• 자동차안전학회지
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• 제16권1호
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• pp.42-48
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• 2024

With a sustained increase in the number of reported registrations for two-wheeled vehicles and the simultaneous growth of the domestic two-wheeled vehicle market, fueled by the activation of contactless industries and a rising population engaging in recreational two-wheeled vehicles during the COVID-19 era, concerns regarding safety incidents and environmental issues have come to the forefront. While the regular inspection methods and environmental standards for four-wheeled vehicles are becoming more stringent for safety and environmental management, the same cannot be said for two-wheeled vehicles. As the market for two-wheeled vehicles continues to expand, there is a pressing need for improvements in the management and inspection of these vehicles. In this study, we analyze cases of non-compliance from the results of periodic inspections over the past five years, specifically focusing on illegal customizations, exhaust emissions testing, and exhaust noise results. Through this analysis, we elucidate the necessity for enhancing the inspection system for two-wheeled vehicles, drawing parallels with the inspection systems applied to conventional automobiles. The findings of this research contribute to advocating for improvements in the inspection regime for two-wheeled vehicles, addressing the growing concerns related to safety and environmental impact.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.76.2-76
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• 2002

Because of the wheeled mobile robot is modeled by nonlinear system framework and controlled by nonlinear algorithms or fuzzy algorithms, the treatment of wheeled mobile robot is very complecate and conservative. In this paper, a new model of two wheeled mobile robot, which is a type of linear system and treated easily, is presented. And we will show that the control algorithms based on the linear system theory is well work to the wheeled mobile robot by simulation and experiment.

• 한국자동차공학회논문집
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• 제20권2호
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• pp.56-63
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• 2012

Environment has become a main issue nowadays. People began to show big interest in "futuristic means of transportation", which is an efficient method in $CO_2$ emissions reduction and decreasing use of oil. Due to the noise and emissions of two-wheel vehicle of internal combustion engine, electric two-wheeled vehicles have been supplied in downtown. The electric two-wheeled vehicles use battery as power source. The performance of lithium-ion battery changes as the ambient temperature changes. In this paper, analysis of performance variance of electric two-wheeled vehicles influenced by the temperature using the chassis dynamometer and the environmental chamber was carried out.

• 한국ITS학회 논문지
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• 제22권1호
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• pp.126-142
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• 2023

본 연구는 이륜차 법규위반 및 교통사고 예방을 위한 무인교통단속장비 및 표준규격 개발을 목적으로 한다. 이를 위해 현재 운영중인 무인교통단속장비의 이륜차 단속의 문제점 및 신기술 검토를 진행하였고, 설문조사를 통해 이륜차 무인교통단속장비 도입타당성 및 기술현황을 조사하였다. 또한 개발장비 현장실험을 통해 이륜차 단속기능을 구현하였고, 성능개선을 통해 단속대상 추가 및 번호인식률이 향상되었다. 현장실험 및 성능평가 결과를 바탕으로 이륜차 무인교통단속장비의 성능기준을 마련하였고 통신프로토콜에서는 차종분류코드 및 위반항목에 이륜차에 관한 사항을 신규로 구성하여 규격을 개발하였다.

• 전기학회논문지P
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• 제53권4호
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• pp.201-204
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• 2004

In this paper, a direct adaptive tracking controller based Lyapunov method is designed for a wheeled mobile robots. A wheeled mobile robots have three degrees of freedom and two control variables. Therefore, it is difficult to control a mobile robot using the general linear control. We introduce two kinds of Lyapunov function for the design of the controller and verify the controller. A mobile robots using the designed adaptive direct tracking controller is well-behaved and is easily implemented.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.377-387
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• 2005

The equations of motion of two-wheeled vehicles, e.g. bicycles or motorcycles, are developed by using Lagrange's equations for quasi-coordinates. The pure rolling constraints between the ground and the two wheels are considered in the dynamical equations of the system. For each wheel, two nonholonomic and two holonomic constraints are introduced in a set of differential-algebraic equations (DAE). The constraint Jacobian matrix is obtained by collecting all the constraint equations and converting them into the velocity form. Equilibrium, an algorithm for searching for equilibrium points of two-wheeled vehicles and the associated problems are discussed. Formulae for calculating the radii of curvatures of ground-wheel contact paths and the reference point are also given.

