• The Journal of Korean Institute of Communications and Information Sciences
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• v.17 no.9
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• pp.1040-1049
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• 1992

When the model of control object is not described correctly, ambiguity is often expressed by unknown parameter, In a case that this ambiguity satisfies a certain condition of limit, if robust control method is used, even if model is not correctly discribed, control system can be composed. The characteristic of control based on the variable structure theory is that the influence by ambiguity of system eradicates high-gain feedback. Therefore in this paper, VSS indentifier is proposed. Transformation of control input producing control system in sliding mode actually reflects influence of ambiguity unknown parameter of control object. If useful information is out from transformation input by a few times of operation, proper identify mechanism is selected and this information is used, to decide the unknown parameter is possible. So more effective controller was composed by addition of the proposed identifier to the unknown parameter identifier of robot manipulator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.6
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• pp.629-635
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• 2012

Tracked robots usually have poor localization performance because of slippage of their tracks. This study proposes a new localization method for tracked robots that uses fuzzy fusion of stereo-camera-based visual odometry and encoder-based wheel odometry. Visual odometry can be inaccurate when an insufficient number of visual features are available, while the encoder is prone to accumulating errors when large slips occur. To combine these two methods, the weight of each method was controlled by a fuzzy decision depending on the surrounding environment. The experimental results show that the proposed scheme improved the localization performance of a tracked robot.

• Journal of Drive and Control
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• v.12 no.3
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• pp.36-43
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• 2015

An autonomous vehicle control algorithm based on Ackerman Geometry is known to be reliable in low tire slip situation. However, vehicles at high speed make lateral errors due to high tire slip. In this paper, considering the tire slip of vehicles, the steering angle is determined based on the Ackerman Geometry and is supplemented tire slip angle by the Stanley steering algorithm. In addition, to prevent the tire slip, the algorithm, which restricts steering if a certain level of slip occurs, is used to reduce the lateral error. While many studies have been extended to include vehicle slip, studies also need to be carried out on the tire slip depending on hardware performance. The control algorithm of autonomous vehicles is compensated considering the sensor noise and the performance of steering actuator. Through the various simulations, it was found that the performance of steering actuator was the key factor affecting the performance of autonomous driving. Also, it was verified that the usefulness of steering algorithm considering the tire slip and performance of steering actuator.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.3
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• pp.41-49
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• 2010

Two promising control candidates have been selected to test the sinusoidal reference tracking performance for a brush-type polishing machine having strong nonlinearities and disturbances. The controlled target system is an oscillating mechanism consisting of a common positioning stage of one degree-of-freedom with a screw and a ball nut driven by a servo motor those can be obtained commercially. Beside the strong nonlinearity such as stick-slip friction, the periodic contact of the polishing brush and the work piece adds an external disturbance. Selected control candidates are a Sliding Mode Control (SMC) and a variant of a feedback linearization control called Smooth Robust Nonlinear Control (SRNC). A SMC and SRNC are selected since they have good theoretical backgrounds, are suitable to be implemented in a digital environment and show good disturbance and modeling uncertainty rejection performance. It should be also noted that SRNC has a nobel approach in that it uses the position information to compensate the stickslip friction. For both controllers analytical and experimental studies have been conducted to show control design approaches and to compare the performance against the strong nonlinearity and the disturbances.

• Journal of Power System Engineering
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• v.8 no.4
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• pp.57-63
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• 2004

Conventionally, 2WS is used for vehicle steering, which can only steering front wheel. In case of trying to high speed lane change or cornering through this kind of vehicle equipped 2WS, it may occur much of Yaw moment. On the other hand, 4WS makes decreasing of Yawing Moment, outstandingly, so it is possible to support vehicle movement stable. And conventional ABS and TCS can only possible to control the longitudinal movement of braking equipment and drive which can only available to control of longitudinal direction. There after new braking system ESP was developed, which controls both of longitudinal and lateral, with adding of the function of controlling Active Yaw Moment. On this paper, we show about not only designing of improved braking and steering system through establishing of the integrated control system design of 4WS and ESP but also designing of the system contribute to precautious for advanced vehicle stability problem.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2345-2347
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• 2000

