• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1435-1439
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• 2004

Most recently, CP(Cellular Phone) has been one of the most important technologies in the IT(Information Tech-nology) field, and it is situated in a position of great importance industrially and economically. To produce the best CP in the world, a new technological concept and its advanced implementation technique is required, due to the extreme level of competition in the world market. The RT(Robot Technology) has been developed as the next generation of a future technology. Current robots require advanced technology, such as soft computing, human-friendly interface, interaction technique, speech recognition, object recognition etc. unlike the industrial robots of the past. Therefore, this paper explains conceptual research for development of the RCP(Robotic Cellular Phone), a new technological concept, in which a synergy effect is generated by the merging of IT & RT. RCP infra consists of $RCP^{Mobility}$ $RCP^{Interaction}$, $RCP^{Integration}$ technologies. For $RCP^{Mobility}$, human-friendly motion automation and personal service with walking and arming ability are developed. $RCP^{Interaction}$ ability is achieved by modeling an emotion-generating engine and $RCP^{Integration}$ that recognizes environmental and self conditions is developed. By joining intelligent algorithms and CP communication network with the three base modules, a RCP system is constructed. Especially, the RCP mobility system is focused in this paper. $RCP^{Mobility}$ is to apply a mobility technology, which is popular robot technology, to CP and combine human-friendly motion and navigation function to CP. It develops a new technological application system of auto-charging and real-world entertainment function etc. This technology can make a CP companion pet robot. It is an automation of human-friendly motions such as opening and closing of CPs, rotation of antenna, manipulation and wheel-walking. It's target is the implementation of wheel and manipulator functions that can give service to humans with human-friendly motion. So, this paper presents the definition, the basic theory and experiment results of the RCP mobility system. We confirm a good performance of the RCP mobility system through the experiment results.

• Journal of the Korean Society of Hazard Mitigation
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• v.2 no.2 s.5
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• pp.61-72
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• 2002

The optimum fiber and asphalt binder contents were decided on the base of the Mashall mix design method. To compare the mechanical characteristics between the conventional(dense-graded 20) and the fiber-reinforced mixtures, indirect tension tests were conducted under three temperatures(5, 20, 60$^{\circ}C$). In particular, the wheel tracking tests were performed to evaluate the rutting resistances of the mixtures. Test results showed that the indirect tensile strength of fiber-reinforced asphalt concrete was higher than that of conventional one. The toughness of fiber-reinforced mixture was 1.27 to 1.97 times higher than that of conventional one, depending upon the temperature. In addition, the results of wheel tracking tests and the retained indirect splitting tension tests conducted at $60^{\circ}C$ revealed that the resistance to permanent deformation of fiber-reinforced mixture was stronger than that of the conventional one.

• Journal of computational fluids engineering
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• v.21 no.1
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• pp.30-35
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• 2016

In order to investigate effects of grid resolution on large-eddy simulation of flow over a heavy vehicle, large-eddy simulations over the vehicle with coarse grid and fine grid are conducted. In addition, comparison of drag coefficients with the experimental data obtained by a wind tunnel experiment is conducted. Both of the drag coefficients of coarse grid and fine grid large-eddy simulation show good agreement with the experimental data. Flow fields obtained by the coarse and the fine grid large-eddy simulation are compared in the vehicle frontal-face region, the vehicle rear wheel region, and the vehicle base region. Coarse grid large-eddy simulation shows good agreement with the fine grid large-eddy simulation in the vehicle front face region and the vehicle rear wheel region, since the flow over the present vehicle is dominated by flow separation which is geometrically pre-determined, not by the skin friction which is known to be sensitive to grid resolution.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.1344-1368
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• 2007

The Advanced countries including Japan, USA and European countries are adopting automatic system(e.g., auto-measurement using CCD camera) for measuring pantograph sliding plate and wheel abrasion to minimize manpower for E.M.U(Electric Multiple Unit) inspection and maintenance as part of management rationalization of railroad Corporation since late 1980's. In Korea, as part of scheme of business rationalization, automatic system for measuring pantograph sliding plate and wheel abrasion started to draw industry attention since late 1990s, and the system started to be installed in newly built depots of Korea Railroad Corporation since 2002. This study hopefully provides the base for realizing business rationalization and applying the advanced technology developed by Korea, the country of powerful IT basis, to overseas railroad organizations by examining automatic system for measuring pantograph sliding plate abrasion using existing CCD cameras produced domestically and in foreign countries to study cases(organizations in Korea) for improvement of measurement, management and inspection of pantograph sliding plate abrasion using CCD cameras with new cutting-edge technology; and by applying the study result to railroad organizations in metropolitan areas in Korea.

