• 한국생산제조학회지
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• 제23권4호
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• pp.374-379
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• 2014

Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omni-directional mobile robot based on Mecanum wheels was developed to achieve omni-directionality. A CompactRIO embedded real-time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni-directional mobile robot.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.1002-1011
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• 2006

In this paper, a lateral vehicle control using the concept of control configured vehicle(CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to commend a chosen variable without significant motion change in other specified variables. The analysis techniques fur decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling(i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

• 자원리싸이클링
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• 제7권2호
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• pp.53-58
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• 1998

본 연구는 폐타이어 고무분말을 이용한 아스팔트 콘크리트 혼합물의 성질에 대한 실험적 연구결과를 나타내고 있다. 기존의 재래식 아스팔트 혼합물과 폐타이어 고무분말 첨가 아스팔트 혼합물의 성상을 비교하기 위하여 다양한 물성 시험을 실시하였다. 고온에서 아스팔트 혼합물의 소성변형에 대한 저항성 평가인 휠트랙킹 시험결과 고무분말을 함유한 아스팔트 혼합물이 기존의 재래식 아스팔트 혼합물보다 약 50% 정도 상회하는 결과를 보였다. 또한, 표층용 아스팔트 혼합물을 유사한 기상조건과 하중을 가하여 아스팔트 혼합물의 내구성을 측정하는 라벨링 시험을 실시하였다. 시험결과 고무분말을 함유한 아스팔트 공시체가 재래식에 비하여 약 15%정도 우수하였다. 따라서, 향후 폐타이어의 적극적인 도로용 재료로서의 활용은 공학적인 측면에서 뿐만 아니라 폐자원의 리싸이클링 측면에서 고려될 때 향후 커다란 이득이 될 수 있을 것으로 예상된다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.676-681
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• 2001

ABS is a safety device, which adds hydraulic system to the existing brake system to prevent wheel from locking, so we can obtain maximum braking force on driving. The hydraulic system to control braking pressure consists of sol-flow type using solenoid valve, flow control valve or consists of sol-sol type using two solenoid valve. In this paper, the hydraulic system in ABS is composed of sol type using a 3port-2position solenoid valve, and vehicle system is composed of 1/4 vehicle model. And slip ratio is controlled using PWM (Pulse-Width-Modulation) control algorithm. Braking friction coefficient and tracking friction coefficient which are described by slip ratio's function have maximum value when slip ratio has its value from 0.1 to 0.3. And slip ratio is controlled constantly in this boundary value even in the variation of road's condition in some boundary.

• 한국생산제조학회지
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• 제25권2호
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• pp.112-117
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• 2016

In the construction industry, concrete polishing is used to grind and rub the surface of concrete grounds with polishing machines to increase the strength of the concrete after deposition. Polishing is performed manually in spite of the generation of dust and the requirement of frequent replacements of the polishing pad. The concrete polishing robot developed in this research is a novel polishing automation system for preventing the workers from being exposed to poor working environments. This robot is able to change multiple polishing tools automatically; however, the workers can conveniently replace the worn-out polishing pads with new ones. The mobile platform of the polishing robot employs omnidirectional wheels to enable a flexible motion even in small and complicated workspaces. To evaluate the performance of the developed concrete polishing robot, extensive experiments including square trajectory tracking, automatic tool changing, actual polishing, and path generation simulation were performed.

• 한국도로학회논문집
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• 제15권1호
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• pp.75-86
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• 2013

PURPOSES: The purpose of asphalt pavement reducing surface temperature by using Pipe cooling system is to make pleasant city life environment. METHODS: We considered building condition to lay the pipes under asphalt pavement and figured out that temperature reducing effect with pipe cooling system. In addition, we guessed rutting through wheel tracking test with a laid the pipes under asphalt mixture and performed fatigue cracking through a flexural fatigue test for performance evaluation of pipe cooling system. RESULTS: When pipe cooling system worked, the temperature of pavement model reduced quickly in test. The system can turn down the degree by 4 or 5 quickly as well. It didn't affect rutting to lay the pipes under the pavement, but it can get damaged to asphalt pavement in early stage by the result of performance evaluation. CONCLUSIONS: We figured out that pipe cooling system can turn down the temperature of aspalt pavement surface through tests. We suggest that pipe cooling system should be considered one of the effective way to solve urban heat island problem.

• 한국도로학회논문집
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• 제20권3호
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• pp.1-9
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• 2018

