• 한국기계가공학회지
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• 제10권4호
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• pp.44-49
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• 2011

The crawler crane, which consists of a lattice boom, a driving system, and movable vehicle, is widely used in a construction site. It needs to be installed an overload limiter to prevent the overturning accident and the fracture of structure. This research is undertaken to provide the relation formula for designing the overload limiter as follows: First the relation formulas between the wire-rope tension and the hoisting load or the overturning ratio according to the luffing angle and length of a lattice boom are established. Secondly the derived formulas are corrected by using the compensated angle considering the deflection of boom through the finite element analysis. The stiffness analysis is carried out for 30-kinds of models as a combination of 6-kinds of luffing angle and 5-kinds of length of boom. Finally the shape design of a stick type load cell, which is the device to measure the wire-rope tension, is performed. 5-kinds of notch radius and 5-kinds of center hole radius are adopted as the design parameter for the strength analysis of the load cell.

• 한국기계가공학회지
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• 제20권3호
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• pp.83-91
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• 2021

A crawler crane, which consists of a lattice boom, a driving system, and a movable vehicle, is widely used on construction sites. The crawler crane often traverses rough terrain at these sites; as a result, an overload limiter needs to be installed on the crane to prevent it from overturning and breaking. In this paper, we studied the distributed load change in relation to boom length and the angle of rotation of the roller that comes in direct contact with the grounded track shoe. First, we developed a 3D model of a crawler crane and meshed it for finite elements. Then, we performed finite element analysis to derive the load on the roller. Finally, we graphed and examined the roller distributed load data of the case according to boom length and rotation angle. By detecting the load on the roller of the crawler crane, we can predict the potential for the crane to overturn before it happens.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2018년도 추계학술대회
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• pp.452-455
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• 2018

휠로더는 붐과 버켓을 제어하여 굴삭 및 덤핑 작업을 수행한다. 휠로더 장비 운전은 반복 작업이 많고, 작업환경이 열악하지만 오직 사람에 의한 수작업으로 진행되고 있다. 최근 전장품에서도 무인 자동화 시스템을 적용하려는 요구가 점차 증가하고 있다. 휠로더의 자동화 시스템은 안정된 제어를 위해 정확한 각도 검출을 검출이 필수적이다. 본 논문은 노이즈에 강인 하면서 정밀 각도 제어를 위한 신호처리시스템을 제안한다. 제안 시스템을 구현하여 휠로더 붐각도 시스템에 적용한 결과 약 0.1도 각도 변화 검출이 가능하였다.

• Journal of Biosystems Engineering
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• 제25권6호
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• pp.457-462
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• 2000

Boom sprayers have been known by their excellency in field efficiency worker’s safety and pest control efficacy. The boom sprayer in Korea that was developed for paddy field is not suitable for upland field of which shape is irregular and inclination is steep, due to heavy chemical tank long boom width and manual on-off control of spraying. The goal of the study was to develope a boom control system that could control boom angles of left and right boom automatically and independently corresponding to local field slope. The prime mover was selected as a cultivating tractor. Main results of this study were as follows. 1. Ultrasonic sensor whose response time was 0.1s and response angle was within $\pm$20$^{\circ}$was selected to measure distance. Voltage output of the sensor(X, Volt) had a highly significant linear relationship with the vertical distance between the sensor and ground surface(Y, mm) as follows; Y=0.0036X-0.437 2. Left and right section of the boom could be folded up by a position control device(on-off control) which could control the left and right boom independently corresponding to local slope by equalizing distances between the sensor and boom at the center and left/right boom. Most reliable DB(dead band) was experimentally selected to be 75$\Omega$(6cm). 3. At traveling velocity of 0.3~0.5m/s RMS of error between desired and achieved height was less than 4.5cm The developed boom angle controller and boom linkage system were evaluated to be successful in achieving the height control accuracy target of $\pm$10cm.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.1183-1184
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• 2010

