• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.545-550
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• 2001

This paper studied on the lateral motion and yaw motion of the gantry crane that is used for the automated container terminal. Though several problems are occurred in driving of the gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operator. There are two types, cone and flat type in driving wheel shape. In cone type, the lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of two driving wheels are derived. Then, we investigate the driving characteristics of gantry crane. In this study, the proposed controller, based on Model Based Controller, is used to control the lateral displacement and yaw angle of the gantry crane. And the availability of the proposed controller is showed through the comparison with the result of the proposed controller and PD controller. The simulation results of the driving mechanism, using the Runge-Kutta Method that is one of the numerical analysis methods, are presented in this paper.

• 대한인간공학회지
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• 제28권2호
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• pp.9-16
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• 2009

The aim of this study was to evaluate the effects of the driving performance and workload according to changing driving environment and types of steering wheel. Twelve drivers who participated in this study consisted of two groups; six Japanese as the left-lane drivers who was accustomed to driving on left-hand side of the road, and six Europeans, Americans, and Korean as the right-lane drivers who was accustomed to driving on right-hand side of the road. They were asked to operate a driving simulator while using two different types of steering wheel (for the left-hand side driving and the right-hand side driving). During the experiment, a range of data were measured including driving performance, mental workload, and eye movements which were recorded in order to identify the amount of time looking towards the in-vehicle route guidance. Results indicated that the use of the steering wheel by parallel moving led to increase high attentional demand and worse glance behavior to traffic signs for the left-lane drivers. In the case of the right-lane drivers, the effects by changing driving direction were more effective than the types of steering wheel due to their habit or traits.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1605-1608
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• 1997

In this paper, a new onmidirectional robot with one spherical wheel is porposed. The peculiar structure of the proposed mobile robot makes it possible not only to move sideways but to be easy to implement. The wheel is derived by two stepping motors and equipped with 8-infrared sensors. To prove the validity of the proposed robot, the experiment of going through a way is performed.

• 한국산업융합학회 논문집
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• 제17권2호
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• pp.69-76
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• 2014

This paper proposes a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.2163-2172
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• 2008

The noise to be considered as the most important in railway systems is the noise generated from the wheel/rail interaction. Such noise can be divided into three categories; that is, the rolling noise, the squeal noise and the wheel howling noise. Especially in metro systems, this type of noise has been considered seriously in recent years, and the diversified studies on the mechanism and solutions of such noise are in progress by many railways and researching bodies. In this study, a specially designed wheel absorber is installed in the wheel, and FEM analysis and laboratory tests are executed for the two cases, i.e. with wheel absorber and without wheel absorber, to check the effect of the wheel absorber in noise reduction. For the FEM analysis, the frequency response functions for respective cases are compared. And, for the laboratory test, following four cases are tested and compared; that is, i) with wheel only, ii) installation of ring damper only, iii) installation of damping material and cover, iv) installation of complete absorber system.

• 로봇학회논문지
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• 제18권3호
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• pp.299-307
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• 2023

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

• 한국운동역학회지
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• 제21권4호
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• pp.429-436
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• 2011

In this study, we have experimented with 9 players at the national delegate level. Although there were some differences in the average effects of 3 types of one-two straight movements after the application of wheel axle, there were no statistical differences in the case of surface reacting forces, electromyograms, and impact forces. When the right fist was impacted using the one-two straight movements and the wheel axle was applied with 3 segmentations, high impact forces were obtained for the pronation in the following order-72.01 $m/s^2$ (type 2), 70.93 $m/s^2$ (type 3), and 58.19 $m/s^2$ (type 1). Higher values of the surface reacting force were found for type 1 that did not exhibit pronation in the left foot, whereas in the case of the vertical direction of the right foot, type 2 with pronation exhibited higher values and impact forces. In the right electromyogram, high impact forces due to the activation of the muscular electric potential were obtained for lumbar erector (LE) spinae and triceps brachii (TB) with type 1; LE spina, latissimus dosi (LD), and upper trapezius (UT) with type 2; and brachioradialis (BR), UT, and rectus abdominal (RA) with type 3. Due to pronation and complex motions of the 3 pronation segmentations, the efficiency was higher for impacts due to one-two straight movements.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.1013-1025
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• 1993

Agriculture in Swaziland is the most important sector of the economy from the stand point of export earning, rural employment and dependency for family food. But, inspite of 65.5 percent of the household being busy in food production for family consumption in Swaziland, the import bill of food and live animals is rising from E119.7268 million in 1987/90 (An.St.Bul.1988) . A typical farm size, based on holding's growing crops, is only 1.93 ha which may prohibit owning a four wheel tractor for farm operations. The traditional hand tools are just not efficient and comfortable to operate in order to exploit full potential of the land. There are over 120.000 draught animals which have potential to be utilized in farming. The two wheel-tractor is another energy source which can be used for many farm-operations.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume I
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• pp.263-266
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• 2006

Now, on the developing COMS(Communication, Ocean and Meteorological Satellite) has solar panel on the South panel only. Therefore, the wheel off-loading has to be performed periodically to reduce a induced momentum energy by a asymmetric solar panel. One of two East/West station keeping maneuver to correct simultaneously longitude and eccentricity, orbit corrections may be performed during one of the two wheel off-loading manoeuvres per day to get enough observation time for meteorological and ocean sensor. In this paper, we applied a linearized orbit maneuver equation to acquire maneuver time and delta-V. Nonlinear simulation for the station keeping is performed and compared with general station keeping strategy for fuel reduction.

• 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.