• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.326-331
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• 2010

Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.3
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• pp.214-219
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• 2003

This paper includes real-time tractive force estimation method using standard vehicle sensors such as wheel speed, brake pressure, throttle position, engine speed, and transmission carrier speed sensor. Engine map, torque converter lookup table, shaft torque observer, and brake gain adaptation method are used to estimate the tractive force. To verify this estimator, measurement which uses strain-based brake torque sensor and estimation results are presented. All results was performed using a real vehicle in a real-time.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.6
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• pp.220-229
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• 2000

In the brake systems a proportioning valve which reduces the brake pressure at each wheel cylinder for anti-locking of rear wheels is closely related with the safety of vehicles. But, it is impossible for a present proportioning valve to exactly control brake pressure because mechanically it is an open loop control system. So, in this paper we describe a electronic brake pressure distribution system using a fuzzy controller in order to exactly control brake pressure using a close loop control system. The object of electronic brake pressure distribution system is to change an cut-in pressure and an valve slop of proportioning valve in order to obtain better good performance of brake system than with mechanical system.

• International Journal of Automotive Technology
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• v.5 no.2
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• pp.95-108
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• 2004

Lanekeeping assistance has the potential to save thousands of lives every year by preventing accidental road departure. This paper presents experimental validation of a potential field lanekeeping assistance system with quantitative performance guarantees. The lanekeeping system is implemented on a 1997 Corvette modified for steer-by-wire capability. With no mechanical connection between the hand wheel and road wheels the lanekeeping system can add steering inputs independently from the driver. Implementation of the lanekeeping system uses a novel combination of a multi-antenna Global Positioning System (GPS) and precision road maps. Preliminary experimental data shows that this control scheme performs extremely well for driver assistance and closely matches simulation results, verifying previous theoretical guarantees for safety. These results also motivate future work which will focus on interaction with the driver.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.1
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• pp.95-103
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• 2003

Driving safety of a vehicle is largely influenced by the damper and the tire. Developed in this research is a fault diagnosis algorithm for the two components so that the driver can be promptly informed when fault occurs in one or both of them. To this end, the damper and the tire were modeled using the neural network from their experimental data, and fault diagnosis was made using frequency responses of the damping force and the dynamic wheel force. The algorithm was tested via experiments, and it demonstrated successful diagnostic performance under various driving conditions.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.55-63
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• 2007

Mobile robots traveling on rough terrain need several algorithms to overcome obstacles. In this paper, we propose the step-type obstacle traversal algorithm to adapt the mobile robot with six arms and wheels to travel on rough terrain. Obstacle traversal is composed of two different stages: planning and control. In planning stage, the required joint torque of each arm as well as the interference between the wheels and the arms are analyzed to guarantee traversing obstacles. Control stage includes such steps as checking distance to obstacle, determining the height and length of obstacle, performing arm motion according to sensed torque data, and evaluating safety at every instance. The proposed algorithm is designed and implemented for CALEB 1 six legged robot developed in the laboratory and verified by simulation and experiment in outdoor environment.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.107.2-107
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• 2002

The objective of this study is to propose a lane changing and keeping method on a curved road for an automatic guidance of a vehicle. It is well known that the speed control of a vehicle in a curved road is essential in terms of vehicle stability and passenger safety because centrifugal force makes a vehicle to be on out of lane. And it is also natural to avoid the collision with other cars or obstructions with keeping the stability and drivability. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net in which not only the state variables, but also the corresponding uncer...

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.1
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• pp.20-25
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• 2012

A Crankshaft multi grinding machine is developed for manufacturing of high precision crankshaft. The grinding head part of the developed machine should be moved precisely during grinding of work materials. In this paper, structural and modal analysis for the crankshaft multi grinding machine is carried out to check the design criteria of the machine. The analysis is carried out by FEM simulation using the commercial software. The machine is modeled by placing proper shell and solid finite elements. The results of structural and modal analysis confirmed that the structural characteristics of grinding machine and the structural safety are considered secure.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.715-718
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• 2001

Test in the development of vehicle consist of driving test and simulation test. The last one has many advantages. It can reduce time and cost during development, can overcome the spacial and environmental limitation, and can provides repeatabilities of similar experiments and various data. In these reason, the simulation test is used more for analysis and development of new vehicle. In this research the result of kinematic analysis on multi-axis simulator is compared with the simulated result using dynamic analysis program, ADAMS, and the maximum stress and strain are analyzed for the safety of link and specifications of optimal design using finite element method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.694-697
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• 1997

As the life cycle of the vehicle become shorter, the method that reduce the development time of new model become more important. In this reason, the development of the simulator that provides similar environment with the actual vehicle load characteristics is increasing. In this paper, the link unit of the 3-axis road simulator is designed and simulated with dynamic analysis software ADMS. and the maximum stress and strain are analyzed for the safety of link and specifications of optimal design using finite element method.