• 로봇학회논문지
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• 제10권4호
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• 한국조경학회지
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• 제31권1호
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• pp.66-77
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• 2003

The purpose of this study is to propose a standard putting green management program to prepare fast green suitable for international golf tournaments, and to conform whether the reported green speed model can be applied to the real field situations. The west course of Lakeside Country Club was selected for the case study. This study was initiated on August 1st, 2001 and continued through October 4th, 2001. The results are summarized as follows: 1. Following the long-term schedule, 'penncross' creeping bentgrass turf was mowed at 5.0mm(37days), 4.5mm(8days), 4.0mm(4days), 3.5mm(2days), 3.2mm(2days), 3.0mm(2days), 2.8mm(2days) and the mowing direction was changed daily. Variation of mowing height was reduced to a minimum range. Core aerification with deep tines was applied 19 days prior to the first practice round. Dry sand maintenance was top-dressed 2 times at 1.5mm/$m^2$ on the 17th day and 1.0mm/$m^2$ on the 10th day. Minimum irrigation was applied to keep the turf alive. During the tournament preparation week, dew on the putting greens was removed by using a sponge roller. Following the dew removal, the greens were cut once each morning at a height of 2.8mm. The mower used was the 21 inch working behind mower equipped with a tournament bedknife and 11 reel blades. Following the mowing, the peens were rolled with a light-weight roller in one direction in the morning. Rolling was used as a finishing technique to ensure that the surface was as smooth as possible, and to provide true ball roll and maximum green speed. In conclusion these management practices satisfied the daily green stimpmeter readings required for USGA championship play. 2. During the period of tournament preparation, no damage was observed on the green, but scalping in green edge appeared in about 0.39% of the total area of 18 greens in the west course.

• 한국조경학회지
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• 제29권4호
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• pp.91-99
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• 2001

This study was carried out to investigate the effects of mowing height, rolling, N-fertilizing, and season on green speed(i.e., ball-roll distance) for developing and implementing a program of increasing green speed in Korean golf courses. Data were subjected to multi-regression analysis using SPSSWIN(Statistical Package for the Social Science), which collected from Yong-Pyong golf course greens selected to investigate. The results was as follows. 1) The multi-regression analysis of mowing height, rolling times, and N-fertilizer application rates on spring green speed was as follows; $Y_1$(spring green speed)=4.287+0.155X$_1$(rolling times)-0.131X$_2$(the amount of N-fertilizing)-0.251X$_3$(mowing height). 2) The multi-regression analysis of mowing height, rolling times, and N-fertilizer application rates on summer green speed was as follows; $Y_2$(summer green speed)=4.833-0.423X$_3$(mowing height)+0.146X$_1$(rolling times)-0.107X$_2$(the amount of N-fertilizing). 3) The multi-regression analysis of mowing height, rolling times, and N-fertilizer application rates on fall green speed was as follows; $Y_3$(fall green speed)=4.651-0.383X$_3$(mowing height)+0.142X$_1$(rolling times)-0.103X$_2$(the amount of N-fertilizing). 4) As mowing height was lowered by 1mm, green speed increased by 0.251~0.423m. As rolling times increased by 1(one), green speed increased by0.142~0.15m. As the amount of N-fertilizing increased by 1g/$m^2$, green speed decreased by 0.103~0.131m. The season also affected green speed. In comparison with spring green speed, summer green speed decreased by 0.145m and fall green speed decreased by 0.144m.

• 한국조경학회지
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• 제31권3호
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• pp.91-106
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• 2003

The objective of this study is to present management methods for Korean golf courses to achieve fast green that satisfies international golf tournament standards during an official golf tournament. The results of both the research and the comparative study on putting green management of 24 tournaments hosted in Korea and 12 tournaments hosted in overseas countries in 2002 are as follows: 1. As for the putting greens in Korean and foreign golf courses where official golf tournaments were held, Korean of official golf tournaments were mainly opened in two-green system golf courses contrary to the foreign cases, and the average size of the greens in Korean golf courses was shown to be greater than that of foreign golf courses to some extent, although there was no difference between the types of turf varieties. 2. Results have shown that unlike foreign golf courses, Korean golf courses were managing putting greens by using greens mowers mostly for general (non-tournament) management, and elaborate rolling attempts failed during official tournament flay week because of an insufficient number of rollers to be input. Therefore, Korean golf courses are required to make efforts to secure 21-inch working-behind greens mowers equipped with tournament bedknifes and 11 blades, which is the greens mowing equipment for professional tournaments, and rollers above all things in order to achieve fast green during tournament play week 3. In attempting to achieve green as fast as that of foreign golf courses, Korean golf courses need to consider the method of performing mowing at 3.0mm height or less with greens mowers for professional tournaments. This needs to be done more than two times, followed by a continuous practice of rolling for proper management.

