• 대한기계학회논문집A
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• 제23권11호
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• pp.1960-1969
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• 1999

This paper presents dynamic modeling and controller design of a tracked vehicle installed with the double rod type ERSU(electro-rheological suspension unit). A 16 degree-of-freedom model for the tracked vehicle is established by Lagrangian method followed by the formulation of a new sky-ground hook controller. This controller takes account for both the ride quality and the steering stability. The weighting parameter between the two performance requirements is adopted to adjust required performance characteristics with respect to the operation conditions such as road excitation. The parameter is appropriately determined by employing a fuzzy algorithm associated with the vehicle motion. Computer simulations are undertaken in order to demonstrate the effectiveness of the proposed control system. Acceleration values at the driver's seat are analyzed under bump road profile, while frequency responses of vertical acceleration are investigated under random road excitation.

• 한국생산제조학회지
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• 제24권5호
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• pp.568-575
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• 2015

A hand-made vehicle with a formula (VF-1) was designed and manufactured with the aim of realizing a lightweight and high-performance vehicle. The driver's body weight and stiffness of the frame were considered. The vehicle was equipped with a one-cylinder Exiv 250 engine with intake manifold potting for realizing weight reduction, high performance, and low cost. The suspension system for the formula was designed through the analyses and tests of vehicle motion and equipment. In a steering system, anti-Ackerman geometry was introduced to increase the transverse force during cornering. A full electric paddle shift system was adopted to decrease the braking distance. For protection against the distortion and warping of the frame, tungsten inert gas (TIG) welding technology was used.

• 한국음향학회지
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• 제11권3호
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• pp.25-39
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• 1992

압전 센서와 액츄에이터를 이용한 단순지지 평판의 진동제어에 관해 이론적 고찰을 하였다. 적절한 센서, 액츄에이터의 운동방정식을 구한 후 평판으 ㅣ운동 방정식과 결합해 능동 진동제어 시스템을 구성하였으며, 외력과 제어력의 복합 영향을 고려한 평판의 진동 진폭 반응을 해석하였다. 본 방법의 효용성을 보이기 위해 집중 응력과 압전구동기에 의한 모멘트의 두가지 외력에 대한 진동반응을 수치해석 하였으며, 그 결과 압전 센서와 액츄에이터로써 구조물의 외력에 대한 진동반응을 효율적으로 감소시킬 수 있었다. 본 연구에서 고찰된 방법은 임의의 외력 조건과 제어 알고리즘에 적용이 가능하다.

• 한국멀티미디어학회논문지
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• 제15권8호
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• pp.996-1003
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• 2012

본 논문은 차량용 전방 카메라를 이용하여 근거리 옆 차선의 차량을 검출하는 방법을 제안한다. 근거리 옆 차선의 차량은 상대적 위치에 따라 형태의 변화가 심하기 때문에 기존의 방법들은 대부분 움직임 정보를 이용하여 근거리 옆 차선 차량을 검출한다. 그러나 이러한 움직임 정보에 기반한 방법들은 자가 차량을 앞지르는 차량만 검출할 수 있다는 문제가 있다. 이러한 문제를 해결하기 위해 제안하는 방법은 움직임 정보를 사용하는 대신 근거리 옆 차선 차량이 존재하는 관심 영역의 특징을 이용한다. 이로 인해 근거리 옆 차선의 추월 차량 뿐 아니라 정지해 있거나 나란히 주행하는 차량들 또한 검출이 가능하다. 실험 결과, 제안하는 방법은 다양한 날씨 및 도로 환경에서 근거리 옆 차선 차량을 효과적으로 검출하였으며 실시간 처리 속도를 보여주었다.

• 대한기계학회논문집
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• 제10권5호
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• pp.593-600
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• 1986

본 연구에서는 베어링과 같은 기계 회전부품의 정밀진동분석을 위한 구동장치 로서 평판 자기결합기를 갖는 회전장치를 제작하였다. 이 회전장치의 진동특성을 고 찰하기 위해 Weinmann 등의 연구결과에 따라 자기 결합기의 전달 토오크가 그대로 피 동축에 전달됨을 이용하여 이론전개를 하였으며 이 결과를 실험치와 비교하였다.

