• Proceedings of the KSR Conference
• /
• 2008.06a
• /
• pp.1990-1994
• /
• 2008

In this paper, we present a usable method of driving path in automatic guidance vehicle(AGV). The AGV is precisely driving to follow reference route. The Phileas in Netherland and Bi-modal tram in Korea have one wheel for the each side because of all wheels steering. For this reason, the loading area of wheels is very small. It is a disadvantage for asphalt load. The precise route tracking of vehicle can distort the flexible asphalt load. In this paper, we propose a driving method for alleviation of distortion on asphalt load.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.3
• /
• pp.343-348
• /
• 2007

This paper presents an adaptive controller for the compensation of state-dependent disturbance with unknown amplitude in a digital servo motor system. The state-dependent disturbance is caused by friction and eccentricity between the wheel axis and the motor driver of a mobile robot servo system. The proposed control scheme guarantees an asymptotical stability for both the velocity and position regulation. An experimental result shows the effectiveness of the adaptive disturbance compensator for wheeled-mobile robot in a low velocity diffusion tracking. A comparative experimental study with a simple PI controller is presented.

• Proceedings of the IEEK Conference
• /
• 2000.07b
• /
• pp.591-595
• /
• 2000

In this paper color coordinate system transformation based visual servo controller has been considered Mobile robot always has a position error and an orientation error resulted from wheel slipping etc.. Even more, the errors have accumulative properties. So feedback from environments is important. In this paper by using color model faster land mark extraction can be achieved. And the global position and the orientation of mobile robot can be known by only two land mark positions in image coordinate system. Finally, the adoption of visual information in path tracking problem makes visual servo control.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.69.3-69
• /
• 2001

This paper presents 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.

• Proceedings of the KIPE Conference
• /
• 2020.08a
• /
• pp.58-60
• /
• 2020

본 논문에서는 2개의 인-휠 브러쉬리스 모터로 구동하는 차량의 실시간 위치 추종 제어방법을 제안한다. 2개의 모터를 사용하여 구동되는 차량의 경우 방향 및 이동이 각 모터의 제어를 기반으로 결정된다. 하지만 컨트롤러에 의해 지령된 위치까지 모터의 제어가 정확하게 된다 하더라도 차량의 실제 위치는 바퀴와 바닥면사이의 슬립이나 외부 요인에 의해 오차가 발생하게 된다. 따라서 이렇게 발생하는 오차를 보상하기 위해 차량의 실시간 각도 추정이 가능한 IMU(Inertia Measrement Unit) 센서를 기반으로 진행 각도를 보정하며 주행 중 발생하는 위치오차를 보상하기 위해 모터의 홀센서로부터 계산되는 위치와 IMU 센서의 데이터를 조합하여 실시간 위치 추종 제어방법을 제안한다.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.1
• /
• pp.52-57
• /
• 2014

This paper presents an implementation of a smooth path planning method considering physical limits on a real time operating system for a two-wheel mobile robot. A Bezier curve is utilized to make a smooth path considering a robot's position and direction angle through the defined path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while satisfying the physical limits. The joint space velocity is computed to drive the two-wheel mobile robot from the center velocity. Trajectory planning, velocity command according to the planned trajectory, and monitoring of encoder data are implemented with a multi-tasking system. And the synchronization of tasks is performed with a real-time mechanism of Event Flag. A real time system with multi-tasks is implemented and the result is compared with a non-real-time system in terms of path tracking to the designed path. The result shows the usefulness of a real-time multi-tasking system to the control system which requires real-time features.

• Journal of the Korean Society for Railway
• /
• v.17 no.5
• /
• pp.336-341
• /
• 2014

The articulated structures seen in train or tram applications are being applied in road transportation systems, for use in mass passenger transit. When articulated vehicles are driven on public roads, they no longer follow a guided track. Therefore, there are a lot of control elements that need to be considered, such as turning radius, swept path width, off-tracking, and swing-out. Some of the currently available articulated vehicles on roads are equipped with an independent drive system; a system that has one motor at each wheel. Through this drive system, each wheel can be independently controlled, making precise and quick dynamic stability control possible. In this paper, we propose a torque distribution algorithm that can reduce the overall turning radius of the articulated vehicle, which has been verified through dynamic simulation.

• International Journal of Highway Engineering
• /
• v.10 no.2
• /
• pp.183-191
• /
• 2008

This study evaluated influence of the loading head dimension on characteristics of deformation strength ($S_D$) of asphalt mixtures. Kim test and Wheel tracking (WT) test were conducted to evaluate $S_D$ characteristics with relation to WT results for various mixtures. The $S_D$ values and coefficient of variation of $S_D$ values of r=10mm were smaller than those of r=10.5mm. It was also found that $S_D$ values obtained using r=10mm loading head showed high correlations with rut parameters of WT test. It was indicated that the aggregate size and radius (r) of round cut were statistically significant variables on $S_D$ at = 0.05 level in the analysis of variance. However, in interaction of r and aggregate size showed no significance within $10{\sim}19mm$ aggregate size at the same level. Therefore, it was concluded that the diameter (D) of 40mm and the bottom edge radius (r) of 10mm was suitable dimension of loading head for deformation strength test.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.37 no.2
• /
• pp.497-505
• /
• 2017

TDF (Tire derived fuel) Fly ash is an industrial by-product when scraped tire was used a fuel source at the power plant. TDF Fly ash has been classified as domestic waste at the workplace so far and has not been appropriately utilized. We conducted a fundamental physical property test of asphalt mixture to investigate the possibility of using TDF Fly ash as a mineral filler of asphalt mixture for exploring new usage strategies. TDF Fly ash meets KS F 3501 asphalt mixture mineral filler criteria. And the optimal asphalt binder amount was determined to be 4.5% by Marshall design. Mineral filler content was determined at 3% and analyzed by comparing using mineral filler as stone powder. The basic physical property test of the asphalt mixture was evaluated to the provision indicated in "Production and Construction Guidelines for Asphalt Mixture" published by the Ministry of Land, Infrastructure and Transport. In the test, Marshall stability test, dynamic immersion test, tensile strength ratio test, wheel tracking test were carried out. As a result of the experiment, Marshall stability and dynamic stability satisfied the standards, and confirmed the stability and Dynamic immersion and tensile strength ratio test that TDF Fly ash is more effective for scaling and moisture resistance than stone dust. Therefore, in this research, it is expected that multilateral utilization of TDF Fly ash, and a positive effect can be also expected.

• International Journal of Highway Engineering
• /
• v.6 no.2 s.20
• /
• pp.1-13
• /
• 2004

This study dealt with size effect of specimen in measuring deformation strength and estimating rut resistance of asphalt concretes under static loading using Kim test. Two aggregates, a normal asphalt (pen 60-80) and 6 polymer-modified asphalt (PMA) binders were used for preparation of 14 dense-graded mixtures. Mixtures were prepared based on optimum asphalt content by Marshall compactor (S= 10cm) and gyratory compactor (S= 15cm) for Kim test and for wheel tracking test. In statistical analysis by general linear model (GLM) procedure of SAS, the diameter of specimen was found not to be a significant factor that affect the Kim test result. Therefore, it was found that either loom-diameter or 15cm-diameter of specimen gave no significant difference in deformation strength ($K_D$) values in Kim test for any aggregate mixture. However, the thickness of specimen was found to be a significant factor in determining $K_D$. It is estimated that $K_D$ is a function of y, vertical deformation, and y has something to do with thickness of specimen. Therefore, it is suggested that the thickness of specimen should not be higher than 6.6cm, and the correction factor depending on the thickness value should be developed in the future study.