems Engineering
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• 제18권4호
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• pp.344-350
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• 1993

The purpose of this study is to develop design equations to calculate optimum specifications and dimensions such as weight, engine horsepower, etc. of the tractor necessary to perform stable rotary tillage. The main results of this study are as follows. 1. A wheel-lug ought to receive a special resistance in downward direction which resists the lug's upward motion on wet sticky soil surface. The authors introduce a new academic name of the "lift resistance(上昇抵抗力, 상승저항력)" for such a force which resists retraction of a wheel lug from the soil in the upward trochoidal motion. This force is composed of the frictional force acting on the trailing and the leading lug side, and the "perpendicular adhesion(鉛直付着力, 연직부착력)" acting on the lug face and the undertread face on adhesive soil. 2. The "lift resistance ratio(上昇抵抗力係數, 상승저항력계수)" and the "perpendicular adhesion ratio(鉛直付着力係數, 연직부착력계수)" were defined, which are something similar to the definition of the motion resistance ratio, the traction coefficient, etc. 3. The design equation of the optimum weight of a rotary tiller mounted on the tractor derived by calaulating the forces acting on the rotary blades. 4. The design equations to calculate optimum specifications and dimensions such as weight, engine horsepower, etc. of the tractor necessary to perform stable rotary tillage were derived. It becomes clear that the optimum weight of a rotary tiller and a tractor can be estimated in planning design by means of putting about 21 design factors of the target into the equation. These equations are useful for planning design to estimate the optimum dimensions and specifications of a rotary tiller as well as a tractor by the use of known and/or unknown design parameters.

• 한국산림과학회지
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• 제106권1호
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• pp.54-62
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• 2017

산림바이오매스의 효율적인 수집 및 운반을 위하여 칩하베스터를 개발하고 작업 생산성 및 비용을 분석하였다. 칩하베스터의 주요 목표제원은 속도 8 km/hr, 최대등판능력 $30^{\circ}$, 최대적재량 2,000 kg 등이고, 차체구조는 회전반경을 줄이기 위하여 차체굴절식을 채택하고, 주행장치는 6륜 구동으로 후륜은 접지력을 높이기 위하여 탠덤보기방식을 채택하였다. 개발된 칩하베스터의 주행테스트 결과, 칩 적재시 ${\pm}10%$ 경사에서 각각 6.9 km/hr, 8.1 km/hr로 나타났다. 또한, 공차시 ${\pm}10%$ 경사에서 각각 7.3 km/hr, 7.9 km/hr로 나타났다. 따라서, 주행성능은 개발목표를 달성하였다고 판단된다. 작업생산성 및 비용을 분석한 결과, 파쇄 및 운반의 작업생산성은 약 $10m^3$/일이었으며, 작업비용은 393,126원/일로 나타났다.

• 인지과학
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• 제26권1호
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• pp.27-51
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• 2015

장기기억 분야와 달리 시각작업기억에 대한 기억왜곡 연구사례는 흔치 않다. 본 연구는 시각작업기억 표상이 하향적 간섭에 의해 왜곡될 가능성을 관찰하고자 하였다. 기억표상의 질적 특성에 대한 직접적인 관찰을 위해서는 기억용량과 선명도를 추정하는 것이 중요하다. 본 연구에서는 색상환 과제를 통해 스트룹 단어의 색상에 대한 단기 회상을 요구하는 과정에서 발생하는 오류시행에 대한 분석을 통해 단어의 명칭에 의한 시각작업기억 표상의 왜곡 가능성을 조사하였다. 참가자들은 과제에서 500ms 동안 제시되는 1, 2, 3 혹은 6개의 스트룹 단어 항목의 색상을 기억하였다. 1초의 기억지연 시간 후, 기억이 요구된 스트룹 단어 중 단서가 지정하는 특정 단어의 색상을 회상해 색상환에서 선택 보고하였다. 색상환에서 회상이 요구된 자극의 실제 색상으로부터 ${\pm}45^{\circ}$ 이내의 색상을 선택했을 경우 정반응으로 간주 되었으며, 그 밖의 경우는 오반응으로 간주되었다. 오반응 시행에 대해 색상 선택의 분포 패턴을 분석한 결과, 보고 대상의 명칭 색상 범주에 기초한 회상 오류가 시행 전반에서 사용된 명칭 기반 평균 회상 오류를 상회하였다. 또한 항목개수 증가로 인한 기억부담의 증가는 이와 같은 스트룹 간섭에 의한 기억왜곡의 발생 확률에 큰 영향을 주지 않는 것으로 나타났다. 본 연구의 결과, 스트룹 자극에 대한 시각작업기억 표상에 대하여 자극의 명칭색상에 의한 체계적 왜곡 가능성이 관찰되었다. 이는 비교적 짧은 기간 활용되는 시각작업기억 수준의 표상 역시 장기기억과 마찬가지로 간섭에 의해 왜곡될 수 있음을 시사한다.

