• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• Journal of The Korean Society For Urban Railway
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• v.6 no.4
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• pp.319-326
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• 2018

The safety interval to prevent collision between trains in a train control system is based on the braking distance according to the emergency braking of the train. The evaluation of the braking performance is based on the longitudinal train dynamics or the commissioning test in the test track, but since the conditions such as the weakening of the adhesion coefficient between the wheel and rail can not all be considered, these conventional methods are not sufficient to design of the train control systems. Therefore, in this study, the Monte Carlo Method (MCM) which can consider various environments is used to analyze braking performance and limitations. The braking model is based on the air braking used in the emergency braking and is modeled to take into account the braking pressure, efficiency, friction coefficient, adhesion condition, and vehicle mass distribution. It is confirmed that braking performance can be improved by controlling the quality of braking device. In addition, the change of the braking performance was confirmed according to the vehicle constituting the train. The results of this study are expected to be used as basic information for designing safety clearance for the train control systems and as a basis for improving the braking performance of railway vehicles.