• 한국전자통신학회논문지
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• 제17권5호
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• pp.941-948
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• 2022

인간의 접근이 어려운 재난 현장에 투입되는 재난 대응 로봇은 재난의 확산 방지 및 피해 최소화를 위해 현장탐색, 인명구조 등의 임무를 수행한다. 재난 현장에는 다양한 장애물이 산재한 험지, 통신 장애, 비가시적인 환경 등 복합적인 요인으로 인해 로봇 운용에 어려움이 있다. 본 논문에서는 직렬연결이 가능한 바퀴 로봇 모듈을 개발하였다. 바퀴 로봇 모듈은 직접 구동이 가능한 로봇 모듈과 수동으로 구동되는 로봇 모듈 두 가지로 개발하였다. 두 개의 직접 구동이 가능한 로봇 모듈과 하나의 수동으로 구동되는 로봇 모듈을 직렬연결하여 하나의 바퀴 로봇을 구성하였다. 로봇 모듈은 1 자유도 회전 관절로 연결되어 바퀴 로봇은 수직 방향으로의 장애물 회피가 가능하다. 바퀴 로봇은 압력 센서만을 이용해 주행과 장애물 극복을 수행하도록 제어하여 비가시적 환경에서 운용할 수 있도록 하였다. 바퀴 로봇의 성능 평가를 위해 두 개의 직접 구동이 가능한 바퀴 로봇 모듈과 한 개의 수동으로 구동되는 바퀴 로봇 모듈을 연결하여 장애물 극복 실험을 수행하였다. 바퀴 로봇은 압력 센서만을 사용해 최대 높이 80 mm의 계단형 장애물을 24.5초의 시간 동안 성공적으로 극복하여 비가시적인 상황에서 주행 및 장애물 극복이 가능함을 확인하였다.

• 한국운동역학회지
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• 제26권3호
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• pp.309-314
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• 2016

Objective: There are no guidelines for choosing appropriate gait assistive devices. The aim of this study was to evaluate gait assistive devices in patients with Parkinson's disease. Method: We evaluated 15 individuals with Parkinson's disease who did or did not use one of two different devices including canes and two-wheeled walkers. Data were collected using the GAITRite system. Results: Participants in the group using canes and two-wheeled walkers had significantly increased double support time and decreased gait velocity, normalized gait velocity, and stride length compared with those who did not. Participants who used a two-wheeled walker had significantly decreased gait velocity, normalized gait velocity, and stride length compared with those who used a cane. Furthermore, participants who used a two-wheeled walker had significantly decreased coefficients of variation for step time, stride length, and swing time compared with those who used a cane. Conclusion: Our results indicated that the two-wheeled walker offered the most consistent advantages for decreasing the risk of falling.

• 한국자동차공학회논문집
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• 제19권5호
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• pp.7-13
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• 2011

The climate change due to the increased consumption with fossil fuel and rise of the oil price have been serious global issues. Automobile industry consumes 30% of the oil every year and causes air pollution and global warming by the exhaust emissions and carbon dioxide ($CO_2$). The demand of two-wheeled vehicle increases every year due to the parking and traffic problem caused by the increased automobiles in the urban area. Approximately 50,000,000 two-wheeled vehicles were produced in 2008. The development and sales of the hybrid two-wheeled vehicle industry become active due to its increased market demands. In this paper, the change of the motor and battery efficiency, driving distance, hill climbing ability with the change of the motor capacity was analyzed. Simulation of the peculiarities in urban driving schedule(World-wide Motorcycle Test Cycle(WMTC), Manhattan driving schedule), constant speed(10 km/h, 35 km/h) of small electronic two-wheeled vehicle was also carried out. Through the simulation result, appropriate capacities of the motor and battery for urban driving was acquired.

• 대한인간공학회지
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• 제28권2호
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• pp.17-26
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• 2009

In this study, anthropometric analysis and usability evaluation for four-wheeled walker were carried out and then ergonomics design guidelines were proposed. In anthropometric analysis, design factors of four-wheeled walker were firstly identified and anthropometric design guidelines were made using Korean human scales. Design suitability for two typical four-wheeled walkers was analyzed in based on anthropometric design guidelines. Usability evaluation for two typical walkers was also performed through observation method and expert evaluation. Several usability problems were identified and design solutions were proposed for the design improvement of four-wheeled walker. Finally a design model of four wheeled walker considering analysis results was proposed.