• 한국도로학회논문집
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• 제17권2호
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• pp.31-37
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• 2015

PURPOSES : To design a pre-heater for warm in-place recycling equipment, three different heating systems were evaluated to determine their thermal efficiency. METHODS: In this study, a $30cm{\times}30cm{\times}15cm$ wheel-tracking specimen was used to measure the inner temperature as a function of the heating system. The inner temperature of the specimen was measured with a data logger at the surface, and at depths of 1cm, 2cm, 3cm, 4cm, and 5cm. To evaluate the thermal efficiency, the researchers used three different types of equipment, namely, IR, a heating wire, and a gas burner. RESULTS: The IR heating system exhibits a higher level of performance than the others to achieve the target temperature at a depth of 5cm in the specimen. The gas burner system was capable of heating the surface to a temperature of up to $600^{\circ}C$. The other types, however, cannot heat the surface up to 600. The thermal efficiencies were measured based on the laboratory conditions. CONCLUSIONS: To find the most effective system for application to the development of a pre-heater for warm in-place recycling, various systems (IR, heating wire, gas burner) were examined in the laboratory. As a result, it was found that the hot plate of a gas burner system provides the highest temperature at the surface of the asphalt but, of all the systems, the IR system provides the best internal temperature increase rate. Furthermore, a gas burner can age the asphalt binder of the surface layer as a result of the high temperature. However, the gas burner cannot attain the target temperature at 5cm. The IR system, on the other hand, is effective at increasing the internal temperature of asphalt.

• Journal of Biosystems Engineering
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• 제38권4호
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• pp.255-263
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• 2013

Purpose: It is not easy to drive a rice-transplanter avoiding underlapped or overlapped transplanting in paddy fields. An automated guidance system for the riding-type rice-transplanter would be necessary to operate the rice-transplanter autonomously or to assist the beginning drivers as a driving aid. Methods: A prototype of guidance system was composed of embedded computers, RTK-GPS, and a power-steering mechanism. Two Kalman filters were adopted to overcome sparse positioning data (1 Hz) from the RTK-GPS. A global Kalman filter estimated the posture of rice-transplanter every one second, and a local Kalman filter calculated the posture from every new estimation of the global Kalman filter with an interval of 200 ms. A PID controller was applied to the row-following mode control. A control method of U-turning mode was developed as well. A stepping motor with a reduction gear set was used to rotate the shaft of steering wheel. Results: Test trials for U-turning and row-following modes were done in a paddy field after some parameters have been tuned at the ground speed range of 0.3 ~ 1.2 m/s. The minimum RMS error of offset was 3.13 cm at the ground speed of 0.3 m/s while the maximum RMS error was 13.01 cm at 1.2 m/s. The offset RMS error tended to increase as the ground speed increased. The target point distance, LT also affected the system performance and PID controller parameters should be adjusted on different ground speeds. Conclusions: A target angle-based PID controller plus stationary steering angle controller made it possible for the rice-transplanter to steer autonomously by following a reference line accurately and even on U-turning mode. However, as condition in paddy fields is very complicated, the system should control the ground speed that prevents it from deviating too much due to ditch and slope.

• 대한기계학회논문집A
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• 제22권2호
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• pp.428-436
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• 1998

A TCS slip control system improves acceleration capability and steerability on slippery roads through engine torgue and/or brake torque control. This research mainly deals with the engine control algorithm via the adjustment of the engine throttle angle. The following new control strategy is proposed and investigated ; the TCS slip controller whose input is the difference between the desired driving wheel speed corresponding to the optimum slip ratio and the actual speed yields the target engine torque and then estimates the throttle angle based on the engine performance curve. Various simulation and hardware-in-the-loop simulation have been carried out. The results show the proposed strategy may compensate for the inherent nonlinearity between variation of the throttle angle and variation of the engine torque and produce better performance than the previous strategies without the engine map, especially in the high speed region.

• 한국자동차공학회논문집
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• 제24권2호
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• pp.225-231
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• 2016

A military vehicle is driven at different usage modes with the army application and servicing conditions. For practical durability validation, DT(Development Test) on a new military vehicle should be run up to the durability target kilometers on test courses in the specified proving ground. Driving velocities with test courses at the endurance mode of DT are established definitely. However, OT(Operational Test) and initial endurance test of production car can't be performed only in the DT courses due to the development period limit. Therefore, this paper focuses on the method to analyze the relative road damages between the endurance test in DT and other endurance test. Road load acquisition tests on KLTV(Korean Light Tactical Vehicle) were implemented at 15 driving modes in off-road and cross-country courses of two tests. Wheel accelerations were processed through band-pass filter, and then the main frequency and maximum power of the signals were computed by PSD analysis. Finally, using the proving ground optimization based on RDS(Relative Damage Spectrum) characterization, the damage factors between off-roads of test courses were determined.

• Journal of Electrical Engineering and Technology
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• 제8권6호
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• pp.1431-1438
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• 2013

A pack-level battery hardware-in-the-loop simulation (B-HILS) platform is implemented. It consists of dynamic vehicle models using PSAT and multiple control interfaces including real-time 3D driving and GPS mode. In real-time 3D driving mode, user can drive a virtual vehicle using actual drive equipment such as steering wheel and accelerator to generate the cycle profile of the battery. In GPS mode, actual road traffic and terrain effects can be simulated using GPS data while the trajectory is displayed on Google map. In the latter part of the paper, several performance tests of an actual lithium-polymer battery pack are carried out utilizing the developed system. All experiments are conducted as parts of actual development process of a commercial battery pack adopting 2nd generation Prius as a target vehicle model. Through the experiments, the low temperature performance and fuel efficiency of the battery are quantitatively investigated in comparison with the original nickel-metal hydride (NiMH) pack of the Prius.