• 제어로봇시스템학회논문지
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• 제20권7호
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• pp.736-740
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• 2014

This paper presents the driving and balancing control of an entertainment robot vehicle that can carry two persons. The entertainment robot vehicle is built with the purpose of carrying passengers with two wheels. It has two driving modes: a balancing mode with two wheels and a driving mode with three wheels. Three cases of different modes are verified by experimental studies. Firstly, a driving mode is tested with two passengers to check the functionality of the vehicle. Secondly, the balancing control performance is tested. Lastly, the balancing control performance under the disturbance is tested.

• 대한기계학회논문집A
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• 제21권11호
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• pp.1950-1956
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• 1997

An engineering goal in vibration and noise professionals is to develope quiet machines at the preliminary design stage, and various numerical techniques such as FEM, SEA or BEM are one of the schemes toward the goal. In this paper, the research has been focused on the sensitivity effect of mesh sizes for FEM application so that the optimum size of the mesh that leads to engineering solution within acceptable computing time could be generated. In order to evaluate the mesh size effect, three important parameters have been examined : natural frequencies, number of modes and driving point mobility. First, several lower modes including the fundamental frequency of a 2-D plate structure have been calculated as mesh size changes. Since theoretical values of natural frequencies for a simple structure are known, the deviation between the numerical and theoretical values is obtained as a function of mesh size. The result shows that the error is no longer decreased if the mesh size becomes a quarter wavelength or smaller than that. Second, the mesh size effect is also investigated for the number of modes. For the frequency band up to 1.4 kHz, the structure should have 38 modes in total. As the mesh size reaches to the quarter wavelength, the total count in modes approaches to the same values. Third, a mobility function at the driving point is compared between SEA and FEM result. In SEA application, the mobility function is determined by the modal density and the mass of the structure. It is independent of excitation frequencies. When the mobility function is calculated from a wavelength to one-tenth of it, the mobility becomes constant if the mesh becomes a quarter wavelength or smaller. We can conclude that dynamic parameters, such as eigenvalues, mode count, and mobility function, can be correctly estimated, while saving the computing burden, if a quarter wavelength (.lambda./4) mesh is used. Therefore, (.lambda./4) mesh is recommended in structural vibration analysis.

• 한국자동차공학회논문집
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• 제24권2호
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• pp.225-231
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• 2016

A military vehicle is driven at different usage modes with the army application and servicing conditions. For practical durability validation, DT(Development Test) on a new military vehicle should be run up to the durability target kilometers on test courses in the specified proving ground. Driving velocities with test courses at the endurance mode of DT are established definitely. However, OT(Operational Test) and initial endurance test of production car can't be performed only in the DT courses due to the development period limit. Therefore, this paper focuses on the method to analyze the relative road damages between the endurance test in DT and other endurance test. Road load acquisition tests on KLTV(Korean Light Tactical Vehicle) were implemented at 15 driving modes in off-road and cross-country courses of two tests. Wheel accelerations were processed through band-pass filter, and then the main frequency and maximum power of the signals were computed by PSD analysis. Finally, using the proving ground optimization based on RDS(Relative Damage Spectrum) characterization, the damage factors between off-roads of test courses were determined.

• 한국자동차공학회논문집
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• 제10권6호
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• pp.117-124
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• 2002

For the correct estimation of air pollutant emission from automobiles which is the largest contributor of metropolitan area air pollution, the total pollutant emission from automobiles should be estimated accurately. Nationwide emissions from automobiles, such as CO, HC and NOx, are calculated by using emission factor and total VMT(vehicle miles traveled). The emission factors were derived from the emissions data on chassis dynamometer with test modes which represent the real driving patterns. In the present study, test modes to derive the emission factors for light duty vehicles are developed by using the real driving pattern data for the urban, suburban and express way.