• 한국자동차공학회논문집
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• 제5권3호
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• pp.76-85
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• 1997

The understeer characteristics of four wheel steering system(4WS system) in a high speed region have a negative effect upon the yaw velocity, leading to a decrease in the handling ability of vehicle. As a result, even if the side slip angle of vehicle can be kept up a minimum, a driver must compensate a decrease in yaw velocity by increasing the steering wheel angle in order to track the desired vehicle path. In this study, to keep the side slip angle of vehicle at zero and achieve a suitable yaw velocity in vehicle motion, a full active 4WS system(FA 4WS system) with actively steerable front and rear wheels is presented based on a nonlinear vehicle model and a model following control of yaw velocity. And the analysis results show the fat that, besides the excellent stability of vehicle, the FA 4WS system is able to realize better handling performance of vehicle than the previous 4WS systems in the high speed region.

• 한국자동차공학회논문집
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• 제21권5호
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• pp.40-46
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• 2013

Automatic swing door for an automotive application is considered. The equation of motion for a driver side swing door is introduced and gravity cancellation control scheme is adapted. The control scheme supposed to cancel the moment due to the tilt of the car. A speed control is suggested for door operation automation but the output of the speed control is not suppose to be precise as for the manufacturing system control. In the frame of the velocity control of the door, feedback linearization was applied for collision detection. The collision detection performance is satisfactory. The estimate of the magnitude of disturbance due to the collision is close to the actual magnitude of disturbance. Simulation study has been performed to gain insight into the system behavior. Also real test on the prototype hardware has been performed for verification purpose.

• 한국운동역학회지
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• 제20권2호
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• pp.213-219
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• 2010

The purpose of this study is developing a method to analyze and evaluate a golf swing motion using the ground reaction force (GRF) data. Proper weight shifting is essential for a successful shot in golf swing and this could be evaluated by means of the forces between the feet and ground. GRF during the swing were measured from 15 low-handicapped male golfers including professionals. Four clubs(driver, iron 3, iron 5, and iron 7) were selected to analyze the differences due to different characteristics of club. Swings of each subject were taken using a high speed video camera and GRF data were taken simultaneously by two AMTI force platforms. To simplify the GRF data, forces of the three major component of GRF(vertical, lateral, anterior-posterior force) at 10 predefined temporal events for each trial were selected and the mean of each event were calculated and evaluated. Analyzed vertical GRF (VGRF) data could be divided into two different styles, one-legged and two legged. One-legged style shows good weight transfer to the target leg and most of the previous study shows this style as a typical pattern of good players. Therefore the data from the iron 5 swing obtained from 10 one-legged style golfers are provided as criteria for the evaluation of a swing.

• 자동차안전학회지
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• 제5권1호
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• pp.37-43
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• 2013

This paper describes an investigation into coordinated control of electronic stability control (ESC) and active roll control system (ARS). The coordinated control is suggested to improve the vehicle stability and agility features by yaw rate control. The proposed integrated chassis control algorithm consists of a supervisor, control algorithms, and a coordinator. The supervisor monitors the vehicle status and determines desired vehicle motions such as a desired yaw rate and desired roll motion based on control modes to improve vehicle stability. According to the corresponding the desired vehicle dynamics, the control algorithm calculated a desired yaw moment and desired roll moment, respectively. Based on the desired yaw moment and the desired roll moment, the coordinator determines the brake pressures and the ARC motor torques based on control strategies. Closed loop simulations with a driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy using CarSim vehicle dynamics software and the integrated controller coded using Matlab/Simulink.

• Journal of Biosystems Engineering
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• 제30권5호
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• pp.293-298
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• 2005

The purpose of this study was the development of a multi-joint robot manipulator for milking robot system. The multi-joint robot manipulator was controlled by 5 drivers with driver controller through the position information obtained from the image processing system. The robot manipulator to automatically attach each teat cup to the teats of a milking cow was developed and it's motion was accurately measured with error rate. Results were as follows. 1. Maximum errors in position accuracy were 4mm along X-axis, 4.5mm along Y-axis and 0.9mm along Z-axis. Absolute distance errors were maximum 4.8mm, minimum 2.7mm, and average 3.6mm. 2. Errors of repeatability were maximum 3.0mm along X-axis, 3.0mm along Y-axis, and 0.5mm along Z-axis. Distance error values were maximum 3.2mm, minimum 2.2mm, and average 2.5mm. It is envisaged that multi-joint robot manipulator can be applicate to milking robot system being developed in consideration of the experiment results.