• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1385-1386
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• 2011

• Journal of the Korean Society of Industry Convergence
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• v.21 no.5
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• pp.197-205
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• 2018

In this research, tricycle vehicle simulation based on multi-body environment has been introduced. Mathematical model of tricycle vehicle was developed. In this research the left and right wheel speed are calculated based on the rear steering angle and velocity. The kinematic model for the three - wheel drive system was completed and the results were analyzed using the actual vehicle drawings. Through simulink vehicle performance on linear and rotation movement were simulated. Using the mathematical model the control system can be applied directly to the tricycle vehicle. The simulation result shows that the proposed vehicle model is successfully represent the movement characteristics of the real vehicle. This model assists the vehicle developer to create the controller and understand the vehicle during the development process.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.202-205
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• 1999

Both the physically handicapped people and the people of advanced age drive the electromotive cart of tricycle type the every day. When the public electromotive cart of tricycle type has inclined on the slant road or the bumpy road, the viewing angle of driver is changed at the same time. So the risk of traffic accident is increased. For the improvement of the above problem, the present study has made the electromotive cart installed to the new drivers seat on the basis of the 2 $\pi$ control theory.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.10
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• pp.1287-1296
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• 2014

This paper is about control of Automated Guided Vehicle for path following using fuzzy logic controller. The Automated Guided Vehicle is a tricycle wheeled mobile robot with three wheels, two fixed passive wheels and one steering driving wheel. First, kinematic and dynamic modeling for Automated Guided Vehicle is presented. Second, a controller that integrates two control loops, kinematic control loop and dynamic control loop, is designed for Automated Guided Vehicle to follow an unknown path. The kinematic control loop based on Fuzzy logic framework and the dynamic control loop based on two PID controllers are proposed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.

• Proceedings of the Korea Society of Design Studies Conference
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• 2004.10a
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• pp.24-25
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• 2004

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.85.5-85
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• 2001

When the people of advanced age drive the public electromotive cart of tricycle type on the slant and bumpy roads, the viewing angle of driver changes at the different directions. So the risk of traffic accident is increased. For the improvement of the above problem, we had produced the first experimental cart installed to the new driver´s seat based on the 2$\pi$ control theory. Based on the results of the driving test for the first experimental cart, we have produced the safe and comfortable electromotive cart.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1343-1348
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• 1990

The architecture and functions of a prototype free ranging AGV system are described in this paper. The system has single tricycle configuration - the front wheel is driven and steered simultaneously. The primary position measurement device of this system is the redundant encoder system - an absolute encoder for the steering angle measurement of the front wheel, two incremental encoders for the measurement of the rear wheel rotations. The secondary position measurement device is implemented to reduce the accumulatad error in encoder measurements. The extended Kalman filter is suggested to combine the conflict measurement data for the proper position estimation.

• Macromolecular Research
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• v.9 no.5
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• pp.247-252
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• 2001

Tricyclic aliphatic dianhydride monomer, tricycle[4.2.2.0]dec-9-ene exo, endo-3,4: 7,8-tetra-carboxylicdianhydride (TCDDA), was synthesized by photochemical reaction and poly(amic acid)s from TCDDA and diamines such as 1,4-bis-(4-aminophenoxy)benzene (BAB), 2,2-bis(4-(4-aminophenoxy) phenyl) propane (BAPP), 2,2-bis(4-(4-aminophenoxy)phenyl)hexafluoropropane (BAPHF), bis(4-(4-ami-nophenoxy) phenyl)sulfone (BAPS), and 1,4-bis-(4-aminophenoxy)biphenyl (BABP) were prepared. The inherent viscosities of the poly(amic acid)s were between 0.39 and 0.50 dL/g. The poly(amic acid)s were converted to polyimide films by thermal imidization. The glass transition temperatures (T$\_$g/) of the polyimides were in the range of 201-263$\^{C}$. The thermogravimetric analysis (TGA) thermogram of these polyimides showed the temperatures of 5% weight losses between 375 and 393$\^{C}$ in nitrogen atmosphere. To show their utility for image generation, degradations of these polyimides in UV exposure were investigated by UV spectroscopy.

• Journal of Power Electronics
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• v.15 no.6
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• pp.1640-1653
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• 2015

This study presents a model of a drivetrain for an integrated design of a light electric vehicle (EV). For the drivetrain of each front wheel of the single-person, battery-powered EV tricycle consists of a battery, an inverter, and an outer rotor permanent magnet synchronous motor (PMSM), which is connected to an in-wheel gearbox. The efficiency of the inverter, motor, and gearbox is analyzed over the New European Driving Cycle. To calculate the losses and efficiency of the PMSM, the power electronics in the inverter and gearbox are used. The analytical models provide a fast, but less accurate result, useful for optimization purposes. To accurately predict the efficiency of the PMSM, a finite element model is used. The models are validated by test setups. Correspondingly, a good agreement between the measurements and the calculated results is achieved. A parameter study is performed to investigate the influence of the detailed component parameters (i.e., outer rotor radius, gear ratio, and number of pole pairs and stator slots) on the average efficiency of the drivetrain.