• 한국정밀공학회지
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• 제24권5호
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• pp.56-61
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• 2007

In the braking of railway rolling stock, the slip that is the relative velocity between train body and its wheel affects the adhesive force which is connected to the braking force. The coefficient of the adhesive force changes in accordance with the slip and the condition of a rail road. Namely, its value increases upon the maximum on a rail condition, and there it declines conversely while the magnitude of slip keeps rising on. First, this paper introduced a reference slip generator so that can utilize maximum adhesive forces with a disturbance observer for estimating unmeasurable current adhesive forces which is as an input of the generator. And, an adaptive sliding-mode control system has been synthesized for minimizing the error between reference and current slip. Finally the effectiveness of the proposed control system is evaluated by computer simulation.

• 제어로봇시스템학회논문지
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• 제18권10호
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• Journal of Biosystems Engineering
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• 제3권2호
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• pp.35-61
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• 1978

동력경운깅가 일반 경사지에서 견인주행하는 경우 견인주행성능과 주행특성을 구명하기 위하여 토양의 종류 및 상태는 일정하게 하고 지면의 기하학적 조건과 견인주행속도 및 견인하중을 변수로 하여 외부동력전달계의 시점인 좌우차륜과 토양간에 발생하는 차륜구동력 및 굴름정항과 Engine에서 구동륜까지 내부전달계를 통하여 전달된 동력의 이론치와 실험치와의 부합여부를 검정하고 부가적으로 동력경운기가 경사지기계화의 동력기로써의 가능성여부와 문제점을 찾으려한다.

• Journal of Biosystems Engineering
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• 제3권2호
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• pp.34-34
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• 1978

동력경운깅가 일반 경사지에서 견인주행하는 경우 견인주행성능과 주행특성을 구명하기 위하여 토양의 종류 및 상태는 일정하게 하고 지면의 기하학적 조건과 견인주행속도 및 견인하중을 변수로 하여 외부동력전달계의 시점인 좌우차륜과 토양간에 발생하는 차륜구동력 및 굴름정항과 Engine에서 구동륜까지 내부전달계를 통하여 전달된 동력의 이론치와 실험치와의 부합여부를 검정하고 부가적으로 동력경운기가 경사지기계화의 동력기로써의 가능성여부와 문제점을 찾으려한다.

• 한국재료학회지
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• 제11권6호
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• pp.508-511
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• 2001

사파이어 단결정의 취성-연성전이에 대한 실험을 행하였다. 사파이어 단결정의 취성-연성전이온도는 변형율 3.3$\times$ $10^{-5}$/sec에서 $1000\pm$$25^{\circ}C$ 그리고 변형률 3.3$\times$$10^{-5}$/sec에서는 1100$\pm$26$^{\circ}C$이었다. 취성-연성전이모델을 이용하여 Prism Plane slip {1120} <1100> 전위속도의 활성화에너지를 계산하였으며, 그 결과 활성화에너지는 4.6$\pm$2.3eV의 범위를 가졌다. 이 활성화에너지는 에치-퍼트법을 이용하여 전위속도측정으로부터 구한 결과치 3.8eV와 유사하였다.

• 한국자동차공학회논문집
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• 제18권5호
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• pp.85-90
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• 2010

As the environmental regulation of vehicle emission is strengthened, investigations for $NO_x$ and PM reduction strategies are popularly conducted. Two current available technologies for continuous $NO_x$ reduction onboard diesel vehicles are Selective Catalytic Reduction (SCR) using aqueous urea and lean $NO_x$ trap (LNT) catalysts. The experiments were conducted to investigate the $NO_x$ reduction performance of SCR system which can control the ratio of $NO/NO_2$, temperature and SV(space velocity), and the model gas was used which is similar to a diesel exhaust gas. The maximum reduction efficiency is indicated when the $NO:NO_2$ ratio is 1:1 and the SV is 30,000 $h^{-1}$ in $300^{\circ}C$. Generally, ammonia slip from SCR reactors are rooted to incomplete conversion of $NH_3$ over the SCR. In this research, slip was occurred in 6cases (except low SV and $NO:NO_2$ ratio is 1:1) after SCR. Among 6 case of slip occurrence, the maximum conversion efficiency is observed when SV is 60,000 $h^{-1}$ in $400^{\circ}C$.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.290-293
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• 2006

