• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.624-627
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• 2002

Experimental study showed that the existing mathematical model doesn't fully describe the lateral motion of a moving web fur different operating conditions. So, a physically interpretable model of lateral motion of a moving web in a typical web guidance system, operated at Konkuk Univ., was developed using the system identification technique. A well-known Least Square Method based on ARX model was used for the system identification. Lateral displacement of the web was measured at the exit of each span by infrared sensors. The model obtained from identifying a linear time-invariant system for a typical operating condition yields an improved prediction capability of the lateral dynamics of the moving web compared to other mathematical models proposed in literature.

• 한국철도학회논문집
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• 제6권4호
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• pp.215-220
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• 2003

In this paper the dynamic characteristics of a Swing Motion Bogie, such as a critical speed and a carbody vibration, are investigated in reply to the request of the Meridian Rail Corporation in the United States. Also described are experimental results of the maximum speed, the derailment coefficient, the lateral force, the vertical force, the vibration acceleration and steady state lateral acceleration measured from main line tests.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2002년도 추계학술대회 논문집(II)
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• pp.892-897
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• 2002

The research was requested by Meridian Rail Corporation in United States. The Swing Motion Bogie can application by Korea style if synthesize study result of bogie strength evaluation, bogie dynamic characteristics analysis, actual test(maximum speed, derailment coefficient, lateral force, vertical force, vibration acceleration, steady state lateral acceleration) etc..

• 제어로봇시스템학회논문지
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• 제21권9호
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• pp.818-826
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• 2015

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.185-195
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• 2000

This pacer studied on the lateral motion and yaw motion of the gantry crane which is used for the automated container terminal with two driving wheel types. Though several problems are occcurred in driving of gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operation. There are two types, cone and flat t y pin driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane with two driving wheel types are derived. Then, we investigate the driving characteristics of gantry crane. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and yaw angle of the gantry crane. The simulation result of the driving mechanism using the Runge-Kutta Method is presented in this paper.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.545-550
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• 2001

This paper studied on the lateral motion and yaw motion of the gantry crane that is used for the automated container terminal. Though several problems are occurred in driving of the gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operator. There are two types, cone and flat type in driving wheel shape. In cone type, the lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of two driving wheels are derived. Then, we investigate the driving characteristics of gantry crane. In this study, the proposed controller, based on Model Based Controller, is used to control the lateral displacement and yaw angle of the gantry crane. And the availability of the proposed controller is showed through the comparison with the result of the proposed controller and PD controller. The simulation results of the driving mechanism, using the Runge-Kutta Method that is one of the numerical analysis methods, are presented in this paper.

• 한국해양공학회지
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• 제38권1호
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• pp.10-17
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• 2024

This study assessed the potential for crabbing motion in waterjet ships by exclusively employing stern thrusters. The theoretical considerations were validated through practical sea trials on the naval vessel PKG (Patrol Killer Guided missile) equipped with three stern thrusters. The control forces were calculated using the force equilibrium equation. The results showed that the hull exhibited rotations and lateral movements under wind influence. The port tail exhibited a leftward turning tendency due to the wind. This phenomenon arises from the dominance of the rotational force generated by the stern thruster over the lateral force exerted by the hull, making it challenging to maintain force equilibrium. In the sea trial, the hull rotated by 10° and moved 10.8 m laterally, with a longitudinal movement of 0.26 m. Remarkably, the lateral movement surpassed the longitudinal displacement, indicating the success of the trial. The substantial lateral travel distance provided tangible evidence that the crabbing motion of the ship is achievable using only stern thrusters. This study contributes valuable insights into enhancing the maneuverability of waterjet ships, offering practical applications for naval operations and maritime activities.

• Journal of Mechanical Science and Technology
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• 제20권7호
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• pp.981-992
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• 2006

In this paper, a lateral vehicle control using the concept of control configured vehicle (CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to follow a chosen variable without significant motion change in other specified variables. The analysis techniques for decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling (i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.1002-1011
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• 2006

In this paper, a lateral vehicle control using the concept of control configured vehicle(CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to commend a chosen variable without significant motion change in other specified variables. The analysis techniques fur decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling(i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

• 국제물리치료학회지
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• 제7권1호
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• pp.925-932
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• 2016

The purpose of this study is to investigate effects of Maitland orthopedic manipulative physiotherapy and stretching on pain, cervical range of motion, and muscle tone of adults with forward neck posture. A total 40 subjects were divided into a Maitland OMPT group(n=20) and a stretching group(n=20), performing joint mobilization exercise and stretching three times per week for six weeks. As for changes in pain, statistically significant decrease were found before and after the exercise within group comparison(p<.01), while no statistically significant difference was observed between-group comparison. In changes in cervical range of motion before and after the exercise, the Maitland OMPT group showed statistically significant increase(p<.01) in flexion, (left lateral flexion(p<.05), extension, left rotation, right rotation, and right lateral flexion, while the stretching group showed statistically significant increase(p<.05) in extension(p<.01), left rotation, left lateral flexion, right rotation, and right lateral flexion. However, no significant differences in between group comparison in flexion, extension, right rotation, left rotation, right lateral flexion and left lateral flexion. The results of measuring muscle tone changes showed that the Maitland OMPT group and the stretching group did not show significance in within and between group comparison(p<.05). In conclusion, the Maitland OMPT and stretching were effective on improving pain and range of motion.