• International Journal of Automotive Technology
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• 제8권1호
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• pp.49-57
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• 2007

This paper proposes a traction control system (TCS) that uses a sliding mode wheel slip controller and a PID throttle valve controller. In addition, a yaw motion controller (YMC) is also developed to improve lateral stability using a PID rear wheel steering angle controller. The dynamics of a vehicle and characteristics of the controllers are validated using a proposed full-car model. A driver model is also designed to steer the vehicle during maneuvers on a split ${\mu}$ road and double lane change maneuver. The simulation results show that the proposed full-car model is sufficient to predict vehicle responses accurately. The developed TCS provides improved acceleration performances on uniform slippery roads and split ${\mu}$ roads. When the vehicle is cornering and accelerating with the brake or engine TCS, understeer occurs. An integrated TCS eliminates these problems. The YMC with the integrated TCS improved the lateral stability and controllability of the vehicle.

• 대한기계학회논문집A
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• 제24권8호
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• pp.1899-1909
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• 2000

This paper proposes a new $H_{\infty}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $H_{\infty}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through ${\mu}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1438-1441
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• 2005

To establish of standard technique of nano-length measurement in 2D plane, new AFM system has been designed. In this system, measurement uncertainty is dominantly affected by the Abbe error of XY scanning stage. No linear stage is perfectly straight; in other words, every scanning stage is subject to tilting, pitch and yaw motion. In this paper, an AFM system with minimum offset of XY sensing is designed. And XY scanning stage is designed to minimize rotation angle because Abbe errors occur through the multiply of offset and rotation angle. To minimize the rotation angle optimal design has performed by maximizing the stiffness ratio of motion direction to the parasitic motion direction of each stage. This paper describes the design scheme of full AFM system, especially about XY stage. Full range of fabricated XY scanner is $100um\times{100um}$. And tilting, pitch and yaw motion are measured by autocollimator to evaluate the performance of XY stage. Using this AFM system, 3um pitch specimen was measured. As a result, the uncertainty of total system has been evaluated.

• International Journal of Aeronautical and Space Sciences
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• 제17권2호
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• pp.157-166
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• 2016

Aerodynamic loads for a horizontal axis wind turbine of the National Renewable Energy Laboratory (NREL) Phase VI rotor in yawed condition were predicted by using the blade element momentum theorem. The classical blade element momentum theorem was complemented by several aerodynamic corrections and models including the Pitt and Peters' yaw correction, Buhl's wake correction, Prandtl's tip loss model, Du and Selig's three-dimensional (3-D) stall delay model, etc. Changes of the aerodynamic loads according to the azimuth angle acting on the span-wise location of the NREL Phase VI blade were compared with the experimental data with various yaw angles and inflow speeds. The computational flow chart for the classical blade element momentum theorem was adequately modified to accurately calculate the combined functions of additional corrections and models stated above. A successive under-relaxation technique was developed and applied to prevent possible failure during the iteration process. Changes of the angle of attack according to the azimuth angle at the specified radial location of the blade were also obtained. The proposed numerical procedure was verified, and the predicted data of aerodynamic loads for the NREL Phase VI rotor bears an extremely close resemblance to those of the experimental data.

• 한국자동차공학회논문집
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• 제8권4호
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• pp.121-129
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• 2000

this paper develops a computational model for the turning maneuver analysis of a cabover type heavy truck. The model having 42 degree-of-freedom is developed using ADAMS. Leaf springs used in the front and rear suspension systems are modeled by dividing it three links and joining them with joints. Force and displacement relationship showing nonlinear hysteric characteristics of the leaf spring is measured and modeled with an exponential function. A velocity and force relationship of a shock absorber is measured and modeled with a spline function. And a stabilizer bar is modeled using ADAMS beam element to consider a twisting and bending effect. To verify the developed model an actual vehicle test is performed in the double lane change course with 50kph and 60kph vehicle velocity. In the actual vehicle test lateral acceleration roll angle and yaw rate are measured, The tendency and peak-to-peak values of the actual vehicle test and simultion results are compared each other.

• International Journal of Aeronautical and Space Sciences
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• 제6권2호
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• pp.23-32
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• 2005

An experimental control system is proposed for the attitude control of a simplified 2-DOF helicopter model. The main rotor is a rigid one, and the fuselage is simply supported by a fixed hinge point where the longitudinal motion is decoupled from the lateral one since the translations and the rolling rotation are completely removed. The yaw trim of the helicopter is performed with a tail rotor, by which the azimuthal attitude can be adjusted on the rotatable post in the yaw direction. The robust sliding mode control tracking a given attitude angle is proposed based on the flight dynamics. A pitch damper is inserted for the control of pitching angle while the compensator to reaction torque is used for the control of azimuth angle. Several parameters of the system are selected through experiments. The results shows that the proposed control method effectively counteracts nonlinear perturbations such as main rotor disturbance, undesirable chattering, and high frequency dynamics.

