• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.4
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• pp.135-143
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• 2003

In this study, a real-time simulation model was developed for tracked vehicles with in-arm type semi-active hydro-pneumatic suspension unit using MATLAB S-functions. Since the vehicle model uses relative coordinates and massless link elements, the developed model has an enhanced analytic time performance. Through the comparison of simulation results with multi-body software(DADS), the vehicle model is verified. A controller using on-off skyhook control algorithm is designed with the pilot-centre]led proportional valve based on conventional damper characteristics. Exploiting the developed tracked vehicle model with other subsystem model such as a controller model, a suspension unit model, and a test road model, computer simulations are carried out. Control simulation results with the developed tracked vehicle model show that the semi-active suspension control system has a better performance than the conventional suspension system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.2
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• pp.165-171
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• 2016

A prosthetic knee for above-knee (AK) amputee is categorized into passive and active type. The passive prosthetic knee is generally made by elastic material. Although AK amputee can easily walk by using passive prosthetic leg, knee joint motions are not similar to ordinary persons. The active prosthetic leg can control the knee angle owing to the actuator and microprocessor. However, the active type is not cost-effective and the stability may be lost due to the malfunction of sensors. In order to resolve these disadvantages of passive and active type, a semi-active prosthetic knee which can control the knee angle is proposed in this work. The proposed semi-active one requires a less input energy but provides active type performance. In order to achieve this goal, in this work, a semi-active prosthetic knee using magneto-rheological (MR) damper for AK amputees is designed. The MR damper can support the weight of body by using less energy than actuator of active prosthetic. It can control knee angle by inducing the magnetic field at the time of stance phase. This salient characteristic is evaluated and presented in this work.

• Journal of Power System Engineering
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• v.4 no.1
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• pp.51-59
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• 2000

Active suspension systems have been using for improving ride quality and stability for vehicles. An active suspension system is composed of a hydraulic pump, pressure control valves, hydraulic dampers, vehicle body, tires and other components. In this study, the mathematical model for the active suspension system based on the quarter car concept is derived, and a program for analysing the dynamic behaviour of the suspension system is developed. The computed results by the developed program are compared with the experimental results for confirming the reliability and usefulness of the developed program.

• International Journal of Railway
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• v.2 no.4
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• pp.147-151
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• 2009

Railway vehicles equipped with semi-active suspension system can improve the ride quality of car bodies. Semi-active suspension system is usually applied onto high speed train, and therefore higher running safety requirement is proposed. The influence of semi-active suspension system on safety of vehicles running on straight line and curve line is studied, and the influences of sky hook damping coefficient and system time-delay on operation safety of cars fitted with semiactive suspension system is analyzed. The results show that the vehicles equipped with semi-active suspension system, not only the vibration of car body is decreased, it can also give little influence on running safety of cars, as a result, it will not endanger the running safety of cars.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.6
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• pp.59-67
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• 2014

A numerical model and a controller of Active Front wheel Steer (AFS) system are designed in this study. The AFS model consists of four sub models, and the AFS controller uses sliding mode control and PID control methods. To test this model and controller an Integrated Dynamics Control with Steering (IDCS) system is also designed. The IDCS system integrates an AFS system and an ARS (Active Rear wheel Steering) system. The AFS controller and IDCS controller are compared under several driving and road conditions. An 8 degree of freedom vehicle model is also employed to test the controllers. The results show that the model of AFS system shows good kinematic steering assistance function. Steering ratio varies depends on vehicle velocity between 12 and 24. Kinematic stabilization function also shows good performance because yaw rate of AFS vehicle tracks the reference yaw rate. IDCS shows improved responses compared to AFS because body side slip angle is also reduced. This result also proves that AFS system shows satisfactory result when it is integrated with another chassis system. On a split-m road, two controllers forced the vehicle to proceed straight ahead.

• Physical Therapy Korea
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• v.28 no.1
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• pp.47-52
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• 2021

Background: Compared with normal people, stroke patients have decreased voluntary craniocervical motion, which affects their balance. Objects: This study was conducted in order to examine the effects of active craniocervical movement training using a cognitive game on stroke patient's cervical movement control ability, balance, and functional mobility. Methods: The subject of this study were 29chronic stroke patients who were randomly allocated to either an experimental, cognitive game group (n = 15), or control group (n = 14), to which only neuro-developmental treatment (NDT) was applied. The intervention was conducted 5 times per week, 30 minutes per each time, for a total of 4 weeks. Active angle reproduction test, static stability test, limits of stability test, and Time up and Go (TUG) test, respectively, were carried out in order to evaluate cervical movement control ability, static balance, dynamic balance, and functional mobility. Paired t-test was used in order to compare differences between prior to after the intervention, along with an independent-test in order to compare prior to and after-intervention differences between the two groups. Results: After the craniocervical training with a body-driven cognitive game, the experimental group showed significant differences in flexion, extension, and lateral flexion on the affected side, and rotation on the affected side in the active angle reproduction test. The experimental group indicated significant differences in sway length both with eyes-open and with eyesclosed in the static stability test and in limits of stability test and TUG test. The control group to which NDT was applied had significant differences in flexion in the active angle reproduction test and in limits of stability test and TUG test. Conclusion: The above results mean that craniocervical training using a body-driven cognitive game positively influences stroke patient's cervical movement control ability and as a result their balance and functional mobility.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.105-105
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• 2000

In this paper, an integrated control of the semi-active suspension system using a reduced full-car model is investigated. By including the reduced full-car dynamics in the control law, the semi-act ive suspension system is able to control not only the vertical acceleration but also the roll and pitch mot ions of the car body, which is not Possible with a quarter-car model or a half-car model. The damping forces for the semi-active dampers are designed to track the damping forces of the skyhook controller designed from the reduced full car dynamics. Computer simulations and experimental results using a real car are also included.

• International Journal of Railway
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• v.3 no.2
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• pp.68-72
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• 2010

Railway vehicles equipped with semi-active suspension system can improve the ride quality of car bodies. Semi-active suspension system is usually applied onto high speed train, and therefore higher running safety requirement is desirable. The influence of semi-active suspension system on safety of vehicles running on straight line and curve line is studied, and the influences of sky hook damping coefficient and system time-delay on operational safety of cars fitted with semiactive suspension system is analyzed. The results show that in vehicles equipped with semi-active suspension system, while the vibration of car body is decreased, the running safety of cars is not affected to any significant degree. As a result, the ride quality is much improved with negligible deterioration of the running safety of cars.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.309-310
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• 2008

• International Journal of Automotive Technology
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• v.7 no.5
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• pp.547-554
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• 2006

This paper is concerned with an optimal control suspension system using the preview information of road input based on a quarter car model. The main purpose of the control is to combine good vibration isolation characteristics with improved attitude control. The optimal control law is derived with the use of calculus of variation, consisting of three parts. The first part is a full state feedback term that includes integral control acting on the suspension deflection to ensure zero steady-state deflection in response to static body forces and ramp road inputs. The second part is a feed-forward term which compensates for the body forces when they can be detected, and the third part depends on previewed road input. The performance of the suspension is evaluated in terms of frequency domain characteristics and time responses to ramp road input and cornering forces. The effects of each part of the suspension controller on the system behavior are examined.