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RISS 인기검색어
- 검색키워드
- 저자 : JeongPil Shin (검색결과 7 건)
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JeongPil Shin,YoungHwan Kim,Dong-Yoon Kim,Gil Ho Yoon,TaeWon Seo 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.7
Overcoming stairs is an important requirement for mobile robots. Therefore, many studies have been conducted to develop robots with novel stair-climbing mechanisms. A curved-spoke-based stair-climbing robot has been developed to overcome stairs, but had some limitations during stair climbing, such as damage caused by friction with the edge of the stair and impact during locomotion. In a previous study, several tail mechanisms were suggested to solve these problems, and the tri-wheel tail mechanism showed remarkable performance improvements. However, the previous study used only one step size of 300 ×160 mm2. Therefore, in this study, a robust optimal design of the tri-wheel tail mechanism using the Taguchi method is conducted to achieve outstanding performance improvements even for stairs of various sizes and different climbing speeds as user conditions. The design of simulations of the tri-wheel tail mechanisms are performed via orthogonal arrays using a commercial dynamic simulation software tool. The objective function is to minimize the minimum required friction coefficient for a mobile robot to climb stairs without slip. The performance improvements are verified experimentally using a measurable performance index. Thus, these findings can be used to design stair-climbing mobile robots.
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LEVO: Mobile Robotic Platform Using Wheel-Mode Switching Primitives
DongHan Son,JeongPil Shin,Young-Hwan Kim,TaeWon Seo 한국정밀공학회 2022 International Journal of Precision Engineering and Vol.23 No.11
This paper proposes a mobile robotic platform, LEVO, which uses a normal wheel and a curved-spoke tri-wheel (CSTW). The normal wheel is used for driving on flat terrain, and the CSTW is used for stair climbing. In order to use the two mechanisms independently, a switching mechanism that consists of ball screw, linear motion guide, and actuator is added. Therefore, the proposed robot can be driven in both wheel mode and CSTW mode. The CSTW mode is implemented by lowering the CSTW to the ground and raising the rear wheels (caster), while the wheel mode is implemented by lowering caster to the ground and raising the CSTW. In order to design the switching mechanism and CSTW mechanism, static and kinematic analyses are performed. Further, a prototype is assembled to verify the mode-switching, stair climbing, and wheel-driving functions. The experiment was repeated on stairs with different sizes and materials. The results show that robots can drive on both flat terrain and stairs. Therefore, the proposed robot is expected to be useful as a mobile robot platform suitable for indoor environments.
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Optimal Design of Body Profile for Stable Stair Climbing Via Tri-wheels
Younghwan Kim,Donghan Son,Jeongpil Shin,TaeWon Seo 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.12
In this paper, we propose a mobile robot platform that is an improved form of LEVO. The LEVO uses a regular wheel and curved spoke triwheel(CSTW) system to drive flat terrain and stair climbs. However, this robot has problems when climbing stairs: it’s bottom profile collides with the stairs, resulting in huge jerk. To solve this problem, in this study, attempts to reduce the jerk value by applying a blade using a B-spline to the bottom profiles where the robot collides with the stairs. At this time, by reducing jerk, it can contribute to extending the life of the robot and improving driving stability. This study involved two steps. First, simulation was performed by adjusting the number and position of control points of the curve (B-spline). In this process, the orthogonal arrangement was applied among the optimal design techniques to finally reduce the jerk value by 92% and the driving torque needed to climb the stairs by 9.5%. At this time B-spline has one control point and the position is (300, 15). This simulation result was verified experimentally using a test bench and a prototype robot. As a result, it was confirmed that the jerk was reduced by 66.7%. Simulations and experimental verification based on them have shown that the proposed method is sufficiently effective in real environment.
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LED가 결합된 야간풍력발전 활용을 포함한 해상환경 바이오매스 생산시스템의 최적 설계
홍기훈(Gi Hoon Hong),조성현(Sunghyun Cho),강훈(Hoon Kang),박정필(Jeongpil Park),김태옥(Tae-Ok Kim),신동일(Dongil Shin) 한국가스학회 2015 한국가스학회지 Vol.19 No.2
Carbon dioxide was designated as one of greenhouse gases that cause global warming. Among various ways to solve the CO<SUB>2</SUB> emission issue, the 3rd-generation biomass (algae) production is considered as a viable method to reduce CO<SUB>2</SUB> in the atmosphere. In this research, we propose a design of an innovative sustainable production system by utilizing the 3rd generation biomass in the environment of floating production storage and offloading (FPSO). Existing biomass production systems depend on the solar energy and they cannot continue producing biomass at night. Electricity produced from offshore wind farms also need an efficient way to store the energy through energy storage system (ESS) or deliver it real-time through power grid, both requiring heavy investment of capital. Thus, we design an offshore grid structure harnessing LED lights to supply the necessary light energy, by using the electricity produced from the wind farm, resulting in the maximized production of biomass and efficient use of wind farm energy. The final design integrates the biomass production system enhanced by LED lights with a wind power generation. The suggested NLP model for the optimal design, implemented in GAMS, would be useful for designing improved offshore biomass production systems combined with the wind farm.
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UN GHS와 위험물안전관리법상의 위험물질 분류기준 비교 및 선진화 방안 연구
이봉우(Bong Woo Lee),이기준(Kijun Lee),박정필(Jeongpil Park),신동일(Dongil Shin) 한국가스학회 2013 한국가스학회지 Vol.17 No.5
With the rapid change of industry and the development of science and technology, more than 100,000 industrial chemicals are being used and 2,000 new materials are developed every year. Chemical products have had favorable influence on our daily life and contributed very much to the prosper of human culture. But some materials are inherently poisonous and dangerous. Korea ranks as the number 7 in world’s chemical products market and the chemical sector is contributing to the economic revival through importing and exporting of the products. With the increasing domestic as well as international interests about REACH and GHS, the need for the effective and efficient chemical material management system is getting bigger and bigger. In this research, we compare the criteria in UN GHS and Safety Control of Dangerous Substances Act of Korea for the development of global standard test methods and the classification and labelling for the chemicals, and suggest an advancement plan for the introduction of the GHS in a building block approach. In addition, providing the harmonized information about chemical hazards is suggested for the elimination of international trade barriers for chemical industries.
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