• Transactions of the Korean Society of Automotive Engineers
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• v.3 no.4
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• pp.1-11
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• 1995

Active suspension control for vehicles is developed to improve both ride comfort and steering stability which are in trade off relation. In this study, the modal sky-hook controller for 7 D. O. F. model is proposed to resolve the problems such as computaional power restriction and uncertainties in modeling of systems and environments. Modal sky-hook controller reduces the coupling between the modes to be controlled. The simulation result for ride comfort shows that the perform ance of the proposed controller matches that of the optimal controller. Systematic method of determining its gain is proposed. The model sky-hook controller shows the robustness to road irregularity and modeling error.

• International Journal of Automotive Technology
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• v.7 no.7
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• pp.795-801
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• 2006

A No Spin Differential (NSD) design has been improved from evaluation of two NSD models utilizing the axiomatic approach. New design parameters of the second level are developed to satisfy the independence axiom. The design matrices are determined to decouple the relationship between design parameters and process parameters. The values of process parameters are then determined to optimize and improve the NSD design. Consequently a unique and evolutionary NSD design is achieved with the aid of the axiomatic approach.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.2007-2008
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• 2011

In this paper, we implemented active noise control systems for active barriers with attenuation of road noise. And then we constructed by multi-channel audio systems and DAQ part, high performance DSP H/W. Active noise control firmware program was implemented for multi-channel off-line/on-line estimation methods for secondary path transfer functions and FIR/IIR filter structure main noise control algorithms. To evaluate performance of implemented systems, active barriers test bed was implemented and several experiments was performed by various noise cases.

• Journal of the Korea Institute of Military Science and Technology
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• v.6 no.4
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• pp.9-21
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• 2003

This paper describes the practical implementation of a semiactive hydropneumatic suspension system to provide the high off-road performance of military tracked vehicles. Real gas behavior of a spring system, frictional forces of joints, and the dynamics of a continuously variable damper are considered. The control system is consisted of two control loops, an outer loop calculates a target spool position which can deliver the required damping force and an inner loop tracks the required spool position. Dynamic tests of the one axis model show that the semiactive suspension system considerably reduces the acceleration as well as velocity and displacement of the sprung mass than the passive one.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.2
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• pp.65-71
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• 2008

In this paper, we propose a new driving mode control algorithm for a mobile robot based on obstacle detection. The robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and puesue a stable system due to the lower center of gravity. However this robot system embodied passive type according to operator. In this reason, several problems are detected. So, this research presents a new method of obstacle detection using PSD infrared sensors and translates the variable tracks on the best suited driving mode actively. And experimental results about mentioned are presented.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.339-348
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• 2010

One of the requirements for autonomous vehicles on off-road is to move stably in unstructured environments. Such capacity of autonomous vehicles is one of the most important abilities in consideration of mobility. So, many researchers use contact and/or non-contact methods to determine a terrain whether the vehicle can move on or not. In this paper we introduce an algorithm to classify terrains using visual information(one of the non-contacting methods). As a pre-processing, a contrast enhancement technique is introduced to improve classification of terrain. Also, for conducting classification algorithm, training images are grouped according to materials of the surface, and then Bayesian classification are applied to new images to determine membership to each group. In addition to the classification, we can build Traversability map specified by friction coefficients on which autonomous vehicles can decide to go or not. Experiments are made with Load-Cell to determine real friction coefficients of various terrains.

• International Journal of Automotive Technology
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• v.7 no.5
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• pp.595-601
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• 2006

Two No Spin Differential(NSD) models were benchmarked for a project of Dual-Use Technology. The Axiomatic approach is utilized to evaluate the designs of the models. The Independence Axiom is satisfied at the top level of design but not at the second level, which implies the design exhibits coupling and will admit design improvements. The detailed process of design evaluation is described. It is shown that it is possible to develop a unique and evolutionary NSD design by solving the problems that cause coupling within two models.

• Journal of Biosystems Engineering
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• v.9 no.1
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• pp.1-4
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• 1984

노외차량(路外車輛)의 승차(乘車) 시뮬레이션을 위한 착석(着席) 상태(狀態)의 운전자(運轉者) 모델을 개발(開發)하였다. 운전자(運轉者) 모델은 머리, 몸체, 신부(腎部)로 크게 나누어 자유도(自由度) 3의 진동체로 가정(假定)하고 머리와 몸체, 몸체와 신부(腎部)는 각각 목과 장기(臟器)를 나타내는 탄성체로서 연결하였다. 또한 인체의 해부학적(解部學的) 구조(構造)와 일치(一致)하도록 머리와 신부(腎部)사이에는 척추(脊椎) 부분(部分)을 포함시켰다. 모델의 각 변수(變數)들은 기존(旣存)의 실험(實驗) 결과(結果)를 이용(利用)하여 머리부의 진동(振動)이 실험(實驗) 결과(結果)와 일치(一致)하도록 시뮬레이션 방법(方法)으로 결정(決定)하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1530-1533
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• 2005

In this paper, we design a Linear Quadratic Gaussian controller for the active suspension. We can improve the inherent suspension problem, trade-off between the ride quality and the suspension travel by selecting appropriate weights in the LQ-objective function. Because any definite rules for selecting weights do not exist, we use an optimization-algorithm, Evolution Strategy (ES) to find the proper control gains for selected frequencies, which have major effects on the vibrations of the vehicle's state variables. The frequencies and proper control gains are used for the neural network data. During a vehicle running, the trained on-line neural network is activated and provides the proper gains for non-trained frequencies. For the full-state feedback control, Kalman filter observes the full states and Fourier transform is used to detect the frequency of the road.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.780-785
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• 2003

Maintaining track tension in tracked vehicles minimizes the excessive load on the tracks and prevents the peal-off of tracks from the road-wheel, and adequately guarantees the stable and improved driving of the tracked vehicles. However, the track tension cannot be easily measured due to the limitation in the sensor technology, harsh environment, etc. In this study, the track tension is estimated in real-time from the measurable signals of tracked vehicles and controlled based on a fuzzy logic controller. The proposed control system is implemented on tracked vehicles and its performance is evaluated under various driving conditions.