• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.13 no.3
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• pp.237-245
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• 2008

We developed a computational method on coupled dynamics of tracked vehicle on seafloor and long flexible pipe. The tracked vehicle is modeled as rigid-body vehicle, and the linked flexible pipe is discretized according to a lumped-parameter model. The equations of motion of the rigid-body vehicle on the soft seafloor are combined with the governing equations of flexible pipe dynamics. Four Euler parameters method is used to express the orientations of the vehicle and the flexible pipe. In order to solve the nonlinear coupled dynamics of vehicle and flexible pipe an incremental-iterative formulation is implemented. For the time-domain integration $Newmark-\beta$ method is adopted. The total Jacobean matrix has been derived based on the incremental-iterative formulation. The interactions between the dynamics of flexible pipe and the mobility of the tracked vehicle on soft seafloor are investigated through numerical simulations in time domain.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.214-221
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• 1999

In this research, a power-assisted steering system is modeled as a part of a full vehicle dynamic model. The dynamic model of the steering system incorporates hydraulic and dynamic relations between major parts of a steering system, such as steering column, control valve, rack and pinion gear. Through an experimental setup of the steering system, the steering system model is validated. The steering model is included in a full vehicle dynamic model of a car, where kinematic relations between steering and suspension system are defined, and various simulations are performed to evaluate the performance of steering system in conjunction with overall dynamic performance of the vehicle.

• Journal of the Korea Convergence Society
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• v.3 no.4
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• pp.35-44
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• 2012

In this study, a simulation program is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation program using the MATLAB/SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.87-96
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• 2013

This paper shows how the performance of an ESC(Electronic Stability Control) system can be affected by the selection of in-vehicle network protocols such as CAN or FlexRay. The vehicle control performance under ESC operation is analyzed by EILS(ECU-In-the-Loop Simulation). The experimental set-up for the EILS of the ESC system consists of two 32-bit microcontroller boards communicated with CAN or FlexRay protocols. A 7-DOF vehicle model and an ESC algorithm with 2-DOF reference vehicle model are implemented on each microcontroller respectively. It is shown by experimental results that the ESC system using the FlexRay protocol can achieve better performance than that using the CAN protocol for a fast and accurate lane changing.