• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1014-1019
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• 2005

In this paper, a neural network technique for automatic steering control of a four wheel drive autonomous highway snowplow vehicle is presented. Controllers are designed by the LQR method based on the vehicle model. Then, neural network is used as an auxiliary controller to minimize lateral tracking error under the presence of load. Simulation studies of LQR control and neural network control are conducted for the vehicle model under a virtual snowplowing situation. Tracking performances are also compared for two and four wheeled steering vehicles.

• 한국건축시공학회지
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• 제6권1호
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• pp.67-72
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• 2006

There are a lot of problem about waterproofing membrane coating for concrete deck of bridge and waterproofing sheets for concrete of deck of bridge because it couldn't confirm waterproofing's defeat after construction. These problems make a waterproofing material damage and condrete deck of bridge damage. So It needs a lot of money for repair work and reinforcement work. Therefor the structure slab of using waterproofing material protect invasion of water. Also, Concrete deck of bridge need a endurance permeability for the reduction repair payment. In this study, An experimental study on the quality standardization test method waterproofing layer on working of live load.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2005년도 추계 학술논문 발표대회
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• pp.1-5
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• 2005

There are a lot of problem about waterproofing membrane coating for concrete deck of bridge and waterproofing sheets for concrete of deck of bridge because it couldn't confirm waterproofing's defeat after construction. These problems make a waterproofing material damage and concrete deck of bridge damage. So It needs a lot of money for repair work and reinforcement work. Therefor the structure slab of using waterproofing material protect invasion of water. Also, Concrete deck of bridge need a endurance permeability for the reduction repair payment. In this study, An experimental study on the quality standardization test method waterproofing layer on working of live load

• 한국지반공학회논문집
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• 제20권1호
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• pp.13-19
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• 2004

국내 아스팔트 포장의 주요파손은 피로균열, 반사균열, 온도균열, 소성변형 등이 발생하고 있다. 이러한 아스팔트포장의 파손을 최소화하기 위해 기존의 아스팔트 포장 층에 포장섬유를 포설, 보강하는 기법이 적용될 수도 있다. 본 연구에서는 포장섬유 아스팔트 포장 시스템을 체계적으로 정립하기 위해 유리섬유 시트로 보강한 아스팔트 포장층을 대상으로 실내시험을 실시하였다. 실내시험은 포장섬유 보강 아스팔트 포장의 균열저항성과 소성변형을 평가하기 위해 휠트래킹 시험과 균열저항성 시험을 수행하여 포장섬유 아스팔트 포장의 소성변형 및 균열 저항성을 분석하였다.

• 한국지능시스템학회논문지
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• 제7권4호
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• pp.29-39
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• 1997

A discrete model reference control scheme for a vehicle four wheel steering system(4WS) is proposed and evaluated for a class of discrete time nonlinar dynamics. The schmen employs a neural network to identify the plan systems, wher the neural network estimates the nonlinear dynamics of the plant. The algorithm is proven to be globally stable, with tracking errors converging to the neighborhood of zero. The merits of this scheme is that the global system stability is guaranteed. Whith thd resulting identification model which contains the neural networks, the parameters of controller are adjusted. The proposed scheme is applied to the vehicle active four wheel system and shows the validity and effectiveness through simulation. The three-degree-of freedom vehicle handling model is used to investigate vehicle handing performances. In simulation of the J-turn maneuver, the yaw rate overshoot reduction of a typical mid-size car is improved by 30% compared to a two wheel steering system(2WS) case, resulting that the proposed scheme gives faster yaw rate response andl smaller side slip angle than the 2WS case.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 춘계학술대회 논문집
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• pp.206-211
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• 2011

In this paper, a control algorithm for the improvement of yaw and velocity stability of electrical vehicle with two or four in-wheel motors is proposed. The vehicle is modeled with independently operative in-wheel motor wheels. Different frictions on the wheels are regarded as disturbances, which causes driving instability. In this situation the proposed algorithm enables stabilizing the yaw motion and velocity of vehicle simultaneously. The proposed PID controller is composed with two techniques, which enhance the disturbance reject and point tracking performances. One is nonlinear gain function and the other one is improved integral controller operating as time based weight function. Simulation is conducted to reveal its efficient performance.

• 한국정밀공학회지
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• 제24권4호
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• pp.68-75
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• 2007

In this study, the ultimate goal is to acquire stability when turning around efficiently by using the controller which is applied partial feedback linearization of One-wheel Unicycle Robot. When moving around, linear controller could result in unstable factor according to widening operation range. So in order to reduce instability, 1 have developed Non-linear Controller using Partial Feedback Linearization. Compared with linear controller, Non-linear Controller guarantees the superiority of Regulating Control and Tracking Control in direct and also revolution motion of Robot. I'm sure of the Non-linear controller performance through many experiments.

• 한국도로학회:학술대회논문집
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• 한국도로학회 2005년도 학술발표회 논문집
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• pp.127-132
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• 2005

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• 한국도로학회논문집
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• 제13권3호
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• pp.31-38
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• 2011

주된 도시들의 불투수성 포장화에 따른 현상으로 토양의 사막화를 일으키고 있으며, 나아가, 도시 온난화 현상을 발생시켜 도시지역의 평균 온도를 올리는 원인이 되고 있다. 이로 인해 우수가 투수성 토양에 흡수되거나 잔류되어야 하는 양이 줄어듦에 따라 자주 도심지내에서 범람이 되는 현상을 보여주고 있다. 결국은 우수시스템이 제대로 작동하지 않고 침식이 발생하고 있다. 투수성 포장시스템과 관련해서는 블록 포장이 여러 군데서 수년 동안 사용되어 왔다. 또한 투수성 블록 포장은 전통적으로 사용된 아스팔트 포장 및 콘크리트 포장에 비해 다양한 형태로 사용될 수 있는 장점과 더불어 타 포장보다 미적으로 낳은 면을 보여 주고 있다. 따라서 도로의 현장 조건을 모사하기 위해 본 연구에서는 실험용 슬러지 및 휠 트래킹 장비를 이용한 블록 포장의 기능적인 투수성 평가를 실시하였다.