• 한국재난정보학회 논문집
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• 제7권3호
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• pp.190-197
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• 2011

본 연구에서는 타이어를 장착한 차량시험기에서 교량과 차량의 상호작용효과를 분석하고자 반복하중시험을 실시하고 이에 대한 동적반응을 파악하였다. 이를 위하여 차량-교량간 상호작용이 포함된 이동질량형 윤하중 실험기를 단순교 형식의 교량에 적용하여 이동질량 반복주행실험을 수행하였다. 이동질량 반복주행실험 결과를 분석하여 차량-교량간의 상호작용을 포함한 가속도 형태의 실동주행차량가속도를 규명하였다. 규명된 차량의 실동주행차량가속도를 범용 해석프로그램에 적용하여 차량-교량 상호작용을 재현할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.783-786
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• 1991

Generally, The position of mobile robot moving on the plane is measured by the method of dead reckoning, using the encoder system coupled on a wheel axis. But it is noted that the encoder system cannot check the slip of a wheel, often occurring in tracking of the mobile robot. In this study, using velocity angular velocity sensor with a tuning fork vibration system, the system is developed which can measure the directional angle of positional variables on the mobile robot. By measuring the variations of tracking direction mobile robot equipped with this system, following result is found; In spite of the slip at a wheel when measuring the tracking directional angle, the error occurs in the range of .+-. 1 (degree).

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2001년도 하계학술대회 논문집
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• pp.74-77
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• 2001

In order to investigate the effect of salinity level on tracking characteristics of polymer insulators for distribution power systems, tracking tests were performed by tracking wheel tester under different salt concentration. In this study, 6 kinds of polymer insulators were tested under 2200 ${\mu}\textrm{s}$/cm and 4000${\mu}\textrm{s}$/cm salinity. The salinity level has a significant effect on the tracking characteristics. Namely, most polymer insulators showed the good tracking resistance in case of low salinity level. But, in case of high salinity level some polymer insulators showed the excessive erosion and tracking. These phenomena may come from the different aging mechanism. It can be concluded that too high salinity level is not desirable in aging test of polymer insulators.

• 로봇학회논문지
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• 제9권1호
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• pp.67-77
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• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1053-1061
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• 2008

In this paper, a moving target tracking using a binocular vision for an omni-directional mobile robot is addressed. In the binocular vision, three dimensional information on the target is extracted by vision processes including calibration, image correspondence, and 3D reconstruction. The robot controller is constituted with SPI(serial peripheral interface) to communicate effectively between robot master controller and wheel controllers.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2003년도 봄 학술발표회 논문집
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• pp.299-304
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• 2003

In this research, eight waterproofing membranes were selected from commercial market and the tensile adhesive characteristics of the waterproofing system (WPS) on concrete bridge deck were investigated in view of various factor in asphalt pavement. Tensile adhesive strength (TAS) test of different asphalt pavement types showed that TAS of WPS under SMA (Stone Mastic Asphalt) pavement was greater than that under dense asphalt pavement. Tensile adhesive strength (TAS) of sheet membranes was improved as the compaction temperature of asphalt concrete increase, but TAS of liquid membranes were not. TAS of sheet membranes after wheel tracking test were in the order of the sites under wheel path (UWP), before wheel tracking (BWT) and nearby wheel path (NWP), Since TAS of the same WPS of UWP was higher than TAS of BWT, wheel loading had function of pressing WPS resulting in higher adhesive strength, But liquid membranes were variable on types, The feature of detached interface after T AS test showed that sheet types were all detached in between deck concrete and WPS, and liquid types were detached in between asphalt pavement and WPS,

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2005년도 하계학술대회 논문집 Vol.6
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• pp.558-559
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• 2005

Recently, polymer insulators that are used for high voltage applications have some advantages such as light weight, small size, vandalism resistance, hydrophobicity and easy making process. During outdoor service of polymer insulators, the surface of the insulating material is frequently subjected to moisture and contamination that lead to dry band arcing. Their tracking resistance, erosion resistance, end sealing and shed design are very important because dry band arcing causes degradation of polymer surface. In this paper, the tracking property of polymer suspension insulator for power transmission is investigated with CEA tracking wheel test. The diagnosis of insulator sample in tracking test has been analyzed by leakage current, STRI Guide, SEM, FTIR and thermal image.

• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.915-920
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• 2013

Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.

• 한국산학기술학회논문지
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• 제11권2호
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• pp.644-650
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• 2010

본 본 연구에서는 교량의 동적거동에 미치는 영향을 분석하기 위한 교량-차량거동을 파악 하고자 실험적 연구를 수행하였다. 이를 위하여 차량 교량 간 상호작용이 포함된 이동질량 형 윤하중 시험기를 조립식 프리캐스트 패널형식의 단순교량에 적용하여 이동질량 반복주행실험을 수행하였다. 실험분석 결과 차량-교량간 상호작용은 교량의 동적거동에 예측 가능한 거동뿐 아니라 상반거동 및 반전현상등의 추가적인 다양한 거동을 발생시킴을 알 수 있었다.

• 한국재난정보학회 논문집
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• 제7권3호
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• pp.198-205
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• 2011

본 연구에서는 차량-교량 간 상호작용효과가 교량의 동적거동에 미치는 영향을 분석하기 위한 실험적 연구를 수행하였다. 이를 위하여 차량 교량 간 상호작용이 포함된 이동 질량 형 윤하중 시험기를 조립식 프리캐스트 패널형식의 단순교량에 적용하여 이동질량 반복주행실험을 수행하였다. 실험분석 결과 차량-교량 간 상호 작용은 교량의 동적거동에 예측 가능한 거동뿐 아니라 상반거동 및 반전현상 등의 추가적인 다양한 거동을 발생시킴을 알 수 있었다.