• International Journal of Automotive Technology
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• v.4 no.4
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• pp.173-180
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• 2003

Obstacle avoidance is considered as one of the key technologies in an unmanned vehicle system. In this paper, we propose a method of obstacle avoidance, which can be expressed as vehicle control, modeling, and sensor experiments. Obstacle avoidance consists of two parts: one longitudinal control system for acceleration; and deceleration and a lateral control system for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. The method proposed for vehicle control, modeling, and obstacle avoidance has been confirmed through vehicle tests.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1190-1193
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• 2004

The purpose of this study is to evaluate the possibility of identifying joint damping property through commercially available isokinetic ergometer (BIODEX). The proposed method is to estimate the damping torque of the knee joint from the difference between the external joint torque for maintaining isokinetic movement and the gravity torque of the lower leg. The damping torque was estimated at various joint angular velocities, from which the damping property would be derived. Measurement setup was composed of the BIODEX system with an external force sensor and Labview system. Matlab was used in the analysis of the damping property. The experimental result showed that the small variation in angular velocity due to acceleration and deceleration of the crank arm resulted in greater change of inertial torque than the damping torque, so that the estimation of damping property from the isokinetic movement is difficult.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.9
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• pp.1385-1391
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• 2017

This work presents a synchronized on-line trajectory generation algorithm for mechanical system with multiple degrees-of-freedom. Proposed algorithm is designed to generate time-optimized trajectories and synchronized trajectories under the constraints such as maximum speed, acceleration, deceleration, non-zero initial velocity, etc. Also, because of small computation time, therefore this can be applied in real-time and it is easier to change the trajectory when an event occurs. We verified the feasibility through various trajectory generation.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.2
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• pp.49-57
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• 2008

The performance of crash cushion systems is certified through the full scale crash tests by the standard for installation and maintenance guidelines for roadside safety appurtenance. The impact severities of impacting vehicles in collision with crash cushion systems are rated by indices THIV and PHD. Crash test results are considered to study the performance of three crash cushion systems. In case of the frontal impact or the offset frontal impact, the results show that THIV values of three systems are very close to the threshold limit for the occupant protection. Also, the results show that PHD would be improper for the occupant protection performance index. In order to improve the occupant protection performance of crash cushions, ASI needs to be included in the impact severity index.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.69-72
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• 1996

In this paper robust tracking control scheme using the new three-segment nonlinear sliding mode technique for nonlinear rigid robotic manipulator is developed. Sliding mode consists of three segments, the promotional acceleration segment, the constant velocity segment and the deceleration segment using terminal sliding mode. Strong robustness and fast error convergence can be obtained for rigid robotic manipulators with large uncertain dynamics by using the new three-segment nonlinear sliding mode technique together with a few useful structural properties of rigid robotic manipulator. The efficiency of the proposed method for the tracking has been demonstrated by simulations for two-link robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.91.3-91
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• 2002

This paper describes a design of an induction motor control system for industrial sewing machines. On the basis of vector control principle, the control system is simulated by using the ACSL, implemented on a DSP(TMS320C31).A space vector modulation is used as the inverter switching strategy. For the application of industrial sewing machines, A fast acceleration (deceleration) and removal of velocity ripples are required, because a sewing quality and sewing machines life time depends on these characteristics. The designed control system has fast dynamic characteristics and small speed vibration. The result is applied to the industrial sewing machine and result are shown.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.921-927
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• 1988

The process and results of computer simulation using bond graphs for a hydraulic system driving large rotational inertia are presented in this paper. As the large rotational inertia and its application characteristics, control criteria of this system is not position-control nor velocity-control but appropriate acceleration, deceleration and inching ability. All the components' nonlinear characteristics are modelled using bond graphs. The equationing and solution process is carried out by a package. Finally it is concluded that modelling of this kind of system by bond graphs and using a software as its solver shows good approximated results to actual experimental data, and that the proposed modelling may be useful to actual design process for this kind of hydraulic system.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1096-1103
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• 2010

This paper proposes CDC (Continuous Damping Control) algorithm and verifies in multi-body dynamic vehicle. In order to distinguish a road profile on driving, waviness calculated by the filtered vertical-accelerations of sprung and unsprung masses is introduced. Sky-hook control is used at a low waviness road and constant damping level control is used at a high waviness road, where the hard damping level is determined by waviness, roll rate, acceleration, and deceleration. The damping levels of ride, anti-roll, anti-squat, and anti-dive modules are calculated by tuning parameters which is dependent upon vehicle velocity. Therefore this high tunable algorithm is useful to improve the ride and handling performance under various driving conditions. In the simulations, tire and dampers are modelled by SWIFT (Short Wavelength Intermediate Frequency Tire) model and 1st order delay model, and results are compared with conventional damper's.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.281-284
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• 2002

This paper describes the initial angle adjustment method on Hall Sensorless Linear Permanent Magnet Synchronous Motor The implementation of the controller is designed on the DSP TMS320C32 board. PMLSM is operated by using 4-point absolute positions profile with each velocity, acceleration and deceleration. To achieve Hall Sensorless characteristics, Moving Coil Type PMLSM is used and initial angle adjustment algorithm is adapted.

• Proceedings of the KIPE Conference
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• 2003.07b
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• pp.654-658
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• 2003

In this study a control system with variable gain schedule using real speed and moving direction is proposed to control a Permanent Magnet Linear Synchronous Motor (PMLSM) with Z-axis operation structure. The implementation of the controller is designed on the DSP TMS320C32 board. PMLSM is operated by using 4-point absolute positions profile with each velocity, acceleration and deceleration. The direction of the initial angle action for starting is set from the lower limit point to the upper limit point on PMLSM operation stroke. The effectiveness of a control system with variable gain schedule is demonstrated by some experimental results.