• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.1
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• pp.51-57
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• 2011

Information of the lateral velocity and the sideslip angle in a vehicle is very useful in many active vehicle safety applications such as yaw stability control and rollover prevention. Because cost-effective sensors to measure the lateral velocity and the sideslip angle are not available, reliable algorithms to estimation them are necessary. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters from the combined estimation method are updated recursively to minimize the discrepancy between the model and the physical plant, and any possible effects caused by disturbances. The performance of the proposed monitoring system is evaluated through simulations and experiments.

• Journal of Mechanical Science and Technology
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• v.15 no.12
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• pp.1845-1852
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• 2001

This paper deals with the experiment to obtain quantitative information about conditions of the interface between a water drop and surrounding oil. Velocity distributions in very close region of the interface are measured by introducing a new illumination technique and a telecentric lens. It enables precise measurements of velocity distributions in the close region to the interface. Although the measured velocity distributions exhibit strong influence from the solid wall of an experimental tube, the coincidence of inner and outside velocities on the interface is clearly confirmed for the clean interface. The shearing stresses on the interface, which are proportional to the velocity gradient normal to the interface, clearly show conditions of contaminated interface, which can be divided into two parts. From front stagnation point to somewhere near a separation point, the distribution of shearing stresses is well coincide with that of the Hadamard's analytical solution, while the distribution on the latter part of the interface sows quite different feature, which is supposed to be strongly influenced by contamination of the surface.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.10 s.241
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• pp.1307-1314
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• 2005

The most important factor of the traffic accident on the wet road is a tire slip caused by hydroplaning. Meanwhile, hydroplaning characteristics are influenced very greatly by the vehicle velocity, so it is very important to reveal the relation between hydroplaning and the vehicle velocity. Since the experiment study is considerably limited, recently the numerical simulation using finite element method(FEM) and finite volume method(FVM) is widely adopted. In this paper, the effect of the vehicle velocity on the hydroplaning characteristics is investigated through the hydroplaning analysis using MSC/Dytran.

• Tribology and Lubricants
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• v.31 no.1
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• pp.6-12
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• 2015

This paper investigates the stick-slip characteristic of magnetorheological elastomer (MRE) between an aluminum plate and the surface of the MRE. MRE is a smart material and it can change its mechanical behavior with the interior iron particles under the influence of an applied magnetic field. Stick-slip is a movement of two surfaces relative to each other that proceeds as a series of jerks caused by alternate sticking from friction and sliding when the friction is overcome by an applied force. This special tribology phenomenon can lead to unnecessary wear, vibration, noise, and reduced service life of work piece. The stick-slip phenomenon is avoided as far as possible in the field of mechanical engineering. As this phenomenon is a function of material property, applied load, and velocity, it can be controlled using the characteristics of MRE. MRE as a soft smart material, whose mechanical properties such as modulus and stiffness can be changed via the strength of an external magnetic field, has been widely studied as a prospective replacement for general rubber in the mechanical domain. In this study, friction force is measured under different loads, speed, and magnetic field strength. From the test results, it is confirmed that the stick-slip phenomenon can be minimized under optimum conditions and can be applied in various mechanical components.

• Journal of Korean Tunnelling and Underground Space Association
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• v.9 no.2
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• pp.121-131
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• 2007

Recently, the probability of rock joints being exposed to free faces is getting higher for the scale of rock mass structures gets larger. Also, the frequency of occurring dynamic events such as earthquakes and blasting has been increasing. Thus, the shear behavior of rock joints under different conditions needs to be investigated. In this study, a series of direct shear tests were carried out under various conditions to examine the velocity-dependent shear behavior of saw-cut rock joints. Two types of direct shear test were carried out. The first was to examine the velocity-dependent shear behavior of saw-cut rock joints at seven different shear velocities, each with three different normal stresses. The second was to examine the shear behavior of saw-cut rock joints when three different instantaneous shear velocities changed. As a result, the coefficient of friction was affected by normal stress. The breakpoint velocity, the point when the change of shear velocity starts to affect the frictional behavior, became lower as normal stress increased. Also, as the shear velocity became lower, the degree of stress-drop on stick-slip behavior became larger. As a result of examining the changes of friction coefficient, velocity weakening (decrease of friction coefficient) was observed. The decrement of friction coefficient due to the changes of shear velocity under slow shear velocity was larger than that under fast shear velocity.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.625-626
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• 2008

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.48-57
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• 2014

It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1061-1064
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• 2006

In this study, the performance of the tracking control of a pneumatic servo motor driven position control system using sliding mode is investigated. It is usually quite difficult to obtain precise tracking control of a pneumatic servo motor driven position control system because of the nonlinear deadband and stick-slip friction of the proportional valve. Therefore, a continuous sliding mode controller with velocity feedforward gain is proposed. Experimental results show that the tracking accurracy can be remarkably improved by adding a proper velocity feedforward term to continuous sliding mode controller.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.3
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• pp.353-359
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• 2019

In this study, a aerodynamic loads prediction to design a deploying device of folded fin was introduced. In general, resultant flow conditions around the fin are used to obtain deploying moments and required energy. However, when it comes to the air vehicles launched from a mobile platform, more specific flow conditions can be provided. With the conditions, the design criteria can be calculated more realistically. In this study, therefore, aerodynamic moments induced by aerodynamic loads and energy required in deployment were calculated using wind-over-deck(WOD) velocity, combination of a platform velocity and a wind velocity. For the calculation, wind tunnel test was conducted on various angle of attack, side slip angles, and folding angles. It was found that the aerodynamic moments and the energy required in deployment using the non-uniform flow due to the velocity components were less than those using the uniform flow without the components.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.