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양순용(S. S. Yang),진성민(S. M. JIN),최정주(J. J. Choi),이창돈(C. D. Lee),김용석(Y. S. Kim) 유공압건설기계학회 2009 드라이브·컨트롤 Vol.6 No.4
Hydraulic excavators are the representative of field robot and have been used in various fields of construction. Since the excavator operates in the hazardous working environment, operators of excavator are exposed in harmful environment. Therefore, the hydraulic excavator automation and remote operation system has been investigated to protect from the hazardous working environment. In this paper, remote operation excavator system is developed using the mini hydraulic excavator and the tracking control system of each links of excavator is designed. To apply the tracking control system, the adaptive sliding mode control algorithm is proposed. It is found that the performance of the proposed control system is improved through experimental results of using the remote operation excavator system.
2000cc 세단 트렁크용 휠체어 리프트 시스템 구축을 위한 기구학 및 제어 연구개발
김영재(Y. J. Kim),나선준(S. J. Na),김태운(T. U. Kim),김용석(Y. S. Kim),양순용(S. Y. Yang) 유공압건설기계학회 2018 유공압건설기계학회 학술대회논문집 Vol.2018 No.6
When wheelchair users use a car, a situation occurs in which the wheelchair must be loaded on the vehicle trunk. Wheelchair users are assisted by others for loading wheelchair on the car"s trunk. However, due to the weight of the wheelchair and the inconvenient structure of the wheelchair, the normal person also have difficulty in loading and unloading. Therefore, it is necessary to provide an auxiliary system to help the disabled to load the wheelchair in the trunk when boarding the vehicle. This system design studies the wheelchair lift system in the narrow trunk space of the 2000cc class sedan. Mechanisms are constructed to load and unload 15kg wheelchair within 80sec, and controlled by the Arduino-based control system. Future research will develop the system that automatically transports wheelchair from the driver"s seat to the wheelchair cage and will complete the automatic wheelchair transport-lift system by connecting with the lift system.