• International Journal of Automotive Technology
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• v.5 no.2
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• pp.77-88
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• 2004

Narrow commuter vehicles can address many congestion, parking and pollution issues associated with urban transportation. In making narrow vehicles safe, comfortable and acceptable to the public, active tilt control systems are likely to playa crucial role. This paper focuses on the development of an active direct tilt control system for a narrow vehicle that utilizes an actuator in the vehicle suspension. A simple PD controller can stabilize the tilt dynamics of the vehicle to any desired tilt angle. However, the challenges in the tilt control system design arise in determining the desired lean angle in real-time and in minimizing tilt actuator torque requirements. Minimizing torque requirements requires the tilting and turning of the vehicle to be synchronized as closely as possible. This paper explores two different control design approaches to meet these challenges. A Receding Horizon Controller (RHC) is first developed so as to systematically incorporate preview on road curvature and synchronize tilting with driver initiated turning. Second, a nonlinear control system that utilizes feedback linearization is developed and found to be effective in reducing torque. A close analysis of the complex feedback linearization controller provides insight into which terms are important for reducing actuator effort. This is used to reduce controller complexity and obtain a simple nonlinear controller that provides good performance.

• The Journal of Korean Society for Radiation Therapy
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• v.18 no.1
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• pp.43-51
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• 2006

Purpose: To resolution of A hospital-handmade modification double tilt angle immobilization system (DTAB immobilization system) and to report the clinical results of it. Material and Methods: It was developed in conjunction with the breast board for patients unable to achieve and maintain the desired uncomfortable respiration and position of set-up needed in the treatment of RT (This custom design provides an alternative to accomplishing this desired head angle needed to relax position treatment area, realizing that the lenses totally protected eye-ball out) By using the angled breast board and SBDD(small bowel device), reproducibility of set-up and patient comfort were addressed throughout the simulation, computed tomography planning and treatment process. Results: Usually patients the error range-within 5 mm. When use of Aqua patients error range-within 3 mm. Conclusion: It was constructed in tandem with a unique custom-built double tilt angle board (DTAB). It was designed to eliminate clinical set-up problems with head immobilization and instability during treatment, thus providing for a more comfortable head rest for the patient.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.2
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• pp.107-117
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• 1998

As the traffic congestion and parking problems in urban areas are increased the tall and narrow commuter vehicles have interested as a means to increase the utilization of existing freewa- ys and parking facilities. However, in hard cornering those vehicles could reduce stability against overturning compared to conventional vehicles. This tendency can be mitigated by tilting the body toward the inside of the turn. In this paper those tilting vehicles are considered in which at speed at least, the tilt angle is controlled by steering the front wheels. In other word, if the driver turns the steering wheel the tilt controller automatically steers the road wheel to tilt the body inside of the turn. Also, the dynamic tilting vehicle model with tire slip angles is constructed by adding the roll degree of freedom. Finally, through computer simulation the behaviors of the tilting vehicles are investigated.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.339-341
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• 2006

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. We estimate the relative position information between the spreader and a container using the laser range finder and tilt sensor through the geometrical analysis.

• Journal of the Korean Solar Energy Society
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• v.27 no.4
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• pp.121-128
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• 2007

Convective heat loss from solar tower receiver is experimentally investigated in wind tunnel with tilt angles and operating conditions. In order to simulate the receiver, an electric heater, which is made of aluminum (width : 100 mm, height : 100mm) is used and installed in the wind tunnel. The convective heat loss from the receiver is dependent on the direction and the velocity of the wind and the surface temperature of the receiver. The tilt angle and surface temperature of the receiver are varied from 0o (cavity facing straight down) and 90o(cavity aligned horizontally) and from $150^{\circ}C$ to $250^{\circ}C$, respectively. Also, the wind speed is changed from 0 to 4m/s. The convective heat loss is obtained by measuring consumed power to the heater to maintain the desired surface temperature. It is concluded that Nusselt number increases with increasing wind speed for all cases. Especially, it is showed that Nusselt number can be maximized when the tilt angle is 30o.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.39-45
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• 2007

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives at the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. The relative position information between the spreader and a container using the laser range finder and tilt sensor is estimated through the geometrical analysis.

• The Journal of the Convergence on Culture Technology
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• v.9 no.1
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• pp.663-668
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• 2023

Recently it is very important to collect information such as enemy positions and facilities. To this end, unmanned aerial vehicles such as multicopters have been actively developed, and various mission equipment mounted on unmanned aerial vehicles have also been developed. The coordinate-oriented algorithm refers to an algorithm that calculates a gaze angle so that the mission equipment can fix the gaze at a desired coordinate or position. Flight data and GPS data were collected and simulated using Matlab for coordinate-oriented algorithms. In the simulation using only the coordinate data, the average Pan axis angle was about 0.42°, the Tilt axis was 0.003°~0.43°, and the relatively wide error was about 0.15° on average. As a result of converting this into the distance in the NE direction, the error distance in the N direction was about 2.23m on average, and the error distance in the E direction was about -1.22m on average. The simulation applying the actual flight data showed a result of about 19m@CEP. Therefore, we conducted a study on the self-error of coordinate-oriented algorithms in monitoring and information collection, which is the main task of EOTS, and confirmed that the quantitative target of 500m is satisfied with 30m@CEP, and showed that the desired coordinates can be directed.

• Korean Journal of Optics and Photonics
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• v.17 no.2
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• pp.149-158
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• 2006

We have analyzed various tolerances of the multi-configurative microscopic system for inspecting the wire-bonding of a reed frame by using the Gaussian bracket method and the equivalent lens method. The tolerances for the curvature and the thickness, which are axial symmetric tolerances, are given by varying the back focal length within a fecal depth under diffraction-limited conditions. Moreover, by using the trial and error method, the axial non-symmetric tolerances for decenter and tilt are established by assigning the 5% variation of MTF(modulation transfer function) at the spatial frequency of 50 lp/mm and at the field angle of 0.7 field. As the tolerances with the most probable distribution are distributed within the range of the decay rate of less than 5% independent of the probability distribution of tolerances, we can achieve completely the desired design performances of the multi-configurative microscopic system by using the various ranges of these tolerances.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.1-7
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• 2011

This paper presents implementation and control of a two wheeled mobile robot system which consists of two systems, an inverted pendulum system and a mobile robot system. Control purpose is to regulate its balancing and navigation. The balancing robot has advantages of one point turning and robust balancing against disturbances from the ground. Simulation studies of local and global control methods are performed. Since the robot is implemented to have a symmetrical structure, simple linear control algorithms are used for balancing and navigation. Low cost sensors such as gyro and tilt sensor are fused together to detect the inclined angle. Experimental studies of following desired circular trajectory are conducted.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.7 no.2
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• pp.147-156
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• 1996

In this paper we proposed a beam steering equation for the planar slotted waveguide array antenna. The tilt angle measured from the rotating axis and the aperture distribution of the antenna were the most important factors for the beam steering. From the equation, we calculated the frequency and phase distribution of the aperture for any desired beam direction. And we developed a high speed control algorithm delivering the phase data to the phase shifters of a one-dimensional phased array antenna. To reduce complexity of the control circuit and the phase delivery time, we proposed the serial phase repeating method. Because of its simplicity, we expect it can be useful for a large 2- dimensional fully phased array antenna.