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모의주행성능시험기의 차륜/레일 접촉부 CREEP FORCE에 미치는 영향 인자에 대한 연구
전승우(Jeon Seung-Woo),구동회(Koo Dong-Hoe),김재철(Kim Jae-Chul),황석열(Hwang Seok-Youl) 한국철도학회 2008 한국철도학회 학술발표대회논문집 Vol.- No.-
Creep force is one of the only appeared at conventional train which used to be driven by metallic wheel and rail contact. Due to the elastic deformation of wheel/rail contact patch by the weights of wheel and all the components related to it, creep force generates and becomes to the decision factor of critical speed of bogie(or railway vehicle) which is the criteria of avoiding vehicle to be unstable. There are many kind of factors which affect generation of creep force at a wheel/rail contact surface such as viscosity of contact patch, velocity, wheel and rail geometric profile, mechanical properties of wheel and rail. This paper concentrates on a wheelset simple 2 DOF Equation of Motion being exerted. From the simple numerical analysis using linear solution about getting creep force some factors could find roughly. Among the factors geometric parameter could be the one of most important for this study. In the future we"ll prolong the range of study to find out method of measuring creep force easily.
전승우(Seung-woo Jeon),정우태(Wootae Jeong),박덕신(Duck shin Park) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
Skid steering system which is widely used to the mobile robot platform changes direction by differential speed between wheels. The mobile platform is able to move and turn in the limited space without using steering devices. However, the system has to overcome nonholonomic constraint in controlling the position of the platform precisely. Variable studies have been carried out such as the robust motion control algorithm of nonlinearity and uncertainty by considering dynamic characteristics of skid-steered platform. Meanwhile, studies about the motion control of skidsteered mobile robot have not been considered by working devices mounted on the platform. In case of mass transformation occurred by the mechanism performing tasks and the platform moved simultaneously, the center of mass(COM) of the robots can be moved and the trajectory error of the platform would be increased. Therefore, the trajectory of moving platform has been calculated with determining ICR in variable COM of the overall platform to examine possibility of controlling the motion.
지오센서 태그 데이터의 효율적인 처리를 위한 색인 기법
전승우(Seungwoo Jeon),김기홍(Gihong Kim),홍봉희(Bonghee Hong) 한국정보과학회 2010 한국정보과학회 학술발표논문집 Vol.37 No.1C
RFID 미들웨어에서 저장소 역할을 하는 EPCIS는 이전까지 물품의 식별 정보만을 저장 및 관리하고 있었다. 하지만, 최근에는 많은 물류 분야의 응용에서 물품의 식별 정보뿐만 아니라 센서 및 위치 정보 등을 포함하는 다양한 물류 정보를 EPCIS에서 저장 및 관리하도록 요구하고 있다. 하지만, 현재 EPCIS에서는 RFID 태그의 식별 정보 이외의 정보에 대하여 처리를 하지 않고 있으며, 설령 처리한다하더라도 비효율적인 조인으로 인한 속도 저하가 일어날 수 있다. 즉, 각 정보 소자에 대한 복합 정보를 요구하는 응용에서는 개별적인 시스템에 질의를 한 후 결과를 조합해야 하는 부담이 있다. 본 논문에서는 물품의 식별 정보, 센서 및 위치 정보를 포함하는 지오센서 태그 데이터에 대한 효율적인 처리를 지원하기 위한 다양한 물류환경의 정보와 질의 조건의 특징을 분석하며, 분석된 내용을 바탕으로 데이터 모델링을 제시한다.
작업기구와 주행차륜 간 상호작용력을 고려한 모바일 플랫폼의 구동토크 해석
전승우(Seungwoo Jeon),정우태(Wootae Jeong) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
The skid steering four-wheeled mobile platform has been widely used in various applications because of light-weight and simple structure to control the motion. However, understanding the motion of the platform is challenging due to the well-known nonholonomic constraint. Wide range of studies about trajectory tracking of the mobile platform have been focused on controlling motion with the plant uncertainty and not-modelled dynamics using various nonlinear control algorithms. Nevertheless, previous studies have not been considered that the additional forces by operating the manipulator such as rolling brush to clean the surface can be exerted to the contact point between wheels and the road. The external force is able to change the dynamics when the platform is about to be controlled the motion to follow the designated path. In this study, the dynamic model of the wheels is regarded as the tracked wheel and controller has been designed to perform stable trajectory tracking with considering the additional interaction by the rolling brush-robotic arm. Also, the simulation has been carried out to get an information of required torques of traction motors.