• Journal of the Society of Disaster Information
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• v.7 no.3
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• pp.190-197
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• 2011

In this paper, an analytical and experimental study is performed in order to determine the effects of interaction between a vehicle and a structure. For this purpose, a wheel tracking machine and an adequate single span bridge are designed. Results presented in the paper show that the real vehicle tracking accelerations including the interaction between the vehicle and the structure produce additional effects on the dynamic behavior of the structure including reversal and contrary behavior. Also, the interaction between the vehicle and the bridge is reproduced by applying the identified real vehicle tracking accelerations to a general finite element analysis program.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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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).

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2001.07a
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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.

• The Journal of Korea Robotics Society
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• v.9 no.1
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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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.

• Proceedings of the Korea Concrete Institute Conference
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• 2003.05a
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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,

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2005.07a
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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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.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.644-650
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• 2010

In this paper, an experimental study is performed in order to determine the effects of interaction between vehicle and structure. For this purpose a wheel tracking machine and an adequate precast concrete deck single span bridge are designed. Results presented in the paper show that interaction between vehicle and structure produce additional effects on dynamic behavior of structure including reversal and contrary behavior.

• Journal of the Society of Disaster Information
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• v.7 no.3
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• pp.198-205
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• 2011

In this paper, an experimental study is performed in order to determine the effects of interaction between vehicle and structure. For this purpose a wheel tracking machine and an adequate precast concrete deck single span bridge are designed. Results presented in the paper show that interaction between vehicle and structure produce additional effects on dynamic behavior of structure including reversal and contrary behavior.