• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.73-81
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• 2003

An autonomous stair robot recognizing the stair, and climbing up and down the stair by utilizing a robot vision, photo sensors, and appropriate climbing algorithm is introduced. Four arms associated with four wheels make the robot climb up and down more safely and faster than a simple track typed robot. The robot can adjust wheel base according to the stair width, hence it can adopt to a variable width stair with different algorithms in climbing up and down. The command and image data acquired from the robot are transferred to the main computer through RF wireless modules, and the data are delivered to a remote computer via a network communication through a proper data compression, thus, the real time image monitoring is implemented effectively.

• Journal of Biosystems Engineering
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• 제32권4호
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• pp.223-229
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• 2007

This study was conducted to develop a 2 row type band furrow tiller for a walking cultivator. The tillage and weeding operations in the furrow of dry fields has been done manually or chemical herbicide has been applied. The application of herbicide induces soil pollution and manual operation requires heavy labor. This 2-row type implement was developed to substitute this manual operation and to minimize soil pollution. The developed implement was composed of power transmitting device, tilling device, frame and tail wheel. The max. plowing width and depth were 300mm and 180mm, respectively. The revolutions of the hexagonal shaft and the tillage shaft were $227{\sim}376rpm$ and $355{\sim}590rpm$, respectively. The adequate working speed was $0.50{\sim}0.83m/s$ and the field capacity was $0.17{\sim}0.28hr/10a$.

• Journal of Biosystems Engineering
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• 제26권6호
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• pp.517-524
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• 2001

Steep and narrow ramp installed in the paddy field makes it difficult and sometimes dangerous to drive agricultural machines on it. Because agricultural machinery become larger and heavier, it is necessary to revise design standard for ramp to provide safe travel. This study was conducted to revise the design standard fur paddy field ramp, especially for its width and slope. A mathematical model predicting travelling path of a tractor on paddy field ramp and farm road was developed and simulated. To verify this model, field tests were carried out. The model could predict trvelling path with RMS Error of 12.5cm and 8.2cm, which were judged to be adoptable fur determining the width of paddy field ramp. By applying this model to 110ps tractor, which was assumed to be the largest tractor in Korea, width of paddy field ramp was determined as over 3.6m. The slope of paddy field ramp, which provided tractor with 10% of the total weight of the tractor and the mounted implement as reaction force at front wheel against ground was analyzed by considering weight transfer effect on a ramp. The result showed that adequate slope of paddy field ramp was 14°.

• 한국방재학회 논문집
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• 제9권4호
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• pp.45-51
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• 2009

본 논문에서는 예방적 유지보수 공법으로서 최소단면 보수공법의 경제성을 분석하였다. 최소단면 보수공법은 차량의 주행 특성을 근거로 하여 적용하였다. 최소단면 보수공법의 한 차로당 유효보수범위는 각 차륜 통과부인 70 cm이며, 주행차량 특성 분석에 따르면 각 차륜통과 범위 내에서 95%이상의 차량이 주행한다. 최소단면 보수공법은 기존의 유지보수공법보다 유지보수비용이 감소하는 것으로 나타났으며 교통정체 감소에 따른 사용자 비용도 감소한다. 본 연구결과 총 유지보수비용은 최소단면 보수공법을 적용함으로서 기존의 유지보수공법에 비해 35%감소하는 것으로 나타났다.

• 한국전자통신학회논문지
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• 제11권12호
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• pp.1237-1244
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• 2016

차량의 윤폭과 윤거 정보를 산출하는 답판 센서는 국내 유로 도로의 차종 분류 장치에서 일반적으로 사용 된다. 답판 센서는 차량 정보를 생성하기 위하여, 주행 중인 차랑의 바퀴와 접촉이 필요하며 따라서 이때 발생하는 충격을 견디기 위해 높은 내구성이 요구된다. 최근 한국도로공사가 요금소에서 화물차 고속 차로의 운영을 시작함에 따라, 화물차가 고속 주행할 때 발생하는 설계 기준 이상의 충격으로 인한 답판의 파손과 이에 따른 유지보수 및 관리 비용의 증가가 염려되고 있다. 본 논문에서는 물리적 충격에 대한 내구성을 향상 시킨 무접점 답판 센서를 사용해서, 통과 차량의 차종을 분류하는 알고리즘을 제안하였다. 이는 한국도로공사 6종 분류 방식을 기준으로 하였고, 지방도 1020호선의 창원 요금소를 통과하는 1892대를 대상으로 한 실험에서 99.5%의 분류 정확도를 나타내었고, 무접점 답판을 사용한 차종 분류 장치가 국내 유료 도로에 효과적으로 적용이 가능함을 확인하였다.

• 한국공작기계학회논문집
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• 제12권3호
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• pp.38-44
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• 2003

The solenoid valve in ABS hydraulic modulator is a two directional on-off valve and is controlled by around 100Hz high speed pulse width modulation. When the valve is switched from open state to closed state, noise and vibration due to pressure surge phenomena in the hydraulic line and wheel cylinder are made. In this study, we identify Pressure surge phenomenon in the braking process of a ABS, and investigate the way to reduce the phenomenon. For the purpose of theoretical analysis on the pressure surge in the closed state hydraulic line, characteristic curve method based on wave equation was utilized. To reduce the surge, high frequency control of 20kHz was attempted. The result showed that the surge pressure of 50% was reduced compared to one observed in the low frequency control. Duty variation of high frequency can control current of solenoid valve and prevent sudden change of displacement.