• 아시안잔디학회지
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• 제20권1호
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• pp.11-23
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• 2006

본 연구는 골프 코스 관리자가 관리 방법에 따른 그린 스피드를 쉽게 예측할 수 있는 정보를 제공하기 위해 롤링, 이슬제거, 그리고 롤링+이슬 제거를 각각 1회 작업 후 깎기 높이의 변화($4.0{\sim}2.5mm$)와 시간 경과($0{\sim}8hr$)에 따른 4가지 유형의 그린스피드 예측 모형을 통한 빠른 그린 관리 방법을 제시하고자 수행하였다. 공 구름 거리 측정 값은 레이크사이드 컨트리 클럽 동코스 연습용 퍼팅 그린[(Creeping bentgrass (Agrosis palustris Huds. 'Penncross')]에서 2001년 10월 18일과 2002년 5월 25일에 하였다. 자료는 SPSS for window Rel. 10.0(SPSS Inc, 2000) 통계 패키지를 이용하여 다중 회귀 분석하였다. 4가지 유형의 그린스피드 예측 모형중, 빠른 그린 관리 방법의 기준을 설명해 줄 수 있는 회귀식은 식4[($Y_4=4.171-0.225{\cdot}X_1-0.038{\cdot}X_2$(여기서 $Y_4$ : 1회 이슬 제거+1회 롤링시 그린 스피드(m), $X_1$ : 깎기 높이($4.0{\sim}2.5mm,\;X_2$) : 시간 경과($0{\sim}8hr$)]이었다. 이 식은 1회 이슬 제거(스펀지 롤러) $\rightarrow$ 3.0mm 이하의 깎기 높이(21인치 11날 보행식 그린모아, 토너먼트 밑날 장착) $\rightarrow$ 1회 롤링(경량 롤러)의 관리 작업을 할 경우 라운드 종료까지도 3.2m이상의 빠른 그린을 얻을 수 있는 것을 예측하였다. 따라서 이런 관리 시스템은 공식 골프 대회를 위한 빠른 그린의 관리의 기준이 될 것으로 기대되어 진다.

• 한국조경학회지
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• 제28권4호
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• pp.29-43
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• 2000