PURPOSES : In order to evaluate a crack resistance at cold joint, sealing tape was adopted to apply at cold joint instead of typical tack coat material(RSC-4). The sealing tape was made by hot sealing material. The crack resistance as function of environmental and traffic loading was measured with visual observation. METHODS : In this study, the crack resistance was evaluated as function of environmental and traffic loading. The freeze-thaw method was adopted for environmental loading of asphalt pavement. condition. The damage of cold joint under freeze-thaw action is initiated by ice expansion load and accelerated by the interfacial damage between new and old asphalt pavement. The traffic loading was applied with wheel tracking machine on the cold joint area of the asphalt pavement for 3 hours at $25^{\circ}C$. The evaluation of crack resistance was measured with visual observation. The freeze-thaw results shows that the sealing tape was significantly increased the crack resistance based on. RESULTS : To estimate the crack resistance at cold joint area due to the environmental loading, the Freeze-thaw test was conducted by exposing the product to freezing temperature(approximately $-18^{\circ}C$) for 24 hours, and then allowing it to thaw at $60^{\circ}C$ for 24 hours. The tack coat material(RSC-4) was debonded after 21 cycles of the Freeze-thaw test. The first crack was observed after 14 freeze-thaw cycle with RSC-4 material. But, the sealing tape was not debonded after 24 cycle test. Also, the sealing tape shows the better performance of the crack resistance under the traffic loading with wheel track test. The crack was generated the under traffic loading with RSC-4(tack coating), however, the crack was not shown with sealing tape. It indicates that the sealing tape has a strong resistance of tensile stress due to traffic loading. CONCLUSIONS :Based on limited laboratory test result, a performance of crack resistance using the sealing tape is better than that of general tack coat material(RSC-4). It means that the sealing tape is possible to extend a pavement service life because the crack, one of the main pavement distresses, will be delayed.

• 한국지반환경공학회 논문집
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• 제13권2호
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• pp.67-73
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• 2012

폐아스콘은 순재료와 첨가제를 섞어 분쇄와 가열을 통하여 재활용될 수 있다. 본 연구에서는 고품질재생아스팔트(SRP)의 질을 향상시키기 위하여 Sasol 왁스와 폴리올레핀 탄성체를 이용하였다. 첨가제로써 중간층 및 표층용은 PG 70-22를 목표로 아스팔트량의 1.5%를 사용하였고, 중교통 표층용은 PG 76-22를 목표로 아스팔트량의 3% 개질제와 혼합물의 0.1%에 해당하는 셀룰로스 화이버를 첨가하였다. 두 혼합물은 마샬안정도시험, 간접인장강도시험, 잔류간접인장강도시험, 휠트래킹시험 등을 수행하였다. 시험결과는 KS F 2349와 GR F 4005의 기준을 만족하였으며, 고품질재생아스팔트는 중교통도로의 표층 및 기층재료로 사용이 적합하였다. 현재 약 13,000톤의 고품질재생아스팔트 혼합물이 서울 올림픽 도로에 현장시공 되었다.

• 한국도로학회논문집
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• 제11권2호
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• pp.111-120
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• 2009

본 연구는 배수성 아스팔트 포장의 표면을 아크릴 수지로 코팅 처리할 경우 내구성 측면 및 기능적 측면에서 어떠한 효과가 있는가를 실내시험을 통해 평가하는 기초적인 연구이다. 포장의 내구성 측면에서는 칸타브로 및 휠트래킹, 수분손상 간접 인장 피로 시험 등을 실시하였다. 시험결과 시편을 수지로 코팅을 한 경우 칸타브로 손실률이 3배 정도 감소되었고 균열에 대한 저항성도 대폭 향상되었으나 수분손상 및 소성변형의 저항성은 큰 차이가 없는 것으로 나타났다. 기능적인 측면에서는 코팅 전 후의 투수계수 및 공극률 BPT(British Pendulum Tester)를 사용한 미끄럼 저항성의 변화를 측정하였다. 시험결과 공극률 및 투수계수는 약간 저하되나 기능상의 문제는 없을 것으로 판단되며, 미끄럼 저항성은 규사를 살포하지 않을 경우 미끄럼 저항성이 감소되나 규사를 살포할 경우 코팅 전 수준 이상의 미끄럼 저항성을 확보하는 것으로 나타났다.

• 한국도로학회:학술대회논문집
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• 한국도로학회 2002년도 학술발표회 논문집
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• pp.89-92
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• 2002

본 연구의 목적은 여러 가지의 폐자원중 슬래그 및 폐주물사의 도로포장용 골재로서의 특성을 평가하고, 이를 이용한 다양한 조합의 재활용 아스팔트 혼합물의 소성변형 특성을 평가하는 것이다. 골재특성을 평가하기 위해 입도 및 입형분석, 비중 및 흡수성, 마모저항성, 골재안정성과 같은 시험을 수행하였다. 골재로서의 특성평가 시험 결과 고로슬래그는 비교적 강도 특성이 제강슬래그에 비해 작은 경향을 나타냈다. 마샬배합설계로서 최적 아스팔트 함량이 결정되었고, 그 범위는 7.2%에서 7.5%정도 였다. 재활용 골재를 이용한 조합의 아스팔트 혼합물의 소성변형 특성을 평가하기 위해 간접인장강도시험, 회복탄성계수시험, 크리프 시험을 수행하였다. 재활용 골재를 이용한 아스팔트 혼합물의 소성변형 특성이 일반골재를 이용한 아스팔트 혼합물에 비해 다소 떨어지는 경향을 나타내었다. 다만 현재진행중인 휠트래킹 시험 결과가 나오면 재활용 골재를 활용한 아스팔트 혼합물의 소성변형특성을 좀더 구체적으로 파악할 수 있을 것으로 판단된다.