• 해양환경안전학회지
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• 제25권7호
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• pp.982-990
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• 2019

최근 점점 더 많은 연구자와 정부에서 해양에너지 자원 개발에 대한 관심이 고조되고 있다. 장죽수도는 조류에너지 밀도가 높아 조류 발전소를 건설하기에 적합한 잠재적 후보지 중 하나이다. 따라서 본 연구에서는 ADCIRC 모델을 이용하여 장죽수도의 조류자원의 잠재량을 평가하기 위한 수치적 접근방식을 제시하고, 내부 코드를 이용하여 조석 특성을 입력 매개변수로 활용하여 1 MW급 규모의 조류에너지 변환장치를 대상으로 4개의 레이아웃으로 배열하고 후류 효과로 인한 연간 에너지 생산량에 관한 수치해석을 수행하였다. 그 결과 효율이 가장 좋은 배치는 연간 최대 12.96 GWh/year의 에너지를 생성할 수 있으며, 이 값은 후류 효과로 인한 에너지 손실을 고려하면 연간 0.16 GWh씩 감소될 수 있음을 보였다. 또한, 창낙조 때 터빈 요 각도를 변경함으로써 이 요소가 에너지 추출에 미치는 영향을 분석하였으며, 터빈 배열은 터빈 요 각도가 346°와 164°(북쪽에서 시계 방향으로)일 때 대조기와 소조기에서 차례로 최대 조류 에너지를 얻을 수 있었다.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.1044-1050
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• 2001

This paper presents firstly the method of Euler angle matching designing the transfer alignment using the attitude matching. In this method, the observation directly uses Euler angle difference between MINS and SINS so it needs to describe the rotation vector error to the Euler angle error. The rotation vector error related to the Euler angle error is derive from the direction cosine matrix error equation. The feasibility of the Kalman filter designed for the transfer alignment by Euler angle matching is analyzed by the alignment error results with respect to the roll angle the pitch angle, and the yaw angle matching.

• 대한치과교정학회지
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• 제52권2호
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• pp.85-101
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• 2022

Objective: To classify facial asymmetry (FA) phenotypes in adult patients with skeletal Class III (C-III) malocclusion. Methods: A total of 120 C-III patients who underwent orthognathic surgery (OGS) and whose three-dimensional computed tomography images were taken one month prior to OGS were evaluated. Thirty hard tissue landmarks were identified. After measurement of 22 variables, including cant (°, mm), shift (mm), and yaw (°) of the maxilla, maxillary dentition (Max-dent), mandibular dentition, mandible, and mandibular border (Man-border) and differences in the frontal ramus angle (FRA, °) and ramus height (RH, mm), K-means cluster analysis was conducted using three variables (cant in the Max-dent [mm] and shift [mm] and yaw [°] in the Manborder). Statistical analyses were conducted to characterize the differences in the FA variables among the clusters. Results: The FA phenotypes were classified into five types: 1) non-asymmetry type (35.8%); 2) maxillary-cant type (14.2%; severe cant of the Max-dent, mild shift of the Man-border); 3) mandibular-shift and yaw type (16.7%; moderate shift and yaw of the Man-border, mild RH-difference); 4) complex type (9.2%; severe cant of the Max-dent, moderate cant, severe shift, and severe yaw of the Man-border, moderate differences in FRA and RH); and 5) maxillary reverse-cant type (24.2%; reverse-cant of the Max-dent). Strategic decompensation by pre-surgical orthodontic treatment and considerations for OGS planning were proposed according to the FA phenotypes. Conclusions: This FA phenotype classification may be an effective tool for differential diagnosis and surgical planning for Class III patients with FA.

• 한국자동차공학회논문집
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• 제5권4호
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• pp.190-198
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• 1997

Traction control systems are used to prevent the wheel slippage and to maximize the traction force. A new scheme of controlling the wheel slip during cornering by varying the slip ration as a function of the slip angle is proposed and dynamically simulated with the model of a front wheel driven passenger vehicle. Simulation results show that the proposed scheme is superior to conventional ones based on the fixed slip ratio during cornering and lane changes.