• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.313-320
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• 2011

Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WS/6WD vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WS/6WD vehicles are favored for military use in off road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that using in-wheel motor can generate the independent wheel torque without other mechanical parts. Conventional vehicles, however, cannot generate an opposite driving force at each side wheel. Using an independent steering and driving system, six-wheel vehicles can show better performance than conventional vehicles. Using of independent steering and driving system, the 6 wheel vehicle can improve a performance better than conventional vehicle. This vehicle enhances the maneuverability under low speed and the stability at high speed. This paper describes an independent 6WS/6WD vehicle, consists of three parts; Vehicle Model, Control Algorithm for 6WS/6WD and Simulation. First, vehicle model is application of TruckSim software for 6WS and 6WD. Second, control algorithm describes the optimum tire force distribution method in view of energy saving. Last is simulation and verification.

• 한국군사과학기술학회지
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• 제13권6호
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• pp.958-966
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• 2010

In this paper, we have proposed a integrated dynamic control architecture in 6WD(wheel drive)/6WS(wheel steering) vehicle for military applications. Since 6WD/6WS vehicle has inherent redundancy, the input variables to make any desired vehicle motion can not be determined uniquely. Therefore, optimal distribution method of tire forces is introduced, which is based on workload of each tire. Simulation result shows that this is effective for the energy minimization and dynamic performance enhancement. We also suggest how the integrated control with any failure mode should be reconstructed.

• 한국자동차공학회논문집
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• 제5권6호
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• pp.155-166
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• 1997

In this study, a simulation tool is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation tool using the MATLAB /SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.

• 한국융합학회논문지
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• 제3권4호
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• pp.35-44
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• 2012

본 연구에서 모사 프로그램이 6WD/6WS를 가진 특수 목적 차량의 비정상상태 코너링 성능을 조사하기 위해 개발되었다. 6WD 차량은 비포장 도로에서 작전을 수행하기 좋은 성능을 가지고 있고 안전한 성능을 가진 것으로 신뢰받고 있다. 그러나, 6WS 차량들의 코너링 성능은 관련 문헌을 통해서는 언뜻 이해가 어렵다. 본 논문에서는 6WD/6WS 차량들은 비선형 차량 동력학, 타이어 모델, 운동학적 효과 등을 포함한 18 자유도 시스템으로 모델링 되었다. 그리고 그 차량 모델은 입/출력과 차량변수가 수식화된 접근 방법으로 쉽게 변환될 수 있도록 MATLAB/SIMULINK를 사용한 모사 프로그램으로 구성되었다. 6WS 차량의 코너링 성능은 브레이크 휠과 피봇팅 각각으로 해석되었다. 모사 결과들을 보면, 코너링 성능은 전후 휠 조향 뿐만이 아니라 중간 휠 조향에 따라 좌우됨을 보여준다. 덧붙여, 새로운 6WS 제어법칙은 측면 미끄러짐 각을 최소화하기 위해 제안되었다. 차량변경 모사 결과들은 제안된 제어법칙의 6WS 차량의 장점을 보여준다.

• 제어로봇시스템학회논문지
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• 제16권7호
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• pp.632-638
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• 2010

This paper presents an optimum tire force distribution method for 6WD/6WS(6-Wheel-Drive and 6-Wheel-Steering) electric vehicles. Using an independent steering and driving system, the performance of 6WD/6WS vehicles can be improved, as, for example, with respect to their maneuverability under low speed and their stability at high speed. Therefore, there should be a control strategy for finding the optimum tire forces that satisfy the driver's command and minimize energy consumption. From the driver's commands (steering angle and accelerator/brake pedal stroke), the desired yaw moment, the desired lateral force, and the desired longitudinal force were obtained. These three values were distributed to each wheel as the torque and the steering angle, based on the optimum tire force distribution method. The optimum tire force distribution method finds the longitudinal/lateral tire forces of each wheel that minimize the cost function, which is the sum of the normalized tire forces. Next, the longitudinal/lateral tire forces of each wheel are converted into the reference torque inputs and the steering wheel angle inputs. The proposed method was tested through a simulation, and its effectiveness was verified.

• 제어로봇시스템학회논문지
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• 제16권4호
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• pp.353-360
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• 2010

A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle's driving and wheel's rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally.

• 한국자동차공학회논문집
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• 제21권6호
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• pp.209-217
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• 2013

This paper presents a control strategy of 4 wheel drive (4WD) vehicles. Proposed control strategy has simple structure and can easily apply to various vehicles with low cost and time. It is consist of feedforward control for traction ability, fedback control for minimizing the wheel speed difference and yaw control for lateral stability. In addition, to integrate the traction and stability control, a blending function is applied. To evaluate the feasibility of the proposed control strategy, actual vehicle experiment is conducted after deciding the tuning parameter through the simulation. The simulation is accomplished by CarSim and Matlab/Simulink and the actual vehicle test is conducted using full size Sports Utility Vehicle (SUV) equipped rear wheel based solenoid type 4WD device.