• 한국산업보건학회지
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• 제21권4호
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• pp.209-214
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• 2011

Objectives: To assess the risk of pushing or pulling the yarn-carrying cart, the survey was performed in some fiber manufacturing factories. Methods: We selected 6 fiber-twisting factories which agreed to in-site survey of their workplace. To measure both initial and sustained forces of the push-pull tasks, Chatillon CSD500 dynamometer(2004, Ametek, USA) was used. The mean of 3 tests for the same cart was adopted as the measured forces. Height and width of cart, weight of spooled yarns, and distance of movement were also measured. Inspection of cart wheel, moving path, and the actual hand position while moving was done. Results: More than one pushing or pulling task exceeded the push-pull force limits of design goal in 5 factories. Though the cart was not loaded the heaviest weight in the factory, the measured push or pull force exceeded the limits several times. A few cart wheels were worn out and tangled with pieces of yarn. It was also observed some holes in the moving path. Conclusions: While the push-pull task is not included in the 11 scopes of over-burdened work notified by Korean government, it should be recognized as risk factor of work-related musculoskeletal disorders. The maintenance work such as regular change and frequent cleaning of cart wheel, the use of fitting wheel, and flattening of bumpy floor through the moving path should be advised importantly in the worksite management of work-related musculoskeletal disorders.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제24권2호
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• pp.79-87
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• 2018

Purpose: The purpose of this paper is to provide logical basis on enlargement of toilet floor space for the disabled by "ACT ON GUARANTEE OF PROMOTION OF CONVENIENCE OF PERSONS WITH DISABILITIES, THE AGED, PREGNANT WOMEN. ETC" Revised Enforcement regulation [Asterisk 1] (2018.2.10.) and to help with making plans, designs and establishing policies by conducting experimental study with the enhanced floor area regulations. Methods: We conduct Experimental study, field work and interview for this paper. In experimental study, verification of the effective floor area was proceeded by measuring activity space for people in manual wheelchair, electric wheel chair and electric scooter and also reviewed useable area with the space expanded 0.2m both width and depth. In filed work, conducted an observation what other things (ex. sanitary equipment, hand rail and so on) can also affect the active space as well as effective floor space. In the interview, other problems and requirements that were not revealed were experimental study and observation of field work. Results : it's expected to provide better access to toilets for the disabled with the law revision of effective floor area. But, with the usage increasement of enlarged wheel chair and electric wheel chair, expanding side areas of toilet is also highly likely to be required going forward. Implications : Additional research is required on locations of exists and internal arrangement that effect the usage of toilet. It should be led to Universal design by making additional investigation and verification of the users patterns.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.55-56
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• 2006

This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. White each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 mm in width and length, respectively, and 200 mm in height. Its mass is slightly over 14 kg. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.

• 한국농공학회지
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• 제12권3호
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• pp.2019-2028
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• 1970

1. 트랙터에 의(依)한 효율적(效率的) 경기방법(耕起方法)을 실험(實驗) 고찰(考察)하여 다음과 같은 결과(結果)를 얻었다. 가. 포장내측경기(圃場內側耕起)에 있어서 선회소요시간(旋回所要時間)을 최소(最少)하는 효율적(效率的) 선회법(旋回法)은 선회간격(旋回間隔)이 zr(r=최소선회반경(最少旋回半徑))보다 작을때는 Q 자형(字型), 클때는 U 자형(字型)이다. 나. 포장내측경기(圃場內側耕起)의 단위선회구(單位旋回區) 건(巾) w는 2.5r 시(時) 가장 효율적(效率的)이다. 다. 포장주변부(圃場周邊部) 경기(耕起)에 있어서는 W>-0.0345L + 35.84 시(時)는 혼합경법(混合耕法)이 능률적(能率的)이고 W<-0.0345 + 35.84 시(時)는 반접속경법(半接續耕法)이 능률적(能率的)이다. 라. 포장주변부(圃場周邊部)의 건(巾)l는 내측경기시(內側 耕起時)와 주변경기시(周邊耕起時)에 있어서 모두 적을수록 효과적임으로 최소치(最少値)인 2r가 가장 적합(適合)하다. 2. 트랙터에 의(依)한 단위포장(單位圃場)과 경기능률(耕起能率)과의 관계(關係)를 고찰(考察)하여 다음과 같은 결과(結果)를 얻었다. 가. 종횡비(縱橫比)$\frac{L}{W}$ 및 면적(面積) A가 크면 일반적(一般的)으로 경기능률(耕起能率)은 증가(增加)한다. 나. 경기능률(耕起能率)의 증가율(增加率)은 종횡비(縱橫比) 및 면적(面積)이 크면 클수록 증가율(增加率)이 점차적으로 감소(減少)한다. 다. $\frac{L}{W}-T$ 곡선(曲線)에서 $\frac{L}{W}$에 대(對)한 T의 변화(變化)가 큰 범위(範圍)는 대략(大略) 20a에서 6, 30a에서 5, 50a에서 4, 80a에서 3, 100a에서 2.5 이내(以內)이다. 라. T-A 곡선(曲線)의 변화율(變化率)은 $\frac{L}{W}$의 영향(影響)을 받으나 대략(大略) $T=A^{-\frac{2}{3}}$ 곡선(曲線)의 변화율(變化率)과 같다. 마. 종횡비(縱橫比)가 3이상(以上)일때는 면적(面積)의 크기에 상관(相關)없이 경기능률(耕起能率)에 미치는 10a 면적증가(面積增加)의 효과는 약(約) 5 정도(程度)의 종횡비(縱橫比) 증가효과와 같다. 바. 종횡비(縱橫比)가 $2{\sim}3$일때는 면적(面積)의 크기에 상관(相關)없이 경기능률(耕起能率)에 미치는 10a 면적증가(面積增加)의 효과는 약(約) $4{\sim}2$ 정도(程度)의 종횡비(縱橫比) 증가효과와 같으면 이는 종횡비(縱橫比)가 적을수록, 면적(面積)이 클수록 차차(次次) 감소(減少)한다.