From the hydraulic experiment, it was concluded that upwelling could be enhanced when the relative structure height (the ratio of structure height to water depth) was 0.3 and stratification parameter was 3.0. In addition, the optimum size of rubbers was determined that the effect of the mean horizontal length of block was affected incident velocity than size of block. In the numerical experiment, the relation between the shape of rubber and stratification parameter was verified, ana the hydraulic characteristics of 3-D flow field around the artificial structures were investigated. Phenomena of flow field around the artificial upwelling structures corresponded with the results of hydraulic experiment. The position with maximum velocity in artificial upwelling structure was the center of top of its front side and the slip stream occurred at the inside and behind-bottom of artificial upwelling structures. The velocity of slip stream and early amplitude of velocity were higher in the inside than the behind-bottom.

• 한국자동차공학회논문집
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• 제5권3호
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• pp.76-85
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• 1997

The understeer characteristics of four wheel steering system(4WS system) in a high speed region have a negative effect upon the yaw velocity, leading to a decrease in the handling ability of vehicle. As a result, even if the side slip angle of vehicle can be kept up a minimum, a driver must compensate a decrease in yaw velocity by increasing the steering wheel angle in order to track the desired vehicle path. In this study, to keep the side slip angle of vehicle at zero and achieve a suitable yaw velocity in vehicle motion, a full active 4WS system(FA 4WS system) with actively steerable front and rear wheels is presented based on a nonlinear vehicle model and a model following control of yaw velocity. And the analysis results show the fat that, besides the excellent stability of vehicle, the FA 4WS system is able to realize better handling performance of vehicle than the previous 4WS systems in the high speed region.

• 한국산학기술학회논문지
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• 제16권4호
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• pp.2891-2898
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• 2015

전자기장 효과를 이용한 준설토 장거리 이송기술이 개발되었다. 개발 기술의 효과를 정량적으로 평가하기 위해 계측 시스템을 이용하여 측정한 유속분포와 압력강하를 중심으로 전자기장 도입으로 인한 효과를 판단하였다. 대체 물질에 의한 실내실험과 실제 준설현장에서 장거리 이송기술을 적용해본 결과, 펌프만 사용하여 이송하는 경우보다 평균유속은 물론, 특별히 마찰층에서 속도증가가 있는 것을 확인하였다. 준설토 이송시, 이송관에 전자기장을 인가시켜줌으로써, 마찰층에서의 이송 저항을 감소시켜 전체적으로 속도를 증가시킴으로 인해 파이프에 의한 장거리 이송시 관내 압력강하를 줄이고, 유속을 증가시켜서 15km이상의 장거리 이송이 가능할 것으로 판단된다.

• International Journal of Automotive Technology
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• 제6권4호
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• pp.359-365
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• 2005

The absolute longitudinal speed of a vehicle is estimated by using data from an accelerometer of the vehicle and wheel speed sensors of a standard 50-tooth antilock braking system. An intuitive solution to this problem is, 'When wheel slip is low, calculate the vehicle velocity from the wheel speeds; when wheel slip is high, calculate the vehicle speed by integrating signal of the accelerometer.' The speed estimator weighted with fuzzy logic is introduced to implement the above concept, which is formulated as an estimation method. And the method is improved through experiments by how to calculate speed from acceleration signal and slip ratios. It is verified experimentally to usefulness of estimation speed of a vehicle. And the experimental result shows that the estimated vehicle longitudinal speed has only a $6\%$ worst-case error during a hard braking maneuver lasting a few seconds.