• Journal of the Korean Society of Hazard Mitigation
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• v.8 no.1
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• pp.39-45
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• 2008

The most important elements in flexible pavement design criteria are stress and strain distributions. To obtain reasonable stress and strain distributions in pavements, moving wheel loads must be applied to analyze the pavement responses. In this study, finite element analysis was used to identify the three-dimensional states using the vehicle load into a constant-position / time-variable load (25, 50 and 80km/hr). In an elastic system, the strain is the same in both longitudinal and transverse directions under a single wheel. However, the same is not necessary in a viscoelastic system. Test results showed that the maximum values between transverse and longitudinal strains the bottom of asphalt concrete base layers under 25km/hr were were about 40 percent.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.3D
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• pp.453-459
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• 2006

This paper presents an experimental evaluation of wandering effect on asphalt concrete pavement responses. A laser-based wandering system has been developed and its performance is verified under various field conditions. The portable wandering system composed of two laser sensors with Position Sensitive Devices can allow one to measure the distance between laser sensors and tire edges of moving vehicle. Therefore, lateral position of each wheel on the pavement can be determined in a real time manner. Pavement responses due to different loading paths are investigated using a roll over test which is carried out on one of asphalt surfaced pavements in the Korea Highway Corporation test road. The pavement section (A5) consists of 5 cm thick surface course; 7 cm intermediate course; and 18 mm base course, and is heavily instrumented with strain gauges, vertical soil pressure cells and thermo-couples. From the center of wheel paths, seven equally-spaced lateral loading paths are carefully selected over an 140 cm wandering zone. Test results show that lateral horizontal strains in both surface and intermediate courses are mostly compressive right under the loading path and tensile strains start to develop as the loading offset becomes 40 cm from the wheel path. The development of the vertical stresses in the top layers of subbase and anti-frost is found to be minimal once the loading offset becomes 50 cm.

• Journal of Biosystems Engineering
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• v.33 no.3
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• pp.186-195
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• 2008

In this paper, a prototype tele-operative system with a mobile base was developed in order to automate cultivation of house melon. A man-machine interactive hybrid decision-making system via tele-operative task interface was proposed to overcome limitations of computer image recognition. Identifying house melon including position data from the field image was critical to automate cultivation. And it was not simple especially when melon is covered partly by leaves and stems. The developed system was composed of 5 major modules: (a) main remote monitoring and task control module, (b) wireless remote image acquisition and data transmission module, (c) three-wheel mobile base mounted with a 4 dof articulated type robot manipulator (d) exchangeable modular type end tools, and (e) melon storage module. The system was operated through the graphic user interface using touch screen monitor and wireless data communication among operator, computer, and machine. Once task was selected from the task control and monitoring module, the analog signal of the color image of the field was captured and transmitted to the host computer using R.F. module by wireless. A sequence of algorithms to identify location and size of a melon was performed based on the local image processing. Laboratory experiment showed the developed prototype system showed the practical feasibility of automating various cultivating tasks of house melon.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.1
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• pp.19-25
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• 1987

An optimal control procedure is presented for steering of an unmanned cart which has two motored wheels on its left and right side. Steering, running and stopping are enabled by controlling the motor speed independently. An optimal proportional-plus-integral control is employed to eliminate steady state error which is sustained by a simple proportional control for tracking a circular arc path. A simple and readily-implemented suboptimal control is also examined. The suboptimal control gives comparable performance and therefore provides an effective approach for industrial application of the unmanned cart. Effects of design parameters of unmanned cart such as forward velocity, wheel radius and position of sensor are investigated. It is shown that within the practicable values of the parameters the controlled performance improves rapidly with increase of those parameters then the improvement becomes negligible, which suggests base values over which the parameters should be taken.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.1
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• pp.8-13
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• 2012

In this paper, Hybrid Electric Vehicle is directly designed and manufactured for base study of HEV's system and Green Car. Foundation design consists of power train design and the frame design. The power train concept includes motor, engine, generator and battery. And the concept of the frame is the single-seat of this self-made HEV. A frame installed in hybrid system contains suspension, steering wheel, seat, accelerating pedal, brake pedal, clutch handle and various chassis parts with bearings. Electromagnetic clutch is equipped to transmit engine power to drive axle. The control algorism make using LabVIEW to control of an engine and a motor depending on drive condition. A parallel type hybrid system is manufactured to control operation of a motor and an engine depending on vehicle speed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.645-650
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• 2010

In this paper we present the Bimodal-tram simulator using the PXI embedded real-time controllers. The Bimodal-tram is developed in KRRI (Korea Railroad Research Institute). The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are placed in the ground. The vehicle is controlled by NCS. NCS governs the manual mode and automatic mode driving. The simulator is designed by an identical conception with the real control condition. The dynamic motion of vehicle is simulated by the nonlinear dynamic model. The control computer calculates the control values. The signal interface is linked by CAN communication. The simulation is processed by real-time base. The test driver can see the graphic motion of vehicle and can operate the steering wheel, gas and brake pedal to control direction and velocity of vehicle during the simulation. At present, the simulator is only operated by manual mode. The automatic mode will be linked after the control algorithm is finished. We will use the simulator to develop the control algorithm in the automatic mode. This paper shows the simulator designed for Bimodal-tram using real-time based controller. The results of the test using the simulator are presented and discussed.