• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.4
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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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.

• Resources Recycling
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• v.7 no.2
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• pp.53-58
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• 1998

Wheel tracking and ravelling tests were conducted on the hot mix crumb rubber modified asphalt concrete usmg waste tire t to evaluate the mechanical prope$\pi$ies in comparison with conventional asphalt concrete. According to the test results, the m modified product, lias superior to the conventional one by 50% in the resistance of permanent deformation and by 15% in the m resistance of dmability. The experimental results should recommend thut the waste tir$\xi$ is positively recycled for asphak concrete.

• Proceedings of the KSME Conference
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• 2001.06b
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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.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.2
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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.

• International Journal of Highway Engineering
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• v.15 no.1
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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.

• International Journal of Highway Engineering
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• v.20 no.3
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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.

• Journal of the Korean GEO-environmental Society
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• v.13 no.2
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• pp.67-73
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• 2012

Asphalt pavement waste can be recycled by crushing and heating methods with additional virgin materials and additives. In this study, a new additive using Sasol wax and Polyolefin elastomer was used for improving the quality of the Superior recycled asphalt pavement(SRP). Additive was added into the recycled mixture by 1.5% and 3% of binder content in order to have PG 70-22 and PG 76-22. Both mixtures were tested by Marshall apparatus, indirect strength testing methods, toughness testing methods, moisture susceptibility testing methods and wheel tracking testing methods. Test results met the standards of KS F 2349 and GR F 4005. Through research, it was found that these special recycled mixtures could be applied for the surface and base course of heavy traffic roads or equivalents. About 13,000 tons of the recycled mixture has been applied on Seoul Olympic road to provide new road to Hangang park for Seoul citizens.

• International Journal of Highway Engineering
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• v.11 no.2
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• pp.111-120
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• 2009

This paper presents a fundamental findings of the functional and structural performance of the porous asphalt concrete coated with MMA resin. To evaluate the structural performance, cantabro, wheel tracking, moisture sensitivity and indirect tensile fatigue tests are performed. The tests results show that the cantabro loss is reduced three times and fatigue resistance is significantly increased after the specimens are coated with MMA resin. However there are little changes in the rutting and moisture damage resistances before and after the coating. Air voids, permeability and BPT(British Pendulum Test) tests are conducted to study the functional performance. It is observed form the tests that the air voids and permeability are slightly decreased after the coating. However, the changes in the air voids and permeability are negligible. The skid resistance of the coated specimens is lower than reference specimens. However, the skid resistance is maintained beyond the level of the reference specimens when silica sands are chipped on top of the coated surface.

• 한국도로학회:학술대회논문집
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• 2002.10a
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• pp.89-92
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• 2002

The objective of this research is to evaluate engineering properties of recycled aggregates, slag as coarse & fine aggregate and waste foundry sand(WFS) as fine aggregate, in hot mix asphalt(HMA). In this research, soundness, gradation and particle analysis, abrasion, specific gravity and absorption test were carried out. The optimum asphalt binder content(OAC) for various HMA combinations of recycled aggregate was determined by Marshall Mix Design. The ranges determined is between 7.2% and 7.5%. Indirect tensile test, resilient modulus test, creep test were carried out for characterization of rutting behavior of various combination of HMA. Judging from the limited tests, the HMA with recycled aggregates is not as good rutting resistance as the HMA with common aggregates. After finishing the Wheel tracking test, the application or feasibility for the use of recycled aggregate as asphalt paving material will be determined.