ABS(Antilock Brake System) prevents the wheels from "locking" and improve "handling" during braking. Currently, safety and environmental issues are a major concern in the automotive industry. ABS has become the vital brake system. ABS is composed of sensors for wheel speed, a pressure modulator for controlling the brake pressures in the wheel brake cylinders, and an electronic control unit(ECU) which evaluates the signals from the wheel speed sensors and converts these to commands to control the pressure of modulator. In this paper, ECU developed for commercial vehicles is described. Detection of wheel slip, control algorithms of ABS, and diagnosis method of ECU are presented.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.9
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• pp.146-157
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• 1999

Safety systems for road vehicles have been rapidly developed in recent years. Especially, the VDC(Vehicle dynamics Control) system is a new active safety system for road vehicles which controls its dynamic vehicle motion in emergency situations . In the case of configuring the VDC system by utilizing the ABS(Anti-lock Brake System), the role of a control logic which directly influences the vehicle motion is very important. In this study the performance of the VDC vehicle was compared to the performances of the CBS (Conventional Brake system )and ABS vehicle. For various driving conditions , the simulation of vehicle dynamics with known VDC control logics was performed. Analysis results showed the VDC vehicle could stably perform even on the road of low coefficient of friction. In addition it was shown that the basic control logic for the VDC system could outstandingly improve driving stability in the case of braking as well as constant speed cruising.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1993.04a
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• pp.80-84
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• 1993

공기베어링은 기체으 압축성에 의한 평균화 효과로 운전정밀도가 우수하고 기체의 낮은 점도에 의한 효과로 마찰력과 열발생량이 매우 적으며, 사용가능 온도구간이 저온에서 고온까지 넓고 프로세스 계통내의 기체를 윤활제로 사용할 수 있기 때문에 그 경우 불순물에 의한 오염이 문제되지 않는 장점등이 있다. 이와 같은 특성과 더불어 공기베어링은 지지 물체를 완전히 부상시켜 운전하므로써 마찰$\cdot$마모와 온도변화에 다른 열변형이 문제되지 않는다. 이러한 장점으로 인해서 공기베어링은 현재 정밀기기의 미끄럼면, 각종 측정장치의 테이블지지 기구로 많이 사용되고 있다. 반면 공기베어링의 단점으로는 기체의 낮은 점성계수로 인해서 부하능력이 적고 강성, 감쇄계수 또한 적다. 그리고 기체의 압축성으로 인해 뉴메틱 헤머라는 불안정 현상이 생기기도 한다. 본 연구에서는 스퀴즈 효과를 이용한 능동 공기베어링을 설계, 제작하여 실험하였다. 본 연구의 목적은 강성과 감쇄 계수가 작은 공기 베어링의 단점을 보완하기 위해 드러스트베어링을 대상으로 능동베어링을 설계, 제작하여 그 특성을 연구하고 기초 설계자료를 축적하는데 있다.

• Journal of Korea Technical Association of The Pulp and Paper Industry
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• v.37 no.3
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• pp.33-40
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• 2005

In this study, a nano-colloidal silica sol was applied to control the anti-slip property by spraying on kraft paper. Two kinds of nano-colloidal silica sol which have cationic and anionic charge were applied in kraft paper, and the friction and physical strength properties of kraft paper were investigated. The application of colloidal silica sol on wet web in wet-end process by spraying method was tried to improve the friction property and to avoid the general problems of machine contaminations caused by the scattering of sprayed silica particles in dryer part. The physical properties of sheet were also improved by the application of wet web spraying method, and the optimum conditions of wet web spraying operation were closely related with the conditions of pH and electrical charge of wet web and silica sol.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.8
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• pp.203-211
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• 2002

ABS (Anti-lock Braking System) is a safety device for preventing wheel locking in a sudden braking. It consists of hydraulic modulator, ECU(Electronic Control Unit) and angular velocity sensors. Its control methods are classified into three types; deceleration control, slip ratio control and deceleration/acceleration control. In this paper, ABS mounted vehicle is mathematically modeled and the proposed model is verified by actual cars experiments, and the braking characteristics of the control methods with pulse width modulation are compared and analyzed through computer simulations.