• 한국산학기술학회논문지
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• 제20권6호
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• pp.86-94
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• 2019

본 논문은 보다 높은 실재감과 안전성을 확보하기 위한 무인차량 원격주행제어 환경 개발에 대한 내용을 설명한다. 주로 무인차량 원격주행제어를 위한 환경은 조이스틱 형태의 장치를 활용하여 조향과 가/감속이 가능하도록 개발되어 사용되었다. 그 외 일반 차량처럼 간이 조향-휠(steering-wheel)을 기반으로 개발된 시뮬레이터 환경도 있으나, 현재 주행 상황을 피드백하는 기술이 적용되어 있지 않거나 가/감속부를 포함하지 않는 것이 대부분이다. 피드백 기술이란 일반 차량을 직접 운전할 때 조향-휠과 가/감속 페달을 통해 느껴지는 현재 주행 상황을 시뮬레이터 환경에 구현하는 것을 의미한다. 이렇듯 무인차량 원격주행제어에 이질감을 감소시키는 피드백 기술 개발과 더불어 실재감을 높일 수 있는 시뮬레이터 환경 구축이 필수적이다. 따라서 본 연구에서는 선행 연구를 통해 개발된 힘반향 햅틱제어 기술을 적용할 수 있는 시뮬레이터 환경을 구축하고 시뮬레이터 하드웨어의 최소 요구사양을 도출하는 연구를 수행하였다. 하드웨어 구성은 일반 차량과 유사한 조향-휠 모듈과 가/감속 페달 모듈로 구성하였으며, 조향부와 가/감속부 모두 피드백 기술을 적용할 수 있도록 별도의 액추에이터를 설치하였다. 또한 제어부 PC를 통해 두 가지 조작부에 피드백 명령을 전달할 수 있도록 CAN(controller area network) 통신 환경을 구성하였다. 이렇게 구성한 시뮬레이터 환경의 성능을 검증하기 위하여 기 개발된 힘반향 햅틱제어 알고리즘을 직접 적용하여 각 상황 별 알고리즘 동작을 평가하였다.

• 한국전자파학회논문지
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• 제13권4호
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• pp.386-392
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• 2002

본 논문에서는 4개의 다이폴 소자로 구성한 4섹터 지향성 절환 원형 대열 다이폴 안테나의 기본 특성을 검토하고 있다. 이론 해석으로서는 다이폴 소자에 흐르는 미지 전류분포에 관한 연립 적분방정식을 유도하고 해를 Gaterkin의 모멘트 법으로 구하고 있다. 안테나의 방사 지향성이 4섹터로 절환이 가능하도록 하기 위해 급전 및 무급전 소자를 적절히 이용하고 있으며, 무급전 소자의 유포 전류에 의한 원형 배열 안테나의 특성 개선을 위해 급전 소자를 제외한 나머지 무급전 소자들을 단락 또는 개방시킨 경우의 방사 지향성 및 이득 특성 등을 검토하고 있다. 방사 지향성의 측정결과를 이론치와 비교하여 이론해석의 타당성도 확인하고 있다.

• 한국정밀공학회지
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• 제25권10호
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• pp.58-66
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• 2008

In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.

• Journal of Magnetics
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• 제19권3호
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• pp.300-308
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• 2014

This paper develops a moving-magnet electromagnetic actuator for fast steering mirror (FSM). The actuator achieves a reasonable compromise between voice coil actuator and piezoelectric actuator. The stroke of the actuator is between the strokes of a piezoelectric actuator and a voice coil actuator, and its force output is a linear function of air gap and excitation current within our FSM travel range. Additionally, the actuator is more reliable than voice coil actuator as the electrical connection in the actuator is static. Analytically modeling the actuator is difficult and time-consuming. Alternatively, numerous finite element simulations are carried out for the actuator analysis and design. According to the design results, a real prototype of the actuator is fabricated. An experimental test system is then built. Using the test system, the force output of the fabricated actuator is evaluated. The test results validate the actuator analysis and design.

• Journal of Magnetics
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• 제19권2호
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• pp.130-139
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• 2014

This paper focuses on the modeling and analysis a novel two-axis rotary normal-stress electromagnetic actuator with compact structure for fast steering mirror (FSM). The actuator has high force density similar to a solenoid, but its torque output is nearly a linear function of both its driving current and rotation angle, showing that the actuator is ideal for FSM. In addition, the actuator is designed with a new cross topology armature and no additional axial force is generated when the actuator works. With flux leakage being involved in the actuator modeling properly, an accurate analytical model of the actuator, which shows the actuator's linear characteristics, is obtained via the commonly used equivalent magnetic circuit method. Finally, numerical simulation is presented to validate the analytical actuator model. It is shown that the analytical results are in a good agreement with the simulation results.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.646-654
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• 2010

