• 한국도로학회논문집
• /
• 제10권4호
• /
• pp.225-234
• /
• 2008

본 연구는 아스팔트 혼합물의 변형강도에 대한 적정 하중재하속도를 선정하기 위하여 수행하였다. 이를 위하석 직경(D) 40mm, 하단의 원형 절삭반경(r)을 10.0mm의 하중봉으로 Kim test의 하중재하속도를 분당 10mm, 30mm, 50mm, 70mm로 하여 변형강도를 측정하고 반복주행시험을 수행하여 얻어진 소성변형 특성치와의 상관관계에 대하여 회귀분석을 수행하였다. 하중재하속도별 변형강도 값은 하중재하속도가 증가함에 따라 변형강도도 증가하는 경향을 보였다. 이것은 하중재하속도가 변형강도에 미치는 영향이 큰 요소임을 알 수 있었다. 하중재하속도에 따른 변형강도와 반복주행시험 결과인 최종침하깊이 및 동적안정도와의 상관성 분석을 통해 30mm/min의 하중재하속도가 가장 적합한 것으로 나타났다. 하중 30mm/min 하중재하속도가 불가능한 시험기의 30mm/min 하중재하속도에서의 변형강도는 제안된 환산계수를 적용해야 한다.

• ETRI Journal
• /
• 제30권6호
• /
• pp.774-782
• /
• 2008

An operational orbit determination (OD) and prediction system for the geostationary Communication, Ocean, and Meteorological Satellite (COMS) mission requires accurate satellite positioning knowledge to accomplish image navigation registration on the ground. Ranging and tracking data from a single ground station is used for COMS OD in normal operation. However, the orbital longitude of the COMS is so close to that of satellite tracking sites that geometric singularity affects observability. A method to solve the azimuth bias of a single station in singularity is to periodically apply an estimated azimuth bias using the ranging and tracking data of two stations. Velocity increments of a wheel off-loading maneuver which is performed twice a day are fixed by planned values without considering maneuver efficiency during OD. Using only single-station data with the correction of the azimuth bias, OD can achieve three-sigma position accuracy on the order of 1.5 km root-sum-square.

• 로봇학회논문지
• /
• 제17권2호
• /
• pp.142-151
• /
• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• 한국자동차공학회논문집
• /
• 제8권6호
• /
• pp.142-155
• /
• 2000

A MIMO model reference control scheme incorporating the variable structure theory for a vehicle four wheel steering system(4WS) is proposed and evaluated for a class of continuous-time nonlinear dynamics with known or unknown uncertainties. The scheme employs an neural network to identify the plant systems, where the neural network estimates the nonlinear dynamics of the plant. By the Lyapunov direct method, the algorithm is proven to be globally stable, with tracking errors converging to the neighborhood of zero. The merits of this scheme is that the global system stability is guaranteed and it is not necessary to know the exact structure of the system. With the resulting identification model which contains the neural networks, it does not need higher degrees of freedom vehicle model than 3 degree of freedom model. Th proposed scheme is applied to the active four wheel system and shows the validity is used to investigate vehicle handing performances. In simulation of the J-turn maneuver, the reduction of yaw rate overshoot of a typical mid-size car improved by 30% compared to a two wheel steering system(2WS) case, resulting that the proposed scheme gives faster yaw rate response and smaller side angle than the 2WS case.

• 항공우주기술
• /
• 제3권2호
• /
• pp.25-33
• /
• 2004

본 논문에서는 인공위성 반작용휠의 미소진동 측정을 위한 테스트 장비와 이를 이용하여 실측한 반작용휠의 미소진동을 측정 및 분석 결과를 소개한다. 위성의 미소진동은 KISTLER dynamic platform 이라는 400Hz 이내의 3축의 힘과 3축의 토크를 동시에 측정할 수 있는 장비에 의해 측정되며 측정된 데이터는 회전 속도에 따라 3차원 주파수 분석, order tracking 등의 방법을 이용하여 분석된다. 반작용휠의 미소진동 분석 결과, 회전 속도와 비례하는 일차 성분 외에 고차 조화 성분, 구조 진동 성분, 회전 속도에 따라 고유진동수가 변하는 rocking 모드 성분 등을 관찰할 수 있었으며, 휠의 정적 및 동적 불균형은 각각 0.79gcm과 17.4gcm²으로 나타났다. 이러한 다양한 진동 성분들은 회전체의 특성, 구조물의 특성 및 베어링의 영향으로 기인한다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2008년도 추계학술대회A
• /
• pp.795-800
• /
• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental

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

• 한국정밀공학회지
• /
• 제26권9호
• /
• pp.72-80
• /
• 2009

When the magnet wheel rotates over a conducting plate, it generates the traction torque as well as the repulsive force on the conducting plate. Partially-cut traction torque results in the linear force into the tangential direction. To cut the traction torque, the concept of magnetic shield is introduced. The direction change of the linear force is realized varying the shielded area of magnetic field. That is, the tangential direction of non-shielded open area becomes the direction of the linear thrust force. Specially a shape of permanent magnets composing the magnet wheel leads to various pattern of magnetic forces. So, to enlarge the resulting force density and compensate its servo property a few simulations are performed under various conditions such as repeated pattern, pole number, radial width of permanent magnets, including shape of open area. The theoretical model of the magnet wheel is derived using air-gap field analysis of linear induction motor, compared with test result and the sensitivity analysis for its parameter change is performed using common tool; MAXWELL. Using two-axial wheel set-up, the tracking motion is tested for a copper plate with its normal motion constrained and its result is given. In conclusion, it is estimated that the magnet wheel using partial shield can be applied to a noncontact conveyance of the conducting plate.

• International Journal of Precision Engineering and Manufacturing
• /
• 제4권2호
• /
• pp.30-38
• /
• 2003

This paper proposed PID controller for torch slider and PD controller for motor right wheel. to control the motion of two-wheeled welding mobile robot with seam tracking sensor touched on welding line. The motion control is realized in the view of keeping constant welding velocity and precise seam tracking even though the target welding line is on straight line or curved line. The position and direction of the body of the mottle robot are controlled by using signal errors between seam tracking sensor and body positioning sensor attached on the end of torch slider and body side of the mobile robot, respectively. In turning motion, the body and the torch slider are controlled by using the kinematic model related with two motions of body turning and torch sliding. The straight locomotion is controlled according to eleven control patterns obtained from displacements between two sensors of the seam tracking sensor and the body positioning sensor. The effectiveness is proven through the experimental results fur lattice type welding line. Through the experimental results, we can see that the position value of the electrode end point and the welding velocity are controlled almost constantly both in straight and turning locomotion.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2000년도 하계학술대회 논문집 C
• /
• pp.1590-1592
• /
• 2000

The time to tracking breakdown of treated filled specimen is longer than untreated filled specimen. And, after the RWDT, the surface of specimen by adding untreated filler appeared heavy erosion. It was found that the addition to surface treated filler. the better tracking resistance. In the RWDT, the breakdown specimen is not affected by the dry flashover voltage. despite the fact that the surface degradation of tracking test has different state on each specimen. This suggests that wet flashover voltage play an important role in evaluating of tracking and erosion on the surface degradation in tracking test. And, the flashover voltage of specimen under wet conditions are greatly affected by the salt concentration and degree of degradation by the RWDT. Because of hydrophobicity and degree of degradation by the RWDT, the flashover voltage of treated filled specimen is higher than that of untreated filled specimen. Different types of specimen may have different hydrophobicity and their surface state under contaminated conditions may not be the same. It is assumed that this phenomenon is related to the decrease in hydrophobicity of the surface of the materials.