• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.1
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• pp.179-186
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• 2002

The absolute longitudinal speed of a vehicle is estimated by using vehicle acceleration data from an accelerometer and wheel speed data from standard 50-tooth antiknock braking system wheel speed sensors. An intuitive solution to this problem is, "When wheel slip is low, calculate absolute velocities from the wheel speeds; when wheel slip is high, calculate absolute velocity by integrating the accelerometer." Fuzzy logic is introduced to implement the above idea and a new algorithm of "modified velocities with step integration" is proposed. This algorithm is verified experimentally to estimate speed of a vehicle, and is also shown to estimate absolute longitudinal vehicle speed with a 6% worst-case error during a hard braking maneuver lasting three seconds.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.248-251
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• 2004

Stability of truck and trailer are the most significance in Thai automotive industry. This paper presents the mathematical model of a six-degree-of-freedom semi-trailer vehicle. Search method was implemented to obtain the optimum design variables of the trailer which are the distance from the fifth wheel to the centroid of the trailer and the distance from the centroid of the trailer to the trailer axel. The objective function is to minimize the steady side slip velocity, steady-state yawing velocity and steady-state angle between the tractor and the trailer. From the calculation , the optimum distance from the fifth wheel to the centroid of the trailer and the optimum distance from the centroid of the trailer to the trailer axle are 5.50 and 3.25 meters respectively. The stability of the optimal semi-trailer vehicle was also examined in steady state. The steady side slip velocity, yawing velocity and the angle between tractor and trailer are also obtained using linearization technique under unit step disturbance of the tractor front wheel steering angle.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.6
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• pp.234-240
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• 2002

This paper treats the problem of estimating the longitudinal velocity of a braking vehicle using measurements from an accelerometer and wheel speed data from standard anti-lock braking wheel speed sensors. We develop and experimentally test three velocity estimation algorithms of increasing complexity. The algorithm that works the best gives peak errors of less than 3 percent even when the accelerometer signal is significantly biased.

• Journal of Power Electronics
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• v.13 no.4
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• pp.536-545
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• 2013

In this study, an integrated motor control algorithm for an in-wheel electric vehicle is suggested. It consists of slip control that controls the in-wheel motor torque using the road friction coefficient and slip ratio; yaw rate control that controls the in-wheel motor torque according to the road friction coefficient and the yaw rate error; and velocity control that controls the vehicle velocity by a weight factor based on the road friction coefficient and the yaw rate error. A co-simulator was developed, which combined the vehicle performance simulator based on MATLAB/Simulink and the vehicle model of CarSim. Based on the co-simulator, a human-in-the-loop simulation environment was constructed, in which a driver can directly control the steering wheel, the accelerator pedal, and the brake pedal in real time. The performance of the integrated motor control algorithm for the in-wheel electric vehicle was evaluated through human-in-the-loop simulations.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.5
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• pp.118-125
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• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.1
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• pp.109-118
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• 2005

A functional suspension model is proposed as a kinematic describing function of the suspension that represents the relative wheel displacement in polynomial form in terms of the vertical displacement of the wheel center and steering rack displacement. The relative velocity and acceleration of the wheel is represented in terms of first and second derivatives of the kinematic describing function. The system equations of motion for the full vehicle dynamic model are systematically derived by using velocity transformation method of multi-body dynamics. The comparison of field test results and simulation results of the ADAMS/Car demonstrates the validity of the proposed functional suspension modeling method. This model is suitable for real-time vehicle dynamics analysis.

• Aerospace Engineering and Technology
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• v.7 no.2
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• pp.88-94
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• 2008

In this study, triaxial velocity is analyzed for COMS(Communication, Ocean and Meteorological Satellite) configuration, which is generated when thrusters are used to dump wheel momentum. Since COMS is designed to periodically change the thruster set in order to uniformly decrease the performance of thrusters, triaxial velocity would be different during the change of thruster set. So, the triaxial velocity generated due to the change of thruster set is optimized.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.3
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• pp.253-263
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• 2012

With the local Hertz deformation on the contact point, the dynamic contact between a high-speed wheel and an elastic beam having a gap is numerically analyzed by solving the whole equations of motion of the wheel and the beam subjected to the contact condition. For the stability of the time integration the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Especially the acceleration contact condition on the gap is formulated, and it is demonstrated that the contact force variation computed by the velocity contact constraint or by the acceleration contact constraint agrees well with that computed by the displacement contact constraint. The numerical examples show that, when the wheel passes on the gap, the solution is governed by the stiffness of the local Hertzian deformation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.42-45
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• 2002

General wheel mark in mono-crystalline silicon wafer finding is able to be expected because it depends on radius ratio and angular velocity ratio of wafer and wheel. The pattern is predominantly determined by the contour of abrasive grits resulting from a relative motion. Although such a wheel mark is made uniform pattern if the process parameters are fixed, sub-surface defect is expected to be distributed non-uniformly because of characteristic of mono-crystalline silicon wafer that has diamond cubic crystal. Consequently it is considered that this phenomenon affects the following process. This paper focused on kinematic analysis of wafer grinding process and simulation program was developed to verify the effect of process variables on wheel mark. And finally, we were able to predict sub-surface defect distribution that considered characteristic of mono-crystalline silicon wafer

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.927-939
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• 2007

This paper concerns dynamics of a wheel-axle set on a tangent track which was already published in a book titled "Dynamics of Railway Vehicle Systems" authored by Garg and Dukkipati [1], pointing out several missing terms and erroneous parts in the derived expressions on the conventional governing equations of motion. It is indicated that the x-direction components of normal forces at left and right wheel-rail contact points in the equilibrium axis were missed. Another point is that in deriving the creepages the disturbed velocity components in both x and y directions in the equilibrium axis should not be disregarded in the first term of the numerators. When considering the creepage in the y direction in the body coordinate system, the second term of lateral velocity at the contact point also cannot be neglected. Besides, the hyper-assumptions in the final expressions of vertical components of normal forces at left and right wheel-rail contact points have been recovered in reaching the final stage of analytical model development. Finally it is noteworthy that the process of applying creep theory is deemed to contain a little bit inconsistencies and ambiguities to be clear.