• 한국자동차공학회논문집
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• 제21권1호
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• pp.121-127
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• 2013

In this study, suspension geometry is controlled to improve vehicle handling performance. The toe and camber of the rear suspension is controlled independently by using a double knuckle structure designed to enhance the vehicle cornering stability. Camber and toe changes in the rear wheel during high speed turning maneuver are important factors that influence the vehicle stability. Toe in the rear outer wheel plays a dominant role in cornering. A control algorithm for the camber and the toe angle input is developed to carry out the control simulation of the vehicle such as single lane change, the steady state cornering, the double lane change and the step steering simulation. Effects of the camber and toe angle control are analyzed from the computer simulations. A double lane change simulation revealed that the suspension mechanism with variable camber angle and variable toe angle decreases the peak body slip angle and peak yaw rate, 50% and 10%, respectively.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 C
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• pp.1379-1382
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• 1997

Diamond-like carbon(DLC) thin films are produced by using a filtered cathodic vacuum arc(FCVA) deposition system. Different magnetic components, namely steering, focusing, and filtering plasma-optic systems, are used to achieve a stable arc plasma and to prevent the macroparticles from incorporating into the deposited films. Effects of magnetic fields on plasma behavior and film deposition are examined. The carbon ion energy is found to be varied by applying a negative (accelerating) substrate bias voltage. The deposition rate of DLC films is dependent upon magnetic field as well as substrate bias voltage and at a nominal deposition condition is about $2{\AA}/s$. The structural properties of DLC films, such as internal stress, relative fraction of tetrahedral($sp^3$) bonds, and surface roughness have also been characterized as a function of substrate bias voltages and partial gas($N_2$) pressures.

• 한국광학회지
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• 제30권6호
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• pp.230-236
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• 2019

저렴한 retro-반사지와 미소 전자 기계 시스템(micro electro-mechanical system, MEMS) 거울을 이용한 실내용 무선 광 통신용 위치 탐색 및 자동 링크 정렬 방법을 제안하고 실험하였다. 직접적인 가시선(line of sight, LOS) 확보를 위하여 retro-반사지에서 돌아온 빛으로부터 수신단 위치를 파악하고 MEMS 거울을 통한 빔 조종으로 통신 링크를 자동 정렬하였다. 자동 정렬된 광 링크를 통하여 7 m 전송 거리에서 2.5 Gb/s NRZ 신호를 전송하여 비트 에러율 10^-12에서 수신 감도 -31.87 dBm의 성능을 가졌다.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.1-7
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• 2016

ADAS (Advanced Driver Assistance Systems) requires not only real-time robust lane detection, both straight and curved, but also predicting upcoming steering direction by detecting the curvature of lanes. In this paper, a curvature lane detection algorithm is proposed to enhance the accuracy and detection rate based on using inverse perspective images and Gaussian Mixture Model (GMM) to segment the lanes from the background under various illumination condition. To increase the speed and accuracy of the lane detection, this paper used template matching, RANSAC and proposed post processing method. Through experiments, it is validated that the proposed algorithm can detect both straight and curved lanes as well as predicting the upcoming direction with 92.95% of detection accuracy and 50fps speed.

• 전자공학회논문지SC
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• 제44권4호통권316호
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• pp.35-41
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• 2007

본 논문에서는 한 바퀴로 구동하는 로봇 GYROBO을 제작하고 하드웨어를 구현하였다. 한 바퀴로 구동하는 로봇은 디스크와 같은 모양이고 자이로 움직임에 의해 균형을 잡는다. GYROBO는 스핀 모터, 기울기 모터, 그리고 드라이브 모터 등 3개의 구동기로 구성되어 있다. 스핀 모터는 고속으로 플라이휠을 구동하여 로봇이 균형을 잡을 수 있도록 한다. 딜트 로터는 자이로 움직임에 따라 로봇의 조향을 조절한다. 드라이브모터는 종방향 움직임을 조정한다. 몇 개의 모델을 디자인하였다. GYROBO의 움직임을 실험을 통해 검증하였다.