• 전기학회논문지
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• 제56권11호
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• pp.1962-1966
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• 2007

Transducer for ultrasonic linear motor with the symmetric and anti-symmetric modes was studied. The ultrasonic linear motor consists of two Langevin type piezoelectric vibrators that cross at right angles with each other in tip. In order to excite symmetric and anti-symmetric resonance modes, the transducer must have a phase shift of 90 degree in space and time. Therefore, the tip of transducer moves on an elliptical motion. In this paper, the finite element analysis was used to optimize dimension and displacement of the transducer. The ultrasonic motor was fabricated using the simulated result and the driving characteristics were measured. No-load velocity was 0.28[m/s] and the maximum efficiency was 30[%] in resonance frequency.

• 디지털산업정보학회논문지
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• 제8권1호
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• pp.1-7
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• 2012

In this paper Vehicle driving simulator have been used in the development and modification of models. A real-time simulation system and washout algorithm for an excavator have been developed for a driving simulator with six degrees of freedom. An interesting question, "how the 6 DOF Driving Simulator can be controlled optimally for the various tasks?" is not easy to be answered. This paper presents the hardware and software developed for a driving simulator of construction vehicle. A simulator can reduce cost and time a variety of driving simulations in the laboratory. Using its 6 DOF Simulator can move in various modes, and perform dexterous tasks. Driving simulators have begun to proliferate in the automotive industry and the associated research community. This effort involves the real-time dynamic of wheel-type excavator the design and manufacturing of the Stewart platform an integrated control system of the platform and three-dimensional graphic modeling of the driving environments.

• 한국자동차공학회논문집
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• 제13권1호
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• pp.174-183
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• 2005

A train driving requires to n the fixed distance within given time, and it is desirable to consume low energy if necessary. Reducing energy consumption depends on the train operation modes by either manual or automatic operation. In this article, an operation to reduce energy consumption by changing modes of train operation by a driver without changing the train operation requirement is investigated. The powering model, braking model and consumed energy calculation model are developed, then simulated by using a Matlab software. The accuracy of the train dynamic model established by the simulations is verified by comparing with the real experimental data. Several simulations by various operations in the real track are executed, then the desirable pattern of train driving is found.

• 드라이브 ㆍ 컨트롤
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• 제20권2호
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• pp.24-30
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• 2023

This study aimed to analyze the fatigue of forklifts in industrial settings by assessing their stress levels during operation. Strain gauges were affixed to the dynamic components of the forklifts to gather real-time data and enhance the reliability of the analysis. Although monitoring structural loads in harsh testing environments can be challenging, the affixed strain gauges on the dynamic components can provide more precise results and improve the interpretation of data. By creating testing modes that simulate forklift usage environments and performing experiments with selected cargo and driving modes, a comparison of the damage severity of forklift parts under different driving conditions was done. These results can be utilized to forecast the lifespan of forklift parts under extreme driving conditions and assist in the design and optimization of new parts in the future.

• 한국전기전자재료학회논문지
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• 제25권11호
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• pp.930-937
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• 2012

Newly developed Series hybrid low-floor articulated vehicle which can meet both road and railway running conditions. It has the rated driving speed of 80 km/h and three driving modes with hybrid(engine+battery) driving mode, engine driving mode, battery driving mode. The battery driving mode requires the several 10 km running without additional charging operation. The vehicle has been equipped with LPB (lithium polymer battery) pack for the series hybrid propulsion system. LPB pack consists of 168 cells (3.7 V in a cell, 80 Ah) in series, DC Circuit breaker, mechanical rack, BMS (battery management system). This paper has shown the design process of LPB pack and application to the vehicle. Driving results in the road was successful to be satisfied with the requirement of the series hybrid vehicle.

• 제어로봇시스템학회논문지
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• 제14권5호
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• pp.489-495
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• 2008

This paper offers a practical control scheme for driving mode transformation of a rescue robot already developed. The rescue robot, VSTR(Variable Single-Tracked Robot), has two driving modes, so can traverse untidy terrain and overcome obstacles such as stairs easily by use of timely driving mode transformation. Classical PI control scheme was used firstly for driving mode transformation, but stationary phenomenon, which might have a bad effect on the performance in real situation, came into existence. Therefore, we suggest a new controller, PI-based feedforward controller, which should be a good alternative for the problem, and compare it with other nonlinear control scheme.