• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.372-377
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• 2015

In this paper, the consideration factors that affect the actual driving of a rover wheel was examined based on the wheel-terrain model. For the evaluation of driving performance in a real environment, the test bed of the rover wheel consists of the driving part of the wheel and sensing part of the various parameters was designed and assembled. Using the test bed, the preliminary driving experiment concerning the slip ratio, sinkage, and friction force according to the rotational velocity and the shape of the wheel were carried out and evaluated. The wheel test bed and the experiment results are expected to contribute to finding the optimal result in the designing of the wheel shape and the planning of the driving conditions through further study.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• 한국기계가공학회지
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• 제21권3호
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• pp.29-35
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• 2022

When a vehicle is driven off a road surface, the deformations of the road surface and tire are combined. Consequently, the dynamic behavior of wheel movement becomes difficult to predict and control. Herein, we propose a tire test bed to capture the dynamic behavior of tires moving on sand and soil. Based on this study, it is discovered that the slip rate can be controlled, and the vertical force can be measured using a load cell. The test results show that this test bed can be useful for capturing the dynamic behavior of the tire and validating dynamic simulations. In fact, the tire test bed developed in this study can be used to verify the results of computer simulations. In addition, it can be used for basic experiments pertaining to the speed control of unmanned autonomous vehicles.

• 대한임베디드공학회논문지
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• 제7권2호
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• pp.61-70
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• 2012

This paper describes terrain-adaptive attitude controller for a hybrid mobile platform which operates in wheel & track mode. The wheel mode of the hybrid mobile platform allows quick driving performance in the flatland, while the track mode provides adaptive movement in the rough ground or stairway. The switching of the platform between two modes is automatically controlled by attitude controller algorithm. In addition, in the track mode, the platform automatically adjusts its attitude angle to overcome the obstacles in front. This paper demonstrates the attitude controller for the aforementioned wheel-track hybrid mobile platform in order to overcome terrain obstacles by using an adaptive method. The driving performance of the hybrid mobile platform has been tested and verified in various surrounding environments in both wheel and track mode. Further, this paper presents the experiments by using the track structure of mobile platform on forming adaptive attitude under various types of obstacles. The practicability and effectiveness of the proposed attitude controller of the platform has been demonstrated in urban building and a test-bed.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.558-565
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• 2011

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2005년도 춘계학술대회 논문집
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• pp.734-743
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• 2005

In this study, geotextiles was applied on the selected track-bed, which is relatively economical and efficient way to prevent the problem of mud-pumping and settlement. Field testing sections from Mock-haeng to Dong-ryang in the Chung-La lines in Korea were selected to investigate the state of track and roadbed. And three places were chosen among 1,700 spots where mud-pumping was frequently occurred and maintenance required. At the curved section with radius of 500m between Mock-haeng and Dong-ryang, we divided this testing site into 5 section and 4 different types of geotextile were installed and left the last section with no reinforcement. Total length of the test site was 200m and individual length of each site was 40 m. In order to understand the state and the strength of prepared roadbed, stiffness and physical properties of the roadbed soil were evaluated and analyzed. Also, after the installation, mud-pumping, settlement of elastic or plastic sleeper, failure of track, wheel-loads, lateral force and earth pressures were investigated.

• 제어로봇시스템학회논문지
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• 제18권1호
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• pp.54-61
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• 2012

In this paper, the pose estimation method for the satellite GTB (Ground Test Bed) using vision/MEMS IMU (Inertial Measurement Unit) integrated system is presented. The GTB for verifying a satellite system on the ground is similar to the mobile robot having thrusters and a reaction wheel as actuators and floating on the floor by compressed air. The EKF (Extended Kalman Filter) is also used for fusion of MEMS IMU and vision system that consists of a single camera and infrared LEDs that is ceiling landmarks. The fusion filter generally utilizes the position of feature points from the image as measurement. However, this method can cause position error due to the bias of MEMS IMU when the camera image is not obtained if the bias is not properly estimated through the filter. Therefore, it is proposed that the fusion method which uses the position of feature points and the velocity of the camera determined from optical flow of feature points. It is verified by experiments that the performance of the proposed method is robust to the bias of IMU compared to the method that uses only the position of feature points.

• 대한간호학회지
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• 제46권1호
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• pp.39-49
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• 2016

Purpose: This study was done to develop a postural-stability patient transfer technique for care helpers in nursing homes and to evaluate its effectiveness. Methods: Four types of patient transfer techniques (Lifting towards the head board of the bed, turning to the lateral position, sitting upright on the bed, transferring from wheel chair to bed) were practiced in accordance with the following three methods; Care helpers habitually used transfer methods (Method 1), patient transfer methods according to care helper standard textbooks (Method 2), and a method developed by the author ensuring postural-stability (Method 3). The care helpers' muscle activity and four joint angles were measured. The collected data were analyzed using the program SPSS Statistic 21.0. To differentiate the muscle activity and joint angle, the Friedman test was executed and the post-hoc analysis was conducted using the Wilcoxon Signed Rank test. Results: Muscle activity was significantly lower during Method 3 compared to Methods 1 and 2. In addition, the joint angle was significantly lower for the knee and shoulder joint angle while performing Method 3 compared to Methods 1 and 2. Discussion: Findings indicate that using postural-stability patient transfer techniques can contribute to the prevention of musculoskeletal disease which care helpers suffer from due to physically demanding patient care in nursing homes.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2005년도 춘계 학술발표회 논문집
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• pp.1546-1553
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• 2005

In this study, geotextiles was applied on the selected track-bed, which is relatively economical and efficient way to prevent the problem of mud-pumping and settlement. Field testing sections from Mock-haeng to Dong-ryang in the Chung-buk lines in Korea were selected to investigate the state of track and roadbed. And three places were chosen among 1,700 spots where mud-pumping was frequently occurred and maintenance required. At the curved section with radius of 500m between Mock-haeng and Dong-ryang, we divided this testing site into 5 section and 4 different types of geotextile were installed and left the last section with no reinforcement. Total length of the test site was 200m and individual length of each site was 40 m. In order to understand the state and the strength of prepared roadbed, stiffness and physical properties of the roadbed soil were evaluated and analyzed. Also, after the installation, mud-pumping, settlement of elastic or plastic sleeper, failure of track, wheel-loads, lateral force and earth pressures were investigated.

• 한국생산제조학회지
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• 제24권2호
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• pp.141-147
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• 2015

In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.