This study is carried out to investigate the cahracteristics of green management practices and green speed(i.e., ball-roll distance) on 129 Golf Courses in Korea, and to explain the effects of managemet practices that affect green speed. Data collected from green-keepers were subjected to frequency, correlation analysis, and multi-regression analysis using SPSSWIN(Statistical Package for the Social Science). The results are as follows. 1. In spring mowing height, 3.5-4 mm appeared the highest frequency(44.4%) and 4-4.5mm mowing height appeared the high frequency(41.0%). In summer mowing height, 4.5-5mm appeared the highest frequency(51.3%). In fall mowing height, 4-4.5mm appeared the highest frequency(41.0%). 2. In N-fertilizing amount of February and November, 0(zero) g/$m^2$ appeared the highest frequency. In N-fertilizing amount, of June and July 0-2 g/$m^2$ appeared the highest frequency. In N-fertilizing amount, of March, May, August, and September 2-4 g/$m^2$ appeared the highest frequency. In N-fertilizing amount, of October 2-4 or 6-8 g/$m^2$ appeared the highest frequency. 3. In spring topdressing times, 3-6 times appeared the highest frequency(52.6%). In spring topdressing amount, more than 2mm appeared the highest frequency(35.9%). In summer topdressing tierms, 0-3times appeared the highest frequency(71.8%). In summer topdressing amount, 0.5-1mm appeared the highest frequency(46.2%). In fall topdressing times, 0-3times appeared the highest frequency(47.4%). In fall topdressing amount, more than 2mm appeared the highest frequency(35.9%). 4. In spring irrigation tiems, 3-4times/a week appeared the highest frequency (30.6%). In spring irrigation amount, the irrigation below 5mm/day under appeared the highest frequency(38.7%). In summer irrigation times, 4-7times/ a week appeared the highest frequency(38.9%). In summer irrigation amount, 5-10mm/a day appeared the highest frequency(45.2%). In fall irrigation times, 2-3times/a week appeared the highest frequency(36.1%). In fall irrigation amount, the irrigation below 5mm/a day under appeared the highest frequency(45.2%). 5. In spring aeration times, 2 times appeared the highest frequency(55.2%). In spring aeration depth, 5-10mm appeared the highest frequency(81.6%). In fall aeration times, 1 time appeared the highest frequency(82.5%). In fall aeration depth, 5-10mm appeared the highest frequency(86.8%). 6. In spring green speed, 1.98-2.28 or 2.59-2.89mm appeared the highest frequency(32.7%). In summer green speed, 1.98-2.28mm appeared the highest frequency (46.9%). In fall green speed, 1.98-2.28mm appeared the highest frequency(38.8%). 7. The factors which affect green speed were mowing height, N-fertilizing, season, topdressing, irrigation, and aeration. Vertical mowing did not affect green speed. The order of the relevant important factors was mowing height >: N-fertilizing > season > topdressing > irrigation > aeration. Mowing height and N-fertilizing were the most important factors in green speed. As mowing height decreased, green sped always increased. As total N-fertilizing amount decreased, green speed increased. In summer, green sped decreased remarkably. As topdressing times increased and the topdressing amount decreased, green sped increased. As irrigation times increased and irrigation amount decreased, green speed increased.

• 아시안잔디학회지
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• 제18권1호
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• pp.37-46
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• 2004

본 연구는 골프코스관리자들이 빠른 그린관리를 위한 장비 사용 계획시 참고가 될 수 있는 기초자료를 제공하고자 그린모아 유형(보행식, 승용식)에 따른 그린스피드 차이, 보행식 그린모아에 장착된 회전날 유형(9날, 11날)에 따른 그린스피드 차이 그리고 롤러 유형(승용식 그린정리기, 경량롤러)에 따른 그린스피드 차이를 비교하였다. 그 결과의 요약은 다음과 같았다. 1. 그린모아 유형(보행식, 승용식)에 따른 그린스피드 차이는 깎기 후 바로 그리고 깎기 후 8시간 경과 뒤에도 보행식 그린모아를 사용한 3.8mm 깎기 처리구가 승용식 그린긴아를 사용한 3.8mm 깎기 처리구에 비해 그린스피드가 빠르게 나타났고 이는 95% 유의수준에서 통계적으로 유의한 결과였다. 따라서 보행식 그린모아가 승용식 그린모아에 비해 빠른 그린 관리에 적합한 장비 유형으로 판단되 었다. 2. 그린모아에 장착된 회전날 유형(9날, 11날)에 따른 그린스피드 차이는 11날 장착 보행식 그린모아를 사용한 3.2mrn 깎기 처리구가 9날 장착 보행식 그린모아를 사용한 3.2mm 깎기 처리구에 비해 그린스피드가 빠르게 나타났고 이는 95% 유의수준에서 통계적으로 유의한 결과였다. 따라서, 11날이 9날보다 빠른 그린관리에 적합한 회전날 유형으로 판단되었다. 3. 보행식 그린모아로 3.0mm로 깎기한 다음이어서 승용식 그린정리기로 1회 롤링한 처리구와 보행식 그린모아로 3.0mm로 깎기한 다음 이어서 경량롤러로 1회 롤링한 처리구간의 그린스피드 차이(다짐후 그린스피드 증가효과)는 95% 유의수준에서 통계적으로 유의하지 못했으나 8시간 경과 뒤에 측정한 두 처리구들의 그린스피드의 차이(다짐후 그린스피드 감소효과)는 95% 유의수준에서 통계적으로 유의한 결과를 나타냈다. 따라서, 경량롤러가 승용식 그린정리기 보다 빠른 그린관리에 적합한 롤러유형으로 판단되었다.