• Journal of Applied Biological Chemistry
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• 제59권4호
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• pp.285-288
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• 2016

단백질 분해효소는 단백질 내 아미노산의 펩티드 결합을 가수분해하며, 산업분야에서 가장 많이 사용되는 효소이다. 이전의 논문에서 부패한 나무로부터 Pseudoxanthomonas sp. WD12와 WD32를 분리하였다. 분비된 단백질 분해효소의 특성을 조사한 결과 WD12는 pH 9.0, $50^{\circ}C$, WD32의 경우 pH 8.0, $45^{\circ}C$에서 최적 활성을 나타내었다. 최적조건하에서 최고의 활성은 WD12는 768 unit/mL로 WD12의 활성이 WD32보다 2.6배 높았다. 금속 이온에 대한 분비효소 영향을 조사한 결과 두 균주 모두 KCl, NaCl, $CaCl_2$, $MnSO_4$를 첨가했을 때 활성이 증가하였으며, $AgNO_3$, $CuSO_4$, $FeCl_3$, $AlCl_3$를 첨가했을 때는 감소하였고, 최고의 활성은 $MnSO_4$의 첨가했을 때 두 균주 모두 활성 증가를 보인 반면 $FeCl_3$, $CuSO_4$는 활성저해를 보였다. 신종으로 생각되는 WD12 균주의 효소는 알칼리성 조건의 산업 환경에서 이용가능 하다고 생각된다.

• 한국자동차공학회논문집
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• 제22권1호
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• pp.174-182
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• 2014

Recently, not only common types of hybrid electric vehicle (HEV) such as series or parallel but many other types of HEVs including 4WD hybrid electric vehicle have been developed and released. In this study, analysis of fuel economy and driving performance for 2WD and 4WD HEV are conducted using backward simulation based on dynamic programming. To analyze the characteristics of 4WD HEV, tire slip model based on vehicle dynamics was applied to the backward simulation program. As a result, 2WD HEV shows better fuel economy than 4WD HEV because of relatively simple configuration. However, in a severe road condition, 4WD HEV shows better driving performance that 2WD HEV had about 6% of impossible time to follow the driving cycle though the 4WD HEV had no impossible time.

• 한국가금학회지
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• 제41권1호
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• pp.53-59
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• 2014

본 실험에서는 시중에서 주로 유통되고 있는 2종의 토종닭인 HH종과 WD종 닭고기를 비교하기 위해 일반 육계(BR)와 더불어 육질 및 관능 특성을 분석하였다. 토종닭 내에서 HH종의 가슴육만 일반 육계보다 다소 낮은 지방함량을 보였다. 육색에서는 가슴육과 다리육 두 부위 모두에서 HH종의 명도($L^*$)와 적색도($a^*$)가 WD종보다 유의적으로 높게 나타났다(p<0.05). 항산화력 측정을 위한 DPPH 라디칼 소거능과 pH가 WD종이 HH종보다 유의적으로 높았다(p< 0.05). 가슴육에서 C18:1은 일반 육계가 다른 두 품종의 토종닭보다 유의적으로 높았다(p<0.05). 대표적인 n-3 지방산인 C18:3의 경우, WD종이 HH종보다 유의적으로 높았으며(p<0.05), C20:4와 C22:6의 경우, 토종닭이 일반 육계에 비해 약 2.5배이상 높은 조성을 보였다(p<0.05). 관능평가 맛 부분에서는 가슴육에서 WD종이 일반 육계나 다른 HH 토종닭보다 유의적으로 우수한 수치를 보였다(p<0.05). 특히 WD종의 연도가 다른 품종에 비해 매우 우수한 것으로 나타났으며(p<0.05), 전체적인 기호도에서도 WD종이 유의적으로 높은 점수를 보였다(p<0.05). 국내에서 대표적으로 시판되는 토종닭 2품종의 품질 및 관능 특성은 요인별로 유의적 차이를 보이기도 했으며(p<0.05), 이를 바탕으로 소비자 기호에 적합한 새로운 품종의 토종닭 개발을 위한 기초 자료 활용이 가능할 것이다. 그러나 육질 특성은 품종 이외에도 급여한 사료 및 사양 방식에 따라 다른 것이므로, 보다 많은 시료 수를 바탕으로 한 추가적인 연구가 요구된다.