• 로봇학회논문지
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• 제3권3호
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• pp.186-193
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• 2008

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

• 전기학회논문지
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• 제65권4호
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• pp.586-592
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• 2016

The current control of Continuous Conduction Mode(CCM) can be implemented by several methods: peak current control; average current control; and hysteresis control. Among these methods, the hysteresis current control is popularly applied in various converter applications because of its simplicity of implementation, fast current control response and inherent peak current limiting capability. However, a current controller with conventional hysteresis band which multiplies the current reference has the disadvantage that the modulation frequency varies in one cycle of the input voltage and, as a result, generates high switching frequency in the low input voltage section. Also it is complicated to design the input filter due to varying switching frequency. This paper proposed an optimum hysteresis-band current control method where the band is generated by using both multiplication method and sum method to maintain the modulation frequency to be nearly constant. This approach can solve the high switching frequency in the low input voltage section, and achieve easy design of input filter. The performance of the proposed converter is verified with the simulation and the experimental works.

• 한국자동차공학회논문집
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• 제20권2호
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• pp.123-134
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• 2012

A typical cooling system of an engine relies on a water pump that circulates the coolant through the system. The pump is typically driven by the crankshaft through a mechanical link with engine starting. In order to reduce the friction and warm-up time of an engine, the clutch-type water pump (CWP) was applied in 2.0 liter diesel vehicle. The clutch-type water pump can force cooling water to supply into an engine by the operation of an electromagnetic clutch equipped as the inner part of pump system. The onset of CWP is decided by temperature of cooling water and engine oil. And, the control logic for an optimal operation of the clutch-type water pump was developed and applied in engine and vehicle tests. In this study, the warm-up time was measured with the conventional water pump and clutch-type water pump in engine tests. And the emission and the fuel consumption were evaluated under NEDC mode in vehicle tests. Also, tests were carried out for the various temperature conditions starting the operation of CWP. From the results of the study, the application of CWP can improve the fuel consumption and $CO_2$ reduction by about 3%.

• 한국산학기술학회논문지
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• 제16권10호
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• pp.6977-6984
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• 2015

품질 향상을 위해 연속적인 소성 변형을 이용한 롤 포밍 공정에 피어싱, 벤딩, 트리밍 등 별도의 가공공정을 통합한 볼 슬라이드 레일의 멀티 롤 포밍 공정의 필요성이 대두되고 있다. 하지만 프레스기의 진동 및 소음은 이 공정에서 생산되는 슬라이드 레일의 품질 저하를 유발한다. 본 연구에서는 롤 포밍 유한요소 프로그램으로 최적 변형률을 고려하여 롤을 설계하였다. 그리고 멀티 공정의 정적 안정성을 예측하기 위해 구조해석 프로그램으로 프레스기에 대한 응력 및 변형량을 계산하였다. 또한 공진영역에서의 장치들의 운전을 회피하기 위해 Modal 해석을 통해 1, 2차 모드에서의 고유진동수를 계산하였다. 그 결과 공정의 동적 안정성 개선을 확인하기 위해 마이크로폰과 가속도계를 이용하여 기존 및 연구 공정들의 소음, 진동의 크기를 비교하였다. 그리고 기존 및 연구 공정으로 생산되어진 레일의 폭 치수와 표면거칠기를 측정하였다. 따라서 해석 및 실험적 연구를 통해 멀티 롤 포밍 공정이 안정하다는 것을 알 수 있었다.