• Proceedings of the KAIS Fall Conference
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• 2010.11b
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• pp.785-787
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• 2010

It is well known that most power steering systems obtain the power by a hydraulic mechanism. Therefore, it consumes more energy because the oil power should be sustained all the times. Recently, to solve this problem the Electric Power System(EPS) or Motor Driven Power System(MDPS) has widely equipped in passenger vehicles. In this research the concurrent simulation technique for an EPS system with MATLAB/SIMULINK and a full vehicle model has been developed. The dynamic responses of vehicle chassis and steering system are evaluated. Then, a full vehicle model interacted with EPS control is concurrently simulated with an impulsive steering wheel torque input to analyze the stability of 'free control' or hands free motion for SUV. This integrated method allows engineers to reduce the prototype testing cost and to shorten the developing period.

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.459-462
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• 2006

In this study, the characteristic of a vane pump of an automative power steering system is numerically analyzed. The vane pump changes the energy level of operation fluid by converting mechanical input power to hydraulic output. To simulate this mechanism, moving mesh technique is adopted. As a result, the flow rate and pressure are obtained by numerical analysis. The flow rate agrees well with the experimental data. Moreover, the variation and oscillation of the pressure around the rotating vane are confirmed. The difference of pressure appears in the vane tip as a result of the flow characteristics. Furthermore, the back flow into the rotor was observed.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.2
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• pp.201-211
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• 2002

In this research, we are trying to research about hydraulic system design and vehicle dynamic modeling far the development of the tire roller. The reason why we would like develop it is that tire roller is one of the most useful machine for the road construction site and application other construction equipments. Here, we conceptualize the new hydraulic system and derive the equations of motion fur dynamic analysis and also investigate system modeling by using a DAQ board. We design the hydraulic circuit of steering and traction mechanism system. This design can be used to create virtual prototypes of construction equipment. So, we studied tire roller to integrate development technology. In system analysis, we formulate hydraulic traction system model and hydraulic steering system model. Also, we integrate DAQ system to acquire experimental results in real tire roller equipment.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.124-126
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• 2009

In this paper a pendulum-driven type spherical mobile robot is introduced. Many researchers have been studied about a spherical mobile robot. we developed a pendulum-driven type spherical mobile robot and analyzed mechanism of pendulum motion. Mechanism of pendulum motion applied to the robot. Consequently, we could verify the motion of the robot as motion of pendulum.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.05a
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• pp.431-432
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• 2010

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.220-225
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• 2002

In this paper, we suggest a new locomotive mechanism fur self-propelling robotic endoscope which could substitute conventional endoscope. Many researchers proposed inchworm-like mechanism for self-propelling robotic endoscope. But it could not be commercialized because they did not solve the limitation caused by clamping. Therefore, we suggest a new radial-type locomotive mechanism with worm. It can propel itself in any situation and take passive-steering because of radial type. In addition, it can be miniaturized with worm. In this paper, we evaluate the mechanism in the dead pig colon as well as under various environments, and verify the performance fur robotic endoscope.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.570-576
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• 2012

In this research a moving platform for a mobile robot which can run with upright posture is proposed. It is able to stand with standing arms and run uprightly based on an inverted pendulum mechanism. Conventional mobile robots generally may equip 4 wheels or 3 wheels including a caster and have good statistic stability. They need a steering mechanism to choose which way to go since they have a square or rectangular configuration with multiple wheels. When a mobile robot meets a sharply perpendicular and narrow crossroad, it may need a special steering scheme such as going forward and backward repeatedly or it sometimes cannot even pass through the crossroad because of its size. The proposed moving platform for a mobile robot changes to a upright posture which has a small planar area and is able to pass through the crossroad. We propose a moving platform for a mobile robot with a inverted pendulum mechanism and standing arms which can make the mobile robot upright.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.9
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• pp.813-820
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• 2014

This paper presents design and performance validation of a method for motion compensation using fast steering mirror. First of all, the schematics of the Electro Optical/Infra-Red (EO/IR) and step-stare image gathering system for an aerial reconnaissance are introduced. Because of the steering mirror with low inertia so called Back scan mechanism (BSM), the fast step-stare image gathering technique that is required for taking a high-definition still image will be realized. After then, the BSM hardware includes motors and feedback sensors are introduced. Also, the motion profile for BSM will be designed to compensate roll scan motion of the gimbals. At the end of this paper, designed profile and tracking performance of the EO/IR system with BSM will be validated through experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.696-703
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• 2005

Since most autonomous mobile robots are powered by a battery, it is important to increase the continuous operating time without recharging. This can be achieved by improving the energy efficiency of a mobile robot, but little research on energy efficiency has been performed. This paper proposes two methods for improving the energy efficiency of an omnidirectional mobile robot.. One method is to realize a continuously variable transmission (CVT) by adopting the mechanism of steerable omnidirectional wheels. The other is the proposed steering algorithm in which wheel arrangement of the mobile robot is continuously adjusted so as to obtain the maximum energy efficiency of the motors during navigation. In addition, new omnidirectional wheels which can be transformed to the conventional wheels depending on the driving conditions are proposed to compensate for less efficient omnidirectional drive mode. Various tests show that motion control of the OMR-SOW works satisfactorily and the proposed steering algorithm for CVT can provide higher energy efficiency than the algorithm using a fixed steering angle. In addition, it is shown that the differential drive mode can give better energy efficiency than the omnidirectional drive mode.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.3
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• pp.3-7
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• 2007

There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and rescue robots. To achieve surveillance, reconnaissance, and rescue, it is necessary for robots to have a driving mechanism that can handle off-road environments, We propose a new type of single-track driving mechanism with a variable geometry for a rescue robot, This mechanism has a symmetric configuration so that the robot can advance in two directions and also remain operable when overturned. By transforming its geometry, the robot can reduce energy consumption in steering and rotating as well as maximize its ability to climb obstacles such as stairs. The robot is also designed to have a compact size and low center of gravity to facilitate driving when on a set of stairs. In this paper, we analyzed the design parameters of the robot for the four phases of climbing stairs and determined the specifications needed to enhance its adaptability.