• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.372-377
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• 2015

In this paper, the consideration factors that affect the actual driving of a rover wheel was examined based on the wheel-terrain model. For the evaluation of driving performance in a real environment, the test bed of the rover wheel consists of the driving part of the wheel and sensing part of the various parameters was designed and assembled. Using the test bed, the preliminary driving experiment concerning the slip ratio, sinkage, and friction force according to the rotational velocity and the shape of the wheel were carried out and evaluated. The wheel test bed and the experiment results are expected to contribute to finding the optimal result in the designing of the wheel shape and the planning of the driving conditions through further study.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.178-183
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• 2010

Base-mounted type(BMT) driving assembly in CNC machine tools is an indispensable part to improve productivity by reducing tool changeover time and to meet the ever-increasing demand of precision machine tools. This study aimed to perform finite element analysis and geometric parameter optimization to improve the efficiency of BMT driving assembly. First, simulations for three-dimensional structural and vibration analysis were performed using ANSYS/Workbench on the initial geometric models of BMT driving assembly. After analyzing stress and deformation concentration zones, several new geometrical models were designed and evaluated by design of experiments and ANSYS/DesignXplorer. Through a series of analysis-evaluation-modification cycles, it was seen that designed models were effective in determining optimal geometry of BMT driving assembly.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.729-733
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• 2003

Hybrid RMU is a kind of power circuit breaker and protects electric devices from over-current. In this paper we built a dynamic model of RMU driving mechanism using ADAMS and performed a optimal design of several design parameters. Finally we developed a prototype of RMU driving mechanism through results of analysis and confirmed it to satisfy design requisitions.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 1998.11a
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• pp.192-197
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• 1998

This study has been focused on the selection of optimal electric motor load, which takes a lot of portions of motor driving factor in the building. Based on the past design data for existing electric motor load and method of calculation, it is known that in general electric machine load has been estimated excessively. For the accurate calculation, it is important apply to motor driving factor to be actually provided.

• Science of Emotion and Sensibility
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• v.7 no.3
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• pp.27-35
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• 2004

This study has investigated a psychological status of optimal and pleasant driving condition by measuring various physiological signals using SCR(skin conductance response), PPG(peripheral plethysmograph), SKT(skin temperature) and HR(heart rate). The physiological response was measured during various simulated driving conditions. We developed a hardware and algorithm to measure and analyze the physiological response. The physiological signals has reflected the level of driver's tension or relaxation as well as the heart rate. The emotional responses of drivers were also measured and analyzed in this experiment. The result of the study can be used to design a system to enhance the driver's emotional satisfaction as well as to monitor the driver's safety and health condition.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.599-604
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• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.1
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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.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.2
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• pp.67-74
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• 2015

Two-wheeled driying mobild robots are precise controlled in terms of linear contol methods without considering the nonlinear dynamical characteristics. However, in the high maneuvering situations such as fast turn and abrupt start and stop, such neglected terms become dominant and heavy influence the overall driving performance. This study describes the nonlinear optimal control method to take advantage of the exact nonlinear dynamics of the balancing robot. Simulation results indicate that the optimal control outperforms in the respect of transient performance and required wheel torques. A design example is suggested for the state matrix that provides design flexibility in the control. It is shown that a well-planned state matrix by reflecting the physics of a balancing robot greatly conrtibutes to the driving performance and stability.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.10
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• pp.1540-1546
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• 2017

In piezoelectric device applications, it is important to improve a system efficiency because of the low generated power. In this paper, an optimal driving method is proposed to improve a system efficiency for a piezoelectric energy harvesting system. The proposed method considers disappear energy in input capacitors and the converter efficiency according to the input voltage magnitude to minimize energy losses. Experimental results based on various energy generation cases verify that the proposed method significantly improves the system efficiency; the efficiency is approximately 9.97% higher than that of the conventional method.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.855-860
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• 2007

This paper describes a human driver model developed based on finite preview optimal control method. The human driver steering model is constructed to minimize a performance index which is a quadratic form of lateral position error, yaw angle error and steering input. Simulation studies are conducted using a vehicle simulation software, Carsim. The Carsim vehicle model is validated using vehicle test data. In order to validate the human driving steering model, the human driver steering model is compared to the driving data on a virtual test track(VTT) and the actual vehicle test data. It is shown that human driver steering behaviors can be well represented by the human driver steering model presented in this paper