http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
삼륜 키네마틱스를 이용한 팔레트 트럭의 모델 예측 경로 제어 연구
박정현(H. Park),손광희(K. H. Shon),김현수(H. S. Kim),최성운(S. W. Choi),이대엽(D. Lee) 유공압건설기계학회 2022 유공압건설기계학회 학술대회논문집 Vol.2022 No.12
Due to a growth of the logistics industry, a decrease in skilled manpower, and an increase in labor costs, the importance of unmanned automation logistics equipment is gradually increasing. In this study, for the purpose of realizing a manual pallet truck as unmanned driving, a predictive path control system using a model using three-wheeled nonholonomic kinematics consisting of one wheel, acting simultaneously as a driving and steering wheel, and two auxiliary wheels was designed and constructed. A rig system acting as a platform to simulate and develop algorithm for the full size equipment was controlled using an embedded controller and driving and steering servo motors. Throughout experiments using the rig as a platform, it was confirmed that model predictive path control was possible along given goal and object coordinates.
박정현(J. H. Park),최병희(B. H. Choi),최성운(S. W. Choi),조상훈(S. H. Cho),이재혁(J. H. Lee),이주연(J. Y. Lee),인수환(S. H. Ihn),이대엽(D. Lee) 유공압건설기계학회 2023 유공압건설기계학회 학술대회논문집 Vol.2023 No.5
As the logistics industry continues to grow, the use of unmanned equipment such as unmanned pallet trucks is increasing. In this study, a path control study was conducted using a three-wheeled pallet truck rig with driving power of 1,500 W and steering power of 400 W using MPC (Model Prediction Control) algorithm for path control of a three wheel unmanned pallet truck. Through the analysis, the main control variables of the driving and steering motors were created based on the main path coordinates, and using this, it was confirmed that the driving of the element motion required in the pallet work was possible by following the main coordinates given through the driving experiment. In the future, based on this study, we plan to conduct research that adds dynamics modeling and further enhanced control.
기계식 연료펌프를 사용하는 혼소엔진에서 노즐특성에 따른 경유 분사특성 측정
조승환 ( S. H. Cho ),유승헌 ( S. H. Yoo ),이범호 ( B. H. Lee ),김동현 ( D. H. Kim ),이대엽 ( D. H. Lee ) 한국분무공학회 2012 한국액체미립화학회지 Vol.17 No.2
The characteristics of spray behavior and injected amount were studied with two types of nozzles for using in a compression ignition engine with dual fuel technology for construction machines. A penetration length of spray tends to shorten due to a decrease of injected amount of a diesel fuel with dual fuel engine application. In order to ignite the gaseous fuel premixed with air during intake process, a diesel fuel, which was compression ignited, needs to penetrate somehow similar depth compared with the case of a diesel fuel-only-injection. In this work, a nozzle with reduced hole diameter and increased number of holes was tested and demonstrated that, compared to diesel 100% case, its penetration lengths are comparable to 74% and 79%, respectively, of those of 100% and 50% supply of a diesel fuel with the baseline nozzle that has four holes and 30.4% increased diameter. This will presumably enhancement the combustion in a dual fuel engine. A design suggestion was also made in this work to achieve similar penetration length of spray with diesel 100% case to prevent combustion from being deteriorated in a dual fuel engine.
이재혁(J. H. Lee),조예찬(Y. C. Jo),장재원(J. W. Jang),고경주(K. J. Ko),박정현(J. H. Park),최병희(B. H. Choi),최성운(S. W. Choi),조상훈(S. H. Cho),이대엽(D. Lee) 유공압건설기계학회 2023 유공압건설기계학회 학술대회논문집 Vol.2023 No.5
The use for driving robots is increasing in tests of electric construction machinery and automotive using chassis dynamometer that require long hours of operation in order for battery SOC tests. Existing driving robots are not very convenient, such as taking a lot of time to install. Therefore, in this study, basic research was conducted for the development of a driving robot that reduced the installation time and improved the followability of the reference speed profile by using deep learning. In order to follow the speed profile of the standard test cycle according to the regulations, a base study that can control the throttle by using the visual information in real time was conducted using a rig device and deep learning. Based on the results of this study, it is planned to conduct follow-up studies using test vehicle and chassis dynamometer in the next stage.
사물인터넷 센서를 이용한 동적 부품의 스트레인 측정 방법
안영철(C. H. An),유영준(Y. J. Yu),박정현(J. H. Park),김윤상(Y. Kim),이상훈(S. Lee),이철희(C. Lee),박기협(K. H. Park),이대엽(D. Lee) 유공압건설기계학회 2022 유공압건설기계학회 학술대회논문집 Vol.2022 No.12
In this study, a measuring device using an IoT embedded CPU and sensors was constructed for the purpose of measuring and analyzing the shaft torque and axial force by measuring the strain of moving parts such as drive axles. Throughout this study, it was feasible to measure the shaft torque and axial force of the vehicle during operation through the strain gauge attached to the forklift live axle, confirming that the strain measurement of moving parts is possible.
최경호(K. H. Choi),김경수(K. S. Kim),전원일(W. I. Jeon),조방현(B. H. Cho),우상하(S. H. Woo),이대엽(D. Y. Lee) 유공압건설기계학회 2021 유공압건설기계학회 학술대회논문집 Vol.2021 No.7
Since the recognition of surrounding objects is very important in industrial equipment such as unmanned vehicles, a study was conducted to recognize the features of a two-dimensional object using a one-dimensional lidar. Features were recognized and extracted using Gaussian kernel support vector classification algorithm, from which decision boundary was derived and its coordinates were extracted. Applying this study to feature recognition of the pallet hole, it was confirmed that the main features including hole center could be recognized with even small number of measurement data with reasonable accuracy.
최병희(B. H. Choi),조예찬(Y. C. Jo),박정현(J. H. Park),최성운(S. W. Choi),조상훈(S. H. Cho),김바다(B. D. Kim),박기협(K. H. Park),김주호(J. H. Kim),이대엽(D. Lee) 유공압건설기계학회 2023 유공압건설기계학회 학술대회논문집 Vol.2023 No.5
In many equipment, including construction machinery that operates with hydraulic oil, it is very important to solve the problem of the generation of fine particles in the hydraulic circuit and the inability to use the equipment due to causes such as damage of parts and repair. In this study, as a base study to solve these problems, a study that can detect the color change of hydraulic oil due to particles mixed in hydraulic oil in real time using machine learning was conducted. Using the k-NN classification algorithm, the color change of hydraulic oil is classified into ten classes so that the color can be recognized in real time. It is planned to carry out the development of the sensor system in the following study.