• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2000년도 춘계학술대회 논문집 유기절연재료 방전 플라즈마
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• pp.82-85
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• 2000

Polymeric composite insulators are used for outdoor insulation. However, our knowledge about their long-term performance in an outdoor environment is still very limited. The electrical stress caused the surface of these insulators to become degradation. In order to evaluate the tracking resistance of polymer insulators, we performed the tracking wheel test which is recommended by CEA LWIWG-01. And the flashover voltage tests were conducted for understanding electrical characteristics after tacking wheel test. Also, these insulators are studied by characterization methods such as contact angle measurement, SEM, etc.

• Transactions on Control, Automation and Systems Engineering
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• 제4권2호
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• pp.169-175
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• 2002

A sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is performed for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• 로봇학회논문지
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• 제17권2호
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• pp.124-132
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• 2022

With growth in intelligence of mobile robots, interaction with humans is emerging as a very important issue for mobile robots and the pedestrian tracking technique following the designated person is adopted in many cases in a way that interacts with humans. Among the existing multi-object tracking techniques for pedestrian tracking, Simple Online and Realtime Tracking (SORT) is suitable for small mobile robots that require real-time processing while having limited computational performance. However, SORT fails to reflect changes in object detection values caused by the movement of the mobile robot, resulting in poor tracking performance. In order to solve this performance degradation, this paper proposes a more stable pedestrian tracking algorithm by correcting object tracking errors caused by robot movement in real time using wheel odometry information of a mobile robot and dynamically managing the survival period of the tracker that tracks the object. In addition, the experimental results show that the proposed methodology using data collected from actual mobile robots maintains real-time and has improved tracking accuracy with resistance to the movement of the mobile robot.

• 한국도로학회:학술대회논문집
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• 한국도로학회 2004년도 학술발표회 논문집
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• pp.103-110
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• 2004

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.92.1-92
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• 2001

Sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is taken for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• 한국전기전자재료학회논문지
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• 제33권2호
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• pp.135-140
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• 2020

An experimental study was conducted using the tracking wheel test (IEC 62217) method for evaluating the performance of insulator materials, in particular ethylene propylene diene monomer (EPDM) and silicone rubber. In addition, we studied the tracking characteristics resulting from applying the same method for the shape of the insulator housing, that is, the performance of regular and alternating sheds. The evaluation parameters were leakage current, surface characteristics, SEM, EDX, hydrophobicity, and temperature distribution; likewise, we applied the commercial frequency dry (and wet) flashover voltage test. We found that the regular shed had a greater leakage current than the alternating shed and that the recovery of the hydrophobicity in terms of rest time was greater than that of the EPDM in terms of leakage current. All of the regular-shed insulators of silicone rubber had tracking traces and choking on the sheath parting line, while the alternating shed showed only choking at the interface but no tracking traces. Therefore, it can be concluded that the commercial frequency wet flashover voltage of the silicone rubber with regular shed before and after the tracking wheel test is higher than that of the alternating shed.

• 한국군사과학기술학회지
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• 제11권4호
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• pp.141-148
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• 2008

In this paper, we develop a detailed full dynamic model which includes various rough terrains for 6-wheel skid-steering mobile robot based on the real experimental autonomous vehicle called Dog-Horse Robot. We also design a co-simulation for performance comparison of path tracking algorithms. The control architecture in the co-simulation can be divided into two levels. The high level control is the closed-loop control of path tracking to follow a given path, and the low level is concerned about torque control of wheel motion. The simulation using the mechanical data of the Dog-Horse Robot is performed under the Matlab/Simulink environment. We also simulate and evaluate the performance of the model based adaptive controller.

• 한국자동차공학회논문집
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• 제11권4호
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• pp.189-195
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• 2003

The steel wheels are widely used in the passenger cars because of their low cost of production although the aluminum wheels have many advantages in their performance and appearance. It is known that the steering wheel vibration with steel wheels is generated more often than one with aluminum wheels. Both the constant velocity driving test and the m up test are carried out in this study to analyze the causes and path of the steering wheel vibration generated from the steel wheels. And this study shows that the steering wheel vibration is affected by the fastening torque of the wheel mounting bolts between the steel wheel and the suspension disk.

• 한국지반신소재학회논문집
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• 제17권1호
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• pp.75-83
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• 2018

본 연구에서는 지반 내 공동에 대하여 긴급복구가 필요한 경우를 대상으로 개발된 포켓형 팽창재료의 거동특성을 분석하고자, 휠트래킹 시험을 통한 동적안정도 및 일축압축강도시험을 이용한 강도특성을 평가하였다. 휠트래킹 시험 결과, 높은 하중조건에서 포켓형 팽창재료로 복구된 지반은 모래지반에 비하여 침하량 증가율이 감소하였다. 즉, 포켓형 팽창재료는 재료의 강성으로 침하억제효과를 나타내는 것으로 확인되었으며, 이는 동적안정도 평가결과에서도 동일하게 나타났다. 휠트래킹 시험 전 후의 일축압축강도시험 결과로부터 공동 긴급복구용 포켓형 팽창재료는 복구된 지반 상부의 하중지지역할이 충분히 가능한 것으로 평가되었다.

• 한국도로학회논문집
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• 제6권3호
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• pp.37-46
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• 2004

본 연구는 소성변형을 예측하기 위하여 현재 가장 널리 사용되고 있는 반복주행 (Wheel tracking: WT) 시험을 통해 얻어진 변형량-사이클 곡선의 동적안정도(Dynamic stability : DS)를 정립하기 위한 연구이다. 기존에 반복주행시험을 통해 얻어진 곡선에서 동적안정도를 구하는 방법은 표준화되어 있기는 하지만 불합리한 점이 많아 이를 보다 합리적으로 정립하기 위한 방안을 제시하고자 하였다. 슬래브 $305{\times}305{\times}70mm$의 공시체를 롤러콤팩터로 다짐하여 공극률 약 $4\pm0.5%$로 맞추어 제조하여 반복주행시험을 실시하였다. 기존에 동적안정도를 구하는데 사용하던 방법보다는 본 연구에서 사용한 방법으로 동적안정도를 구하는 것이 침하 깊이와의 상관성을 보다 잘 반영하고, 소성변형 저항성이 좋은 것과 나쁜 것간의 차이가 보다 확실히 나타남을 알 수 있었다. 추후 본 연구에서 개발된 방법으로 계산하여서 동적안정도가 큰 혼합물이 실제 현장에서도 공용성이 우수한지를 추적 조사하는 연구가 뒤따라야 할 것이다.