• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.67.3-67
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• 2002

$\textbullet$ Introductions $\textbullet$ Sensor system $\textbullet$ Driving System steering system $\textbullet$ Wireless communication system $\textbullet$ O/I (Operation/Interface) system $\textbullet$ Conclusions

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.725-731
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• 2003

Reduction of a ship's rolling is the most important performance requirement for improving the safety of the crew on board and preventing damage to cargos as well as improving the comfort of the ride. A mass driving anti-.oiling system (MD-ARS) might be one candidate of several systems against the ship's rolling. As the movable range of the mass on the ship is finite, the control system must include restriction on the mass position to protect the device and the ship. This restriction usually causes windup phenomenon and control performance is deteriorated seriously. We adopt anti-windup technique to improve the control performance and demonstrate its efficiency by simulation.

• ETRI Journal
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• v.38 no.4
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• pp.757-766
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• 2016

This study was conducted to examine the usage effects of an augmented reality head-up display (AR-HUD) system on the risk perception and psychological changes of drivers. To do so, we conducted an experiment to collect the driver response times for vehicles and pedestrians as their risk perception behavior, and used a driving behavior determinants questionnaire consisting of Problem Evading, Benefits/Sensation Seeking, Anti-Personal Anxiety, Anti-Personal Angry, and Aggression factors for collecting the psychological characteristics of the drivers. Thirty drivers were randomly assigned into an in-vehicle AR-HUD using group and a control group. As a result, the Anti-Personal Anxiety and Anti-Personal Angry factors were negatively correlated with the response time for the control group. In contrast, these results were not shown for the in-vehicle AR-HUD system using group. These results indicate that the in-vehicle AR-HUD system may partially induce a relaxation of tension or stress for drivers with a high level of interpersonal anxiety. Therefore, the in-vehicle AR-HUD system might contribute to not only the visual safety driving behaviors of drivers, but also to their psychological driving safety with specific characteristics.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.26-30
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• 2007

The total control system of main engine and transmission will be designed specially for use in drive systems in rail vehicles. The domestic diesel train was controlled by the relay control circuit. But the exportation to Europe and the Middle East was controlled by total control system. When the driver operates the train, the operating signals are sent to Voith Controller. The VTIC controls the main engine and transmission. The system communicates with TMS, and the data are displayed by TMS when the function switch at the display unit is operated. The this driving control system which is applied to reduce the maintenace load and cost at Turkey diesel multiple unit train is proposed.

• Journal of the Institute of Convergence Signal Processing
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• v.4 no.4
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• pp.58-65
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• 2003

This paper studies a steering control method using a neural network algorithm for an intelligent autonomous driving robot. Previous horizontal steering control methods were made by various possible situation on the road. However, it isn't possible to make out algorithms that consider all sudden variances on the road. In this paper, an intelligent steering control algorithm for an autonomous driving robot system is presented. The algorithm is based on Self Organizing Maps(SOM) and the feature points on the road are used as training datum. In a simulation test, it is available to handle a steering control using SOM for an autonomous steering control. The algorithm is evaluated on an autonomous driving robot. The algorithm is available to control a steering for an autonomous driving robot with better performance at the experiments.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.6
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• pp.40-48
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• 2013

Recently, many types of electric vehicles including a heavy duty vehicle have been developed and released because of the better fuel economy and less gas products. In this study, research about an electric bus which utilizes the wheel motor drive system was conducted. The wheel motor is a motor connected to the wheel directly only with a simple gear so that the developer can utilize the space efficiently and the whole system efficiency will be better because of simple structure. However, because it is different from former types of vehicles which use the differential gear, the development of the integrated control logic is required in order to meet the vehicle stability and driving performance. The developed control logic is composed with direct yaw moment control, regenerative braking control and slip control logics. It is compared to the control logics which does not consist of direct yaw moment control and slip control when the vehicle is exposed in tough situations. For the unification of the control logic, a few maps were developed and applied to determine the output torque of each motor according to the driving status. As a result, it is shown that the developed control logic is more safe and well follow the target speed than the other control logic applied simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.921-927
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• 1988

The process and results of computer simulation using bond graphs for a hydraulic system driving large rotational inertia are presented in this paper. As the large rotational inertia and its application characteristics, control criteria of this system is not position-control nor velocity-control but appropriate acceleration, deceleration and inching ability. All the components' nonlinear characteristics are modelled using bond graphs. The equationing and solution process is carried out by a package. Finally it is concluded that modelling of this kind of system by bond graphs and using a software as its solver shows good approximated results to actual experimental data, and that the proposed modelling may be useful to actual design process for this kind of hydraulic system.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.110-119
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• 2010

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.10a
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• pp.66-69
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• 2010

Lately, vehicle combined vehicle and IT(Information Technology) for vehicle's safety and convenience. so, vehicles is equipped with many ECU(Electronic control unit). the ECU's transmit data about each electronic control unit with OBD(On-Board Diagnostics) Network and data about each multimedia with MOST(Media Oriented System Transport) Network. In this paper, Supplementing disadvantage of existing blackbox, Using MOST of in-vehicle multimedia network and OBD-II of in-vehicle control network, blackbox system obtain the vehicle's driving state data. so, blackbox system judge vehicle's driving state and provide vehicle's driving state information to driver. Blackbox system implement the features mentioned above. as a result, blackbox is going to be more accurate blackbox system.