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임경빈(Kyeong Bin Lim),김선재(Sun Je Kim),박석훈(Sukhoon Park),윤용산(Yong-San Yoon),이상훈(Sang Hoon Lee) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.8
Wheels of UGV can be used to get the information about the ground. However, wheels of UGV with actively articulated suspension cannot be used as the roles because the each wheel does not remain in contact with the ground. Therefore, in this study, we proposed the indexes and models to estimate the contact wheels. First, we formulated the dynamic equations about the actively articulated suspensions and wheels. Then estimation index IWTC and IATC were developed from the equations, and analyzed the strengths and weaknesses of each index. As the results, we developed the fuzzy rule-based estimation model additionally derived from our observations. IWTC model and IATC model could eliminate the noise of about 60% in comparison with the result without the estimation model. Fuzzy model also could reduce the noise of about 83%. In addition, fuzzy rule-based estimation model had high sensitivity and precision as well as robustness.
험지에서의 가변 휠형 무인 자율차량의 자세 제어를 위한 가변 휠의 형상 계획
임경빈(Kyeong Bin Lim),박석훈(Sukhoon Park),윤용산(Yong San Yoon),이상훈(Sang Hoon Lee),강신천(Shincheon Kang) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.3
Hybrid locomotive UGV with actively articulated legs along with wheeled ends has high traversability to travel over rough terrain. The behavior control method was usually adapted for the controlling of the suspension configuration which determines the traversability of the UGV. In this study, we are proposing a method of configuration planning of the legs without any detail geometric data about the terrain. The terrain was estimated by the traces of each wheel and the leg configurations for the desired posture of the vehicle were set up against the constraints of the terrain. Also, an optimal leg configuration was calculated based on the quasi-static stability and power consumption, and plans for the leg behavior were made. Validity of the proposed method was checked by simulations using some off-the-shelf programs, and showed that the orientation control without geometric features of terrains and simplification of the behavior planning for obstacle negotiation were possible.
학생용 가방의 무게 중심 위치 변화에 따른 척추 하중 분포 분석
백승흠(SeungHeum Baek),임경빈(Kyeong Bin Lim),박석훈(Sukhoon Park),김선제(Sun Je Kim),신현준(Hyun Jun Shin),강정아(Jeong Ah Kang),이상윤(Sang Yun Lee),윤용산(Yong-San Yoon) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
In this paper, we measured the posture change in gait and compared the vertebral loading according to the position of center of gravity of backpack. We measured the gait posture of randomly chosen 67 elementary schoolchildren with backpacks by motion capture system and still cameras. As the result of the ANOVA test of the posture changes, we found that the back angle tends to reduce and the neck angle is increased accordingly when the backpack has upper center of gravity. After the experiment, we developed muscular skeletal human model including the backpacks using ADAMS/LifeMOD™. By changing the position of the center of the gravity of the backpack and the angles of neck and back, we conclude that the backpack of which center of gravity is positioned upper and closer to spine has advantage to maintain the straight posture during the gait and to reduce the vertebral torque.
Nursery Technology for Pine Seedling in Korea
Kim, Chang-Ho,Lim, Kyeong-Bin 동국대학교 1985 論文集 Vol.24 No.-
過去 약 30年間 우리나라에서는 莫大한 量이 造林되었다. 綠化爲主로서는 오리나무類,아카시아 등이 심어졌으나 用材經濟樹種으로서는 잣나무, 낙엽송 그리고 松類가 造林되었다. 針葉樹種優良健全苗의 生産은 造林經濟成果를 擧揚하는데 주요한 일이나 이에는 아직 技術的으로 또는 理論的으로 해결되어야 할 問題點이 많다. 이 論文에 있어서는 現在 우리나라의 針葉樹苗養性에 관한 奇術을 再照明하고 그리고 問題點을 提起하였다. 針葉樹苗의 苗高成長과 直徑成長 間에는 成果패턴의 差異가 있음을 指摘했고 苗木形質의 調査結果를 提供했다.