• Proceedings of the KSR Conference
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• 2006.11b
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• pp.1276-1281
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• 2006

In general, the wheel-skid prevention of braking system is very important in modern railway applications. This is because wheel-skid can lead to an increase in noise and vibration from wheels with flat points, as well as an increased braking distance. However conventional anti-skid control has problems because wheel adhension and skid characteristics are very difficult nonlinear systems and time consuming to accurately model. In this paper, we design a fuzzy controller using a model of relation between ahdension and braking force, we show that anti-skid fuzzy controller has a very good performance, performing better than the previous conventional controller.

• Structural Engineering and Mechanics
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• v.53 no.5
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• pp.1051-1066
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• 2015

The study aims on the effect of material dependency in elastic- plastic contact models by contact analysis of sphere and flat contact model and wheel rail contact model by considering the material properties without friction. The various materials are selected for the analysis based on Young's modulus and yield strength ratio (E/Y). The simulation software 'ANSYS' is employed for this study. The sphere and flat contact model is considered as a flattening model, the stress and strain for different materials are estimated. The simulation of wheel-rail contact model is also performed and the results are compared with the flattening model. The comparative study has also been extended for finding out the mean contact pressure for different materials the E/Y values between 150 and 660. The results show that the elastic-plastic contact analysis for materials up to E/Y=296.6 is depend on the nature of material properties and also for this material the mean contact pressure to yield strength reaches 2.65.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.1055-1062
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• 1996

A method for automatically driving paddy vehicles, such as rice transplanters, etc., straight ahead in a paddy field was investigated . The direction of such vehicles must be precisely controlled to do the operations as straight. However, the alignment of the from wheels becomes distorted due to the unevenness of the ground, preventing the vehicle form going straight. If the proper alignment of the front wheels is maintained , the vehicle can be driven straight ahead greater precision. To investigate the influence of the ground uneveness, the behavior of a paddy vehicle running over an obstacle was quantified. The left wheel ran over an obstacle on a flat concrete road surfaced. When the steering wheel was free, the front wheels were forced toward the left when vehicle went up the obstacle and toward the right when the vehicle went down it. The torsion of the wheel when the vehicle went down the obstacle was larger than that when it went up ,so it turned right 5 degrees. Sinc hydraulic control steering decreased the steering angle , it turned right 3 degrees. These results suggest that a vehicle can be driven straight ahead with high precision when the steering angle is changed in response to the direction and inclination of the vehicle . Such results were obtained in a paddy field tests.

• Journal of Welding and Joining
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• v.21 no.5
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• pp.513-517
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• 2003

Resistance welding processes are widely used in automotive applications. In particular, Mash-Seam resistance welding is typically used in Tailored Blank process. If spot welds are changed to a continuous weld, it's easy to reduce noise and to be more stable in cars. A arc welding, laser welding, seam welding using wheel electrode are available to make continuous welds on a car body, but they demand operator with advanced skills and expensive cost to develop. Therefore, flat electrode continuous mash-seam resistance welding process has been used to improve the weak points in currently available system in lap seam welding. This developed process has much more strength and air tightability, and also has much better plastic workability than laser welding. Moreover, commercial RSW machine can be readily used in this welding process.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.249-250
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• 2006

Recently FPD(Flat Panel Display) is used in various field to display enormous information. So cutting technique of flat panel display is needed for producing variety display merchandises. In present, cutting methods of flat panel glass includes breaking process. But this process occurs many glass particles. This glass particles are directly related badness of merchandise and falling productivity. In this paper, to cut front substrate glass of LCD and to get optimized cutting condition are tried fur eliminating breaking process with developed glass cutting machine using a Piezoelectric ceramics actuator. It is known that the vibration of Piezoelectric Ceramic have effect in crack proceeding through the analysis of fracture section.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.5
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• pp.123-130
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• 2008

In order to clarify detailed mechanism of the flexible disk grinding system, workpiece length was introduced and its performance was evaluated. Flat zone ratio increased as the workpiece length increased. Increasing wheel speed and depth of cut also enhanced process performance by producing larger flat zone ratio. Neural network system was successfully applied to predict minimum depth of engagement and flat zone ratio. An additional input parameter as workpiece length to the neural network system enhanced the prediction performance by reducing error rate. By rearranging the Input combinations to the network, the workpiece length was precisely predicted with the prediction error rate lower than 2.8% depending on the network structure.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.558-565
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• 2011

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.110-119
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• 2010

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.