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.377-378
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• 2006

The knuckle crane mainly consists of six parts such as swing, main boom, outer boom, extension boom, hydraulic rotor and knuckle. And the hydraulic rotor is connected at the end of extension boom has rotor block, rotor body, rotor vane. In this study, we carried out kinematics analysis of the hydraulic rotor block curvature for a knuckle crane. Then, we showed the formula to establish the radius of a circumscribed circle to form the rotor block curvature. Third, we analyzed the stress at each point of the rotor block curvature according to the contact angle. From the result of this study, we designed the rotor block curvature with a proper contact angle for a knuckle crane to guarantee the stability of hydraulic rotor.

• 한국항공우주학회지
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• 제49권3호
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• pp.175-183
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• 2021

초음속 비행체에서 발생하는 소닉붐은 일반적인 환경소음과 달리 초저주파 영역을 포함한 충격음으로 전파된다. 본 논문에서는 배열 음향센서를 이용하여 소닉붐의 특징을 왜곡 없이 측정하기 위한 계측방법과 소닉붐의 전파방향을 추정하기 위한 도래각 추정 방법에 대해 연구하였다. 음향센서의 배치에 따른 도래각 추정성능을 이론적인 방법으로 제시하였고 모의실험에서 얻은 통계값을 이용하여 본 연구에서 제안하는 도래각 추정 방법의 성능을 검증하였다. 또한 실제 초음속 비행체에서 발생한 소닉붐을 제안한 방법으로 측정하였고 그 결과를 분석하였다. 본 연구에서 얻은 결과로 소닉붐 측정을 위한 시스템 구성, 도래각 추정 방법과 그 성능에 대한 직관적인 개념을 제공하였다.

• Journal of Biosystems Engineering
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• 제31권3호
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• pp.146-152
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• 2006

Most upland in Korea have irregular field shapes. Boom sprayers working alone winding row will show considerable differences of spraying amount per unit area between left and right booms. If flow rates of both booms are equal. This phenomenon becomes significant as steering radius of sprayer decreases. This study was performed to seek a method which reduce the difference of the spray amount between left, right and center booms while spraying along curvy rows. A flow rate control method for keeping application rate of each boom section constant was proposed and experimentally proved using a boom sprayer attached to a cultivating tractor. The flow rate control device was composed of 3 ball valves and a rotary angle sensor. The rotary angle sensor showed a symmetric voltage output with respect to steering radius. The spray overlapping was happened in a boom nearby the steering center when steering radius of the sprayer was less than 5.2 m. Flow rates for left, right and center booms were regulated using ball valves based on the steering radius and spraying areas ration of right/left boom. The Maximum spraying area ratio ($S_{LR}$) of left to right boom section was 1:3.6 at the steering radius of 5.2 m. However, The Maximum achieved right and left spraying flow ratio was 1:2.7.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1788-1791
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• 1997

In this paper constant-level luffing and time optimal control of a JIB crane is investigated. The crane is assumed to have only the derricking motion. the analysis of plance kinematics provides the relationship between the boom angle and the main hosit motor angle for constant-level luffing. The dynamic equations for the crane are very nonlimear, and therefore they are linearized for the application of the linear control theory. The time optimal control in the perspective of no-sway at the end of boom stroke is investigated.

• 동력기계공학회지
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• 제20권3호
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• pp.64-73
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• 2016

In this research work, an algorithm development on tracking end-point of aerial work platform with jib profile and bend-linked boom was carried out to find the X, Y and Z direction value using coordinate transformation matrix. This matrix consists of device status value(length and angle) based on camera position axis, which are sent from device controller PLUS+1 by CAN protocol. These values are used to measure the distance and angle from the camera to the end-point. Using these distance and angle value, monitoring system controls FAN/TILT/ZOOM status of camera to get an adequate scene of workplace. This program was written in Java, C# and C for mobile device. These results provide the information to the aerial work device for secure operation.