• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1126-1131
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• 2007

This paper presents unified chassis control (UCC) to improve the vehicle lateral stability. The unified chassis control implies combined control of active front steering (AFS), electronic stability control (ESC) and continuous damping control (CDC). A direct yaw moment controller based on a 2-D bicycle model is designed by using sliding mode control law. A direct roll moment controller based on a 2-D roll model is designed. The computed direct yaw moment and the direct roll moment are generated by AFS, ESP and CDC control modules respectively. A control authority of the AFS and the ESC is determined by tire slip angle. Computer simulation is conducted to evaluate the proposed integrated chassis controller by using the Matlab, simulink and the validated vehicle simulator. From the simulation results, it is shown that the proposed unified chassis control can provide with improved performance over the modular chassis control.

• 대한기계학회논문집A
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• 제41권10호
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• pp.991-996
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• 2017

인간의 보행에서 안정적인 디딤을 가능하게 하는 동작특성은 보행 일주기의 60%를 차지하는 긴 디딤국면이다. 본 연구에서는 이러한 보행패턴을 자전거의 크랭크 구동장치에 반영하여 직립자세에서 안정적으로 구동할 수 있는 자전거를 설계하고자 한다. 크랭크의 회전속도를 디딤국면에서는 느리게 되돌림국면에서는 빠르게 움직이도록 급속귀환 기구를 크랭크 구동시스템에 적용하였다. 이 급속귀환 크랭크기구의 설계변수를 정의하고 설계변수의 변화가 크랭크의 거동에 미치는 영향을 시뮬레이션 하였다. 또한 실험장치를 제작한 후 탑승자의 구동동작을 분석한 결과 보행패턴을 접목한 크랭크는 사용자 무게중심 안정화에 기여하는 것으로 나타났다. 향후 보행패턴을 접목한 크랭크는 서서 타는 자전거의 구동시스템에 접목 가능할 것으로 보인다.

• 한국콘텐츠학회논문지
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• 제19권1호
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• pp.86-95
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• 2019

당뇨 환자는 혈당을 정상 범위로 유지하기 위해 운동, 식이, 투약요법을 병행해야만 한다. 운동은 혈당 강하와 정서적 안정에 효과가 크고, 유산소 운동 부하와 혈당 강하간 관계를 규명하려는 많은 연구들이 있다. 그러나, 환자들이 가정에서 쉽게 적절한 운동 부하를 산출하고, 이에 따라 개인별로 운동을 코칭하는 운동 시스템 연구는 부족하다. 본 논문은 실내자전거를 기반으로 운동 정보 자동취득 장치와 모바일 앱을 개발하였고, 이를 통해 개인별 간이 운동 부하 검사와 운동 코칭 알고리즘을 제안하였다. 실험을 통해, 실내 자전거를 이용한 운동 부하 검사와 코칭에 따른 운동전후 혈당 변화를 측정하였다. 모든 실험자의 혈당은 운동 후 감소되었고, 당뇨 환자는 운동 종료 30분 후에도 낮아진 혈당이 유지되었다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1132-1137
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• 2007

This paper describes a Unified Chassis Control (UCC) strategy to prevent vehicle rollover by integrating individual modular chassis control systems such as Electronic Stability Control (ESC) and Continuous Damping Control (CDC). The UCC threshold is determined from a rollover index computed by estimated roll angle, roll rate and measured lateral acceleration. A direct yaw moment control method is used to design the ESC based on a 2-D bicycle model. Similarly, the CDC is designed based on a 2-D roll model using a direct roll moment control method. The performance of the proposed UCC scheme is investigated and compared to that of modular chassis controllers through computer simulations using a validated vehicle simulator. It is shown that the proposed the UCC can lead to improvements in vehicle stability and efficient actuation of chassis control systems.

• 대한물리의학회지
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• 제16권1호
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• pp.111-121
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• 2021

PURPOSE: This study examined the effects of core stability exercise on the strength, activation of the trunk muscle, and pulmonary function in a Guillain-Barre syndrome (GBS) patient. METHODS: A 38-year-old male with GBS was enrolled in the study. A core stability exercise program was implemented for four weeks with a duration of 30 min/day and a frequency of three days/week. The program consisted of abdominal crunch, Swiss ball crunch, bicycle crunch, medicine ball sit-up with a toss, medicine ball rotational chest pass, raised upper body and lower body, and dead bug. Measurements of the strength of the trunk muscle (trunk flexion and hip flexion), activation of trunk muscles (rectus femoris; RA, external oblique abdominal; EOA, internal oblique abdominal; IOA, erector spinae; ES), and pulmonary function (forced expiratory capacity; FVC, forced expiratory volume at one second; FEV1) were taken before and after four weeks of core stability exercise. RESULTS: The strength of trunk muscles increased in the trunk and hip flexion after four weeks of core stability exercise, respectively, compared to the baseline levels. Activation of the trunk muscles increased in RA, EOA, and IOA after four weeks of core stability exercise compared to baseline levels, but decreased in ES after four weeks of core stability exercise compared to the baseline levels. The pulmonary function increased in FVC and FEV1 after four weeks of core stability exercise compared to the baseline levels. CONCLUSION: These results suggest that core stability exercise improves strength, Activation of the trunk muscle, And pulmonary function in patients with GBS.

