• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 춘계학술대회 논문집
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• pp.315-316
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• 2010

• 전자공학회논문지SC
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• 제43권3호
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• pp.16-24
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• 2006

본 논문에서는 비평탄 지형을 보행하기 위한 육족 보행 로봇의 내고장성 걸음새 계획을 제안한다. 본 논문에서 고려하고 있는 고장은 관절고착고장으로 로봇 다리의 관절 하나가 어떤 위치에 고착되어서 보행이 끝날 때까지 움직일 수 없는 상태를 말한다. 기존에 제안되었던 평탄 지형 보행을 위한 내고장성 세다리 걸음새 계획을 바탕으로 본 논문에서는 육족 보행 로봇이 관절고착고장이 발생한 후에도 이차원 착지 불가능 영역이 존재하는 비평탄 지형을 걸을 수 있도록 하는 내고장성 FTL(Follow-The-Leader) 걸음새를 구현한다. 제안된 FTL 걸음새는 고장 난 다리의 착지점에서 로봇이 가질 수 있는 최대한의 보폭을 낼 수 있으며, 기존 내고장성 걸음새보다 착지 불가능 영역을 뛰어넘는 능력이 더 우수하다. 컴퓨터 시뮬레이션을 통해서 제안된 FTL 걸음새의 응용가능성을 검증한다.

• 대한기계학회논문집A
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• 제33권6호
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• pp.545-551
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• 2009

A small guard robot working indoors or outdoors can be used to report various information on its environment to an operator. The guard robot should be small-sized and lightweight to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with various situations. To satisfy these requirements, this paper presents a small robot equipped with a novel hybrid wheel and track mechanism that can select wheels or tracks depending on the situation. The robot folds the tracks into the body in the wheel mode and only wheels are active with the tracks immobilized, which results in the fast moving speed. In the track mode, the tracks are extended to keep in contact with the ground. Furthermore, this research proposes the belt length maintenance mechanism by which the belt length is kept constant in either the wheel or track mode. Various experiments demonstrate that the proposed robot can move fast by using wheels on the smooth terrain and overcome obstacles by using tracks on the rough terrain.

• 한국농공학회논문집
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• 제56권1호
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• pp.81-88
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• 2014

Accurate wind data is essential for predicting airborne spread of virus. OpenFOAM was used for computational fluid dynamics (CFD) simulation procedure which is under GNU GPL (General Public License). Using complex terrain, DEM (Digital Elevation Map) that was prepared from GIS information covering a research site is converted to a three dimensional surface mesh that is composed by quad and full hexahedral space meshes. Around this surface mesh, an extended computational domain volume was designed. Atmospheric flow boundary conditions were used at inlet and roughness height and was considered at terrain by using rough wall function. Two different wind conditions that was relatively stable during certain periods were compared in 3 different locations for validating the accuracy of the CFD computed solution. The result shows about 10 % of difference between the calculated result and measured data. This procedure can simulate a prediction of time-series data for airborne virus spread that can be used to make a web-based forecasting system of airborne virus spread.

• 드라이브 ㆍ 컨트롤
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• 제19권3호
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• pp.32-38
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• 2022

The in-wheel drive gearbox for military special vehicles converts the high-speed & low-torque output generated by the electric servomotor, into low-speed & high-torque mechanical power. As the vehicle is remotely maneuvered in mountainous terrain, wet fields, rough terrain, etc., the gearbox must generate a maximum input speed exceeding 5,000 rpm, a maximum torque of 245 Nm, and MTBF of 9,600 km. The purpose of this study was to analyze the failure mode of the gearbox, to ensure the durability of the in-wheel drive gearbox. Also, the field load test data of the vehicle was analyzed, the acceleration durability test standards were established, the acceleration durability test was conducted, and the durability test results were analyzed as well.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2002년도 봄 학술발표회 논문집
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• pp.63-70
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• 2002

In tunnel construction, the information on the rock quality and the location of fault or fracture are crucial for economical design of support pattern and for safe construction of the tunnel. The grade of rock is commonly estimated through the observation with the naked eye of recovered cores in drilling or from physical parameters obtained by their laboratory test. Since drilling cost is quite expensive and terrains of planned sites for tunnel construction are rough in many cases, however, only limited information could be provided by core drilling Electrical resistivity and EM surveys may be a clue to get over this difficulty. Thus we have investigated electrical resistivity and EM field data providing regional Information of the rock Quality and delineating fault and fracture over a rough terrain. In this paper, we present some case histories using electrical resistivity and EM survey for the site investigation of tunnel construction. Through electrical resistivity and EM survey, the range and depth of coal seam was clearly estimated, cavities were detected in limestone area, and weak zones such as joint, fault and fracture have been delineated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1048-1053
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• 2005

This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in traveling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground. The another application is an military robot for an EOD(Explosive Ordnance Disposal) and reconnaissance mission. The military version of the ROBHAZ-DT3 with a water disrupter, a thermal scope and a long distance wireless communication device is developed and sent to the area of military tactics in Iraq. Consequently, the feasibility of the military version of ROBHAZ-DT3 is verified.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1022-1028
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• 2008

This article presents an omni-tread snake robot that designed to locomote on narrow space and rough terrain. The omni-tread snake robot comprises three segment, which are linked to each other by 2 degrees of freedom joints for the pitch and yaw motion. Moving tracks on all four sides of each segment guarantee propulsion even when the robot rolls over. The 2 DOF joint are actuated by 2 servo motors which produce sufficient torque to lift the one leading or trailing segments up and overcome obstacles. This paper applies articulated steering technique to get omni-tread snake robot's kinematics model.

• 한국자동차공학회논문집
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• 제9권1호
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• pp.20-27
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• 2001

A variable configuration tracked vehicle(VCTV) is developed to reduce turning energy and improve climbing ability for stairs. This mechanism has four track T-type frames. By changing the driving direction, each track T-type frame rotates to minimize the contact area with ground. It also has better performance than other VCTV in energy consumption of turning. Futhermore this mechanism is more stable than other VCTV on the rough terrain. When climbing stairs, each track T-type frame rotates to obtain a front attack angle and keep stability on steep stairs. The design parameters of components of track T-type frames are optimized to enhance the performance of climbing stairs. Performance indices include a stable angle, a climbing ability, a height of the vertical obstacle. In case that the overall length of the mechanism is 0.2m, it is required that the radius of the wheels should be 5mm and the length track contacted with he ground should be 0.09m to climb higher and steeper stairs.

• 대한전기학회논문지
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• 제38권12호
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• pp.1007-1013
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• 1989

This paper describes the procedure of kinmatic design of a quadruped walking machine which has better mobility and higher energy efficiency than the wheeled or tracked vehicles on the rough terrain. Specifically, this paper puts much emphasis on the procedure and its rationality of the design of the leg which is the key mechanical element of the walking robot. And it shows the appropriateness of the selected mechanism and the design method through the walking experiment of the prototype machine built upon the resulted design. The pantograph mechanisms are proved to be acceptable as the leg of the walking machine from the experiment even though it is indicated that the walking speed and the body deflection should be improved further. This paper also describes the problems of the realization of the gait the frictional effects along with their causes in the walking experiment.