This paper describes an integrated chassis control for a maneuverability, a lateral stability and a rollover prevention of a vehicle by the using of the ESC and AFS. The integrated chassis control system consists of a supervisor, control algorithms and a coordinator. From the measured and estimation signals, the supervisor determines the vehicle driving situation about the lateral stability and rollover prevention. The control algorithms determine a desired yaw moment for lateral stability and a desired longitudinal force for the rollover prevention. In order to apply the control inputs, the coordinator determines a brake and active front steering inputs optimally based on the current status of the subject vehicle. To improve the reliability and to reduce the operating load of the proposed control algorithms, a multi-core ECU platform is used in this system. For the evaluation of this system, a closed loop simulations with driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy.

• 한국자동차공학회논문집
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• 제14권5호
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• pp.1-8
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• 2006

The Steer-By-Wire(SBW) system replaces complex mechanical linkages of the current steering system with electric motors, sensors, and electronic control units. However, the SBW system should guarantee its safety and reliability before commercialization, and therefore, a reliable and robust fault-tolerant technology has to be implemented. This paper proposes a fault-tolerant control algorithm for the SBW system. Based on careful analysis on propagation effects of sensor faults, a reliable fault-tolerant control strategy has been developed. The fault-tolerant controller consists of a fault detection part that monitors and detects faults in the steering wheel and road wheel sensors, and a reconfiguration part that switches to normal sensor signal based on fault detection information. It has been demonstrated by simulation that the proposed algorithm detects sensor faults accurately and enables reliable steering control under various dynamic fault situations.

• Journal of Magnetics
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• 제20권1호
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• pp.69-78
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• 2015

This paper focuses on the design of a flux-biased rotary electromagnetic actuator with compact structure for fast steering mirror (FSM). The actuator has high force density and its torque output shows linear dependence on both excitation current and rotation angle. Benefiting from a new electromagnetic topology, no additional axial force is generated and an armature with small moment of inertia is achieved. To improve modeling accuracy, the actuator is modeled with flux leakage taken into account. In order to achieve an FSM with good performance, a design methodology is presented. The methodology aims to achieve a balance between torque output, torque density and required coil magnetomotive force. By using the design methodology, the actuator which will be used to drive our FSM is achieved. The finite element simulation results validate the design results, along with the concept design, magnetic analysis and torque output model.

• 한국해양학회지
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• 제16권1호
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• pp.1-11
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• 1981

The seasonal variations of surface current patterns in the Japan Sea were drawn out from the results of drift bottle experiments, current measurements and hydrographic observations during 1979∼1980. The North Korean Cold Current(NKCC) and the East Korean Warm Current(EKWC) were common features of circulation in the eastern sea of Korea. The intrusion of NKCC along the Korean coast became strong in summer(average velocity of 47.4cm/sec off Jumunjin and 23.4cm/sec near Jugbyeon) when the Tsushima Current was strong. But there was no indication of the NKCC in November 1979. Dynamic topography(August & November 1979) and satellite picture(November 1979) seemed to show the topographic steering of EKWC beginning off Janggigab. Drift bottles arrived at the Japaness coast were affected significantly by the strong Tsushima Current in summer and by the predominant northwesterlies in winter instead of weak current.

• 재활복지공학회논문지
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• 제7권2호
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• pp.13-18
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• 2013

본 논문에서는 8비트 전류 구동형 DAC를 설계하여 뉴런 신호를 자극하기 위한 전류자극기로 활용하였다. 제안하는 회로는 10KS/s의 샘플링 주파수와 3.3V의 구동전압을 가지며, 0.35um Magna Chip CMOS 공정을 이용하여 설계하였고 Full-Custom 방식의 레이아웃을 수행하였다. 글리치 잡음을 줄이고 해상도를 높이기 위해 상위 3비트의 온도계 코드 디코더 입력과, 하위 5비트의 이진 입력의 혼합된 구조를 적용하였다. 이로 인해 글리치 에너지는 이진 입력으로만 구성된 DAC에 비해 $10nV{\bullet}sec$ 감소하였다. 또한 LSB전류가 $0.8{\mu}m$로 작기 때문에 저전력 전류 자극기로 활용될 수 있다. 제안된 전류 자극기는 MCU와 연결하여 바이패이즈 신호를 형성 할 수 있으며, 신호의 주기와 진폭을 MCU코드를 변경하며 조절할 수 있다. 측정결과 INL은 +0.56/-0.38 LSB이고 DNL은 +0.3/-0.4 LSB로서 우수한 선형성을 나타내었고 소모전력은 6.6mW로 측정되었다.