• 한국자동차공학회논문집
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• 제2권5호
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• pp.101-109
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• 1994

Recently, four-wheel steering systems have been developed and studied as one of the latest automotive technologies for improving the handling characteristics of a vehicle. In much of the proposed four-wheel steering systems, the side slip angle at the vehicle's center of gravity is maintained at zero. This approach allows the greater maneuverability at low speed by means of counter-phase rear steering and the improved stability at high speed through same-phase rear steering. In this paper, the effects of several four-wheel steering systems are studied and discussed on the responsiveness and stability of the vehicle by using the linear analysis. Especially, the effects of the cornering stiffnesses of both front and rear wheels are investigated on the yaw velocity gain and critical speed of the vehicle.

• 오토저널
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• 제12권3호
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• pp.21-29
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• 1990

Equipments of passenger cars with modern technologies are gaining their importance. Related with such developments, the four-wheel steering system (4WS) was introduced recently to a few passenger cars in the market. The most important research goal on this new steering system is improvement of active safety, in other words, improvement of handling characteristics of vehicle stability and maneuverability. This paper presents a computer-based study about the effects of 4WS system on the vehicle handling characteristics. A simple bicycle model of 2 d.o.f. is used for the development of four wheel control algorithms of 4WS system, and the rear wheel control strategies are applied to a complex vehicle model of 16 d.o.f. for simulation of selected ISO-driving tests. The 4WS systems, which reduce the sideslip angle at the mass center of vehicle to almost zero, show much improved handling characteristics compared to that of the conventional 2WS system. These 4WS systems, however, result in vehicles with eigen-steer characteristics of extreme understeer behaviour.

• 한국자동차공학회논문집
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• 제3권3호
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• pp.66-78
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• 1995

In this paper, we address vehicle modeling and dynamic analysis of four wheel steering systems (4WS). 4WS is one of the devices used for the improvement of vehicle maneuverability and stability. All research done here is based on a production vehicle from a manufacturer. To study actual system response, a three dimensional, full vehicle model was created. In past research of this type, simple, two dimensional, bicycle vehicle models were typically used. First, we modelled and performed a dynamic analysis on a conventional two wheel steering(2WS) vehicle. The modeling and analysis for this model and subsequent 4WS vehicles were performed using ADAMS(Automatic Dynamic Analysis of Mechanical Systems) software. After the original vehicle model was verified with actual experiment results, the rear steering mechanism for the 4WS vehicle was modelled and the rear suspension was changed to McPherson-type forming a four wheel independent suspension system. Three different 4WS systems were analyzed. The first system applied a mechanical linkage between the front and rear steering mechanisms. The second and third systems used, simple control logic based on the speed and yaw rate of the vehicle. 4WS vehicle proved dynamic results through double lane change test.

• 한국농촌건축학회논문집
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• 제6권2호
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• pp.65-78
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• 2004

Transformation of housing space is the most accurate physical trail to understand main needs from residents. The scope of the study targeted the 7 si & gun districts in Gyeongsangnam-do, this study is designed to consider the characteristics of space transformation in rural apartment houses and provide basic materials for the development of rural apartment houses. The results of the study are as follow. First, such spaces as corridor and stairway are transformed into storages and outside the houses are installed tap water facility, bicycle storage. and toilet. Second, in autumn seasons when crops and grains are harvested, parking lot and rooftop are used as the space drying such agricultural products. Third, space transformation within the houses has been different depending on family type and main businesses in terms of function and time to seek efficiency and stability of residence. Fourth, rural residents concentrate on a simple change of space usage and replacement of ageing or dilapidated equipment and facilities rather than space transformation incurring more financial burden.

• 한국컴퓨터정보학회논문지
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• 제19권3호
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• pp.11-16
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• 2014

본 논문은 예측제어기를 이용하여 2휠 로봇의 실시간 균형을 유지할 수 있는 자세 제어에 대해 연구하였다. 또한 역방향 진자 제어는 로봇이 진행하는 동안 균형을 유지하기 위하여 도입되었다. 본 논문에서 구현에 사용한 프로세서는 dsPIC30F4013 임베디드 프로세서이며 자체 균형 알고리즘을 설계하고 구현 하는 것이다. 본 연구에서 ARS는 2축의 자이로 각(roll, pitch)과 3축의 가속도계 값(x, y, z)값으로 자세를 계산하도록 하였다. 따라서 본 연구에서는 외란에 대한 자세의 불균형을 극복하기 위한 예측제어기를 제안했으며 이를 원격 시스템의 제어문제에 도입하여 2바퀴 로봇의 선형 제어기와 예측제어기를 결합한 시스템의 시뮬레이션을 수행하였다. 또한 강인한 특성을 실현하기 위해 목표 필터루프를 설계하고 강인도-안정성을 만족하는 제어기를 설계하므로 제어시스템의 안정성을 향상시키고 시스템의 성능의 저하를 최소화함을 확인하였다.