• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1158-1161
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• 2004

This paper describes the construction of a half sphere screen driving tilting simulator that can perform six degree-of-freedom (DOF) motions simulator to a tilting train. The mathematical equations of Tilting Train dynamics are first derived from the 6-DOF bicycle model and incorporated with the bogie, carbody, and suspension subsystems. The equations of motion are then programmed by visual C++ code. To achieve the simulator functions, a motion platform that is constructed by six electric-driven actuators is designed, and its kinetics/inverse kinetics analysis is also conducted. Driver operation signals such as carbady angle, accelerator, and tilting positions are measured to trigger the Tilting dynamics calculation and further actuate the cylinders by the motion platform control program. In addition, a digital PID controller is added to achieve the stable and accurate displacements of the motion platform. The experiments prove that the designed simulator is adequate in performing some special rail road driving situations discussed in this paper.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.137-145
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• 2007

The purpose of this study is developing a virtual bicycle system for improving the ability of postural balance control for adults in various age groups. The system consists of an exercise bicycle that allows tilt in accordance with the postural balance of the subject in the system, a visual display that shows virtual road, and a visual feedback system. The rider of the system tries to maintain balance on the bicycle with a visual feedback of a virtual road while the pedaling speed, the heading direction, and various weight distribution information are updated to the subject as visual feedbacks in the display. A series of experiments were performed with various subjects to find the factors related to postural balance control in the system. The related parameters obtained were weight shift, magnitude of the deviation from the center of the virtual road, and variables related to the movement of the center of pressure. The results found that the ability to control postural balance in the system improved with the presentation of visual feedback information of the distribution of weight. It was also found that the general performance of the subject on balance in the system improved after ten days long training. The results show that the newly developed system can be used for the diagnosis of postural balance as well as for the stimulation of various senses such as vision and somatic sense in the field of rehabilitation training.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2631-2633
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• 2004

This paper describes the construction of a half sphere screen driving tilting simulator that can perform six degree-of-freedom( DOF) motions simmulator to a tilting train. The mathematical equations of Tilting Train dynamics are first derived from the 6-DOF bicycle model and incorporated with the bogie. carbody, and suspension subsystems. The equations of motion are then programmed by visual C++ code. To achieve the simulator functions. a motion platform that is constructed by six electric-driven actuators is designed. and its kinetics/inverse kinetics analysis is also conducted. Driver operation signals such as carbady angle, accelerator. and tilting positions are measured to trigger the Tilting dynamics calculation and further actuate the cylinders by the motion platform control program. In addition. a digital PID controller is added to achieve the stable and accurate displacements of the motion platform. The experiments prove that the designed simulator is adequate in performing some special rail mad driving situations discussed in this paper.

• Proceedings of the Acoustical Society of Korea Conference
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• spring
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• pp.223-226
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• 2000

Currently a multichannel system for virtual 3-D sound rendering is under development. Robust sound image formation and smooth real time interactivity are main design Points. The system utilizes VBAP algorithm as virtual sound image positioning. Overall system settings can be easily configured. We developed software, RIMA. as a driving Program of the system. At this stage, it is possible to position virtual sound images at arbitrary positions in three-dimensional space. The characteristics of the system are discussed. The system has been applied to the KAIST Bicycle Simulator to generate the virtual sound field.

• International Journal of Automotive Technology
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• v.7 no.7
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• pp.821-826
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• 2006

This paper describes a rollover index (RI)-based rollover mitigation control (RMC) system. A rollover index which indicates an impending rollover has been developed by a roll dynamics phase plane analysis. The rollover index is calculated using the roll angle, the roll rate, the lateral acceleration and time to wheel lift (TTWL). A differential braking control law based on a 2-D bicycle model has been designed using the direct yaw control (DYC) method. An RMC threshold has been determined from the rollover index. The performance of the RMC scheme and the effectiveness of the proposed rollover index are illustrated using a vehicle simulator.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1126-1131
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• 2007

This paper presents unified chassis control (UCC) to improve the vehicle lateral stability. The unified chassis control implies combined control of active front steering (AFS), electronic stability control (ESC) and continuous damping control (CDC). A direct yaw moment controller based on a 2-D bicycle model is designed by using sliding mode control law. A direct roll moment controller based on a 2-D roll model is designed. The computed direct yaw moment and the direct roll moment are generated by AFS, ESP and CDC control modules respectively. A control authority of the AFS and the ESC is determined by tire slip angle. Computer simulation is conducted to evaluate the proposed integrated chassis controller by using the Matlab, simulink and the validated vehicle simulator. From the simulation results, it is shown that the proposed unified chassis control can provide with improved performance over the modular chassis control.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1103-1108
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• 2007

This paper describes a robust model-based roll state estimator for application to the detection of impending vehicle rollover. The roll state estimator is based on a 2-D bicycle model and a roll model to estimate the maneuver-induced vehicle roll motion. The measurement signals are lateral acceleration, yaw rate, steering angle, and vehicle speed. Vehicle mass is adapted to obtain robust performance of the estimator. Computer simulation is conducted to evaluate the proposed roll state estimator by using a validated vehicle simulator. It is shown that the roll state