• 대한임베디드공학회논문지
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• 제17권5호
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• pp.257-263
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• 2022

Active stabilizers use signals such as steering angle, yaw rate, and lateral acceleration to vary the roll stiffness of the front and rear suspension depending on the vehicle's driving conditions, and are attracting attention as RSC (Roll Stability Control) system that suppresses roll when turning and improves ride comfort when going straight. Various studies have been conducted in relation to active stabilizer bars and RSC systems. However, accurate modeling of passive stabilizer model and active stabilizer model and vehicle dynamics analysis result verification are insufficient, and performance result analysis related to vehicle roll angle estimation and electric motor control is insufficient. Therefore, in this study, an accurate vehicle dynamics model was constructed by measuring the passive/active stabilizer bar model and component parameters. Based on this, the analysis result with high reliability was derived by comparing the roll angle estimation algorithm based on the lateral acceleration and suspension of the vehicle with the actual vehicle driving test result. In addition, it was intended to accurately analyze the motor torque characteristics and roll reduction effects of the electric motor-driven RSC system.

• 수산해양기술연구
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• 제59권2호
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• pp.145-154
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• 2023

In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.

• 한국자동차공학회논문집
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• 제23권5호
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• pp.553-563
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• 2015

Reportedly the fatality rate from secondary collision is six times higher than the average fatality rate from all traffic accidents. So prevention of the secondary collision is attracting significant attention from automotive industries. However, the secondary collision prevention systems that have been developed are not considering possibility of brake actuator failure that can occur by the impact during the initial collision. In this paper, a new system has been developed that could prevent secondary collision even in case of brake actuator failure by taking advantage of still operating actuators. In this system, a steering control is performed for maintaining a lane by using linear quadratic regulator. Additionally, the system attempts differential brake control with the remaining braking capability to stop the vehicle in the shortest distance. Through simulation in various collision scenarios, the system has demonstrated significant potential of preventing secondary collision that could otherwise have resulted in severe fatality.

• 한국산학기술학회논문지
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• 제21권8호
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• pp.468-474
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• 2020

덕트는 FCU에서 생산된 냉난방 공기를 각 함 내 격실로 수송하기 위한 통로로 이용되는 통풍관을 의마한다. 덕트는 일반적으로 금속재질로 제작되고 있으나, 최근 함정에서는 금속 덕트의 단점을 보완하기 위하여 전투지휘실, 조타실, 음탐기, 조종실 등 주요 격실에 대하여 소음감소효과가 뛰어나고 격실 내에 공기를 골고루 전달할 수 있는 장점을 가진 천 덕트가 대체재로 사용되고 있다. 그러나 함정용 천 덕트는 성능요구조건이 엄격하여 국내에서 생산하지 못하고 있으며 해외에서 전량 수입하고 있는 실정이다. 이 연구에서는 천 덕트는 국산화를 통해 경제적 효과를 창출하기 위하여 국내 업체에서 개발한 천 덕트에 대하여 주요성능 요구조건을 검증하여 보았다. 소음감쇄성능에 대한 자체 검증이 완료된 국산화 천 덕트에 대하여 현재 건조중인 함정에 적용 가능여부를 확인하기 위해 공기투과성능과 방화성능 시험을 수행하여 구매요구사양서에 제시된 성능요구조건 충족여부를 검증하여 보았다. 시험결과 국산화 개발된 천 덕트는 공기투과성능 요구조건과 방화성능 요구조건을 모두 만족하여 건조함정에 적용하기 위한 주요 성능조건을 충족하는 것으로 확인되었다.

• 대한전자공학회논문지SD
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• 제47권4호
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• pp.62-68
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• 2010

본 논문에서는 주로 소면적 구현을 위하여 세그먼트 부분 정합 기법을 적용한 10비트 100MS/s DAC를 제안한다. 제안하는 DAC는 비교적 적은 수의 소자로도 요구되는 선형성을 유지하면서 고속으로 부하저항의 구동이 가능한 세그먼트 전류 구동방식 구조를 사용하였으며, 제안하는 세그먼트 부분 정합 기법을 적용하여 정합이 필요한 전류 셀들의 숫자와 크기를 줄였다. 또한, 전류 셀에는 작은 크기의 소자를 사용하면서도 높은 출력 임피던스를 얻을 수 있도록 이중-캐스코드 구조를 채용하였다. 시제품 DAC는 0.13um CMOS 공정으로 제작되었으며, 유효 면적의 크기는 $0.13mm^2$이다. 시제품 측정 결과, 3.3V의 전원전압과 $1V_{p-p}$의 단일 출력 범위 조건에서 $50{\Omega}$의 부하저항을 구동할 때 DNL 및 INL은 각각 -0.73LSB, -0.76LSB 수준이며, SFDR은 100MS/s의 동작 속도에서 최대 58.6dB이다.