• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.23-26
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• 2003

The vector field histogram(VFH) uses a two-dimensional Cartesian histogram grid as a world model. The VFH method subsequently employs a two-stage data-reduction process in order to compute the desired control commands for the vehicle. In the first stage the histogram grid is reduced to a one dimensional polar histogram that is constructed around the robot's momentary location. Each sector in the polar histogram contains a value representing the polar obstacle density in that direction. In the second stage, the algorithm selects the most suitable sector from among all polar histogram sectors with a low polar obstacle density, and the steering of the robot is aligned with that direction. We applied this algorithm to our four-legged robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.119-121
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• 2007

The increment of electric power demand causes interest on new higher power system such as 42V Power Net, and furthermore necessity for development of energy storage device is highlighted recently. Owing to high efficiency and easy speed control of brushless DC(BLDC) motor, the demand of BLDC motor that has high power and low noises are increasing. Especially demand of interior permanent magnet(IPM) type BLDC with high efficiency and high power in electric motion vehicle is increasing. This paper presents the design of the BLBC motor for EHPS(Electro-Hydraulic Power Steering) in 42V system and verified the characteristics by simulation and test results.

• 대한산업공학회지
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• 제36권4호
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• pp.243-247
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• 2010

Every products, which made by mass production, is not identical in their size but have variations in some intervals specified by tolerance dimensions. Tolerances play major role in standardization of part and its quality, and also make a huge impact on manufacturing cost. The optimal condition for tolerances is giving the values as loose as possible for low production cost while satisfying quality specification, which usually demand tight control of tolerances. Tolerance analysis is necessary to get an optimal solution for this conflict situation. This paper have studied tolerance analysis for universal joint assembly of vehicle steering system and tried to find useful results of the study for product design and quality control.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1570-1575
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• 2007

The cold-forging process analysed in this paper deals with the cam bolt of a nonaxisymmetric shape which mainly is used as a part in the steering system of a vehicle for the purpose of adjusting shock absorb. So both strength and endurance are very important for the cam bolt. In this study, cam bolt forging process is composed of four stage processes. For three forging stages, shape of workpiece will be eccentrical. And then bolt head and washer of eccentrical shape is created in last stage. 3D finite element analysis repeatedly has been performed with changing dimension of die to obtain adequate former multi forging process and die shape. Simulation results reviewed have influence on deciding design of die and forging process. As a result, Simulation results have provided a direction to improve the process.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1213-1218
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• 2007

The brake judder comes from non-uniformities in the tire/wheel assembly caused by mechanical effects such as a brake torque variation (BTV). A disc thickness variation (DTV) related with the kinematic behavior of the disc was investigated a main source of BTV. In this study, a dynamic model with brake corner assembly of full vehicle using MSC.ADAMS was correlated by experiment of judder phenomenon. Judder was generated and correlated systematically by judder experiment in chassis and brake dynamometer from variation in the thickness of the disc. Also it has been found a judder transfer path and variation of the braking pressure. Through analysis of transfer function and movement of subsystem caused by BTV generation, design parameters have been found. Based on the results obtained from parameter study of suspension module, the effective design process and developed model with brake corner assembly was suggested for vibration reduction of steering wheel caused by the judder phenomenon.

• 한국정밀공학회지
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• 제25권2호
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• pp.80-87
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• 2008

A lot of conventional automotive components driven by mechanical power source are being replaced with electrical ones to comply with the demands of market and customer, therefore the amount of electric energy used in a vehicle will be increased continuously. The increment of electric power demand causes interest on new higher power system such as 42V Power Net, and furthermore necessity for development of energy storage device is highlighted recently. This paper present the design of the BLDC motor for electric air-conditioner in 42V system and compare with the characteristics of several type BLDC motor.

• 로봇학회논문지
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• 제5권4호
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• pp.286-293
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• 2010

The trailer system offers efficiency of transportation capability. However, it is difficult to control the backward motion. It is an open loop unstable problem. To solve this problem, we are proposed the driver assistance system. Driver assistance system assists a driver to control the backward motion of trailer system as if forward motion. A driver only secure the rear view of last passive trailer, and select the control input to drive the last passive trailer. The driver assistance system converts the control input of the driver into velocity and steering angle of the vehicle using the inverse kinematics. It is possible by electronic control input devices and the rear view camera. Effectiveness of driving assistance system is verified by the simulation and the experiments.

• International Journal of Automotive Technology
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• 제5권2호
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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.

• Ocean and Polar Research
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• 제36권4호
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• pp.465-473
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• 2014

This paper proposes a formation control method by which multi-mining robots maintain a specified formation and follow a path. To secure the path tracking performance, a pure-pursuit algorithm is considered for each individual robot, and to minimize the deviation from the reference path, speed reduction in the steering motion is added. For the formation, in which two robots are parallel in a lateral direction, the robots track the specified path at a constant distance. In this way, the Leader-Follower method is adopted and the following robot knows the position and heading angle of the leader robot. Through the experimental test using two ground vehicle models, the performance is verified.

• 한국멀티미디어학회논문지
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• 제19권3호
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• pp.539-547
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• 2016

Automated guided vehicles (AGVs) are widely used in industry. Several types of vision-based AGVs have been studied in order to reduce cost of infrastructure building at floor of workspace and to increase flexibility of changing the navigation path layout. A practical vision-based guideline tracing method is proposed in this paper. A virtual tracing wheel is introduced and adopted in this method, which enables a vision-based AGV to trace a guideline in diverse ways. This method is also useful for preventing damage of the guideline by enforcing the real steering wheel of the AGV not to move on the guideline. Usefulness of the virtual tracing wheel is analyzed through computer simulations. Several navigation tests with a commercial AGV were also performed on a usual guideline layout and we confirmed that the virtual tracing wheel based tracing method could work practically well.