• Journal of the Korean Institute of Intelligent Systems
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• v.9 no.5
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• pp.480-489
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• 1999

Design and experimental results of yaw rate controller is described for electricallydriven four wheel vehicle without steering mechanism. Yaw rate controller has been known to be necessary to cope with nonlinear char-acteristics of the wheel/road conditions with respect to different road condition and steering angle. For an effective yaw rate control, a fuzzy PID gain scheduler is considered with changing control parameters. In order to apply proposed algorithm to the system a downsized four wheel drive electrically driven vehicle without steering mechanism was manufactured. With these techniques the proposed yaw rate controller is shown by experiment results to be obtained suficient performance in the whole steering regions.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.223-224
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• 2010

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.1469-1472
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• 2006

This paper presents experimental analysis of a friction-driven wheel responsible for generating wheel squeal. Squeal noise generating mechanism has been examined under the laboratory condition. Model rig of the rail and the wheel are made and influential parameters to squeal noise e. g. frictional force, normal force between the rail and the wheel, creep speed of the wheel have been measured and calculated. Negative damping characteristic curve are calculated currently. Necessary relating computational analysis has been carried on also.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.83-91
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• 2012

In this paper, we propose a cable climbing robot which can climb up and down the cables in the bridges. The robot mechanism consists of three parts: a wheel based driving mechanism, adhesion mechanism, and safe landing mechanism. The wheel based driving mechanism is driven by tooth clutches and motors. The adhesion mechanism plays the role of maintaining adhesion force by a combination of pantograph, ball screw, and springs even when the power is lost. The safe landing mechanism is developed for guaranteeing the safety of the robot during operations on cables. It can make the robot fall down with reduced speed by dissipating the gravitational forces. The robot mechanism is designed and manufactured for validating its effectiveness.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11b
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• pp.29-32
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• 2005

This paper presents experimental analysis of a friction-driven wheel that is responsible for wheel squeal. Squeal noise generating mechanism and environment of train u heels has been tried to reproduce under laboratory condition. Scale down size rail and wheel are made and influential parameters to squeal noise are measured, e. g. frictional force, pressure between rail and wheel, creep speed of rail. Negative damping characteristic curve are calculated currently. Necessary relating computational analysis is also carried on.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.61-64
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• 2006

This paper presents experimental analysis of a friction-driven wheel responsible for generating wheel squeal. Squeal noise generating mechanism has been examined under the laboratory condition by the model rig. Creep characteristics and squeal noise were observed by varying relative velocity of the wheel with respect to the rail and friction coefficient. Computational radiating noise analysis was also performed based on the modal analysis and noise transfer function measurement of the object wheel.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.479-482
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• 2007

This paper presents experimental analysis of a friction-driven wheel responsible for generating wheel squeal. Creep and squeal noise generating mechanism are influenced by friction conditions of attack angle, loading force, driving velocity and surface roughness. Squeal noise phenomena has been examined under the laboratory condition by the model rig. Creep characteristics and squeal noise were observed by varying relative velocity of the wheel with respect to the rail and friction coefficient.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.9
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• pp.105-111
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• 1999

The paper presents development of a Hardware-In-the-Loop simulation (HILS) system for the purpose of testing performance, stability, and reliability of an electronic power steering system(EPS). In order to realistically test an EPS by the proposed HILS apparatus, a simulated uniaxial dynamic rack force is applied physically to the EPS hardware by a pnumatic actuator. An EPS hardware is composed of steering wheel &column, a rack & pinion mechanism, andas motor-driven power steering system. A command signal for a pneumatic rack-force actuator is generated from the vehicle handling lumped parameter dynamic model 9software) that is simulated in real time by using a very fast digital signal processor. The inputs to the real-time vehicle dynamic simulation model are a constant vehicle forward speed and from wheel steering angles driven through a steering system by a driver. The output from a real-time simulation model is an electric signal that is proportional to the uniaxial rack force. The vehicle handling lumped parameter dynamic model is validated by a fully nonlinear constrained multibody vehicle dynamic model. The HILS system simulation results sow that the proposed HILS system may be used to realistically test the performance stability , and reliability of an electronic power steering system is a repeated way.

• Journal of the Korean Society for Railway
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• v.11 no.2
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• pp.176-181
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• 2008

This paper presents results from experimental analysis of a friction-driven wheel responsible for generating wheel squeal noise. Squeal noise generating mechanism has been examined under the laboratory condition by the model rig on a small scale. Creep characteristics and squeal noise were observed by changing the possible variables, such as relative velocities and friction coefficients in time- and frequency-domain.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.171.2-171
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• 2001

This paper presents a force control of a arm of walking training robot. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and constraining patients to walk freely. The proposed walking training robot is designed to unload body weight effectively during walking. The walking training robot consists of unloading manipulator and mobile platform. The manipulator driven with a electro-mechanical linear mechanism unloads body weight in various level. The mobile platform is wheel type, which allows to patients unconstrained walking. Unloading system with electro-mechanical linear mechanism has been developed, which has advantages such as low noise level, light weight, low manufacturing cost and low power consumption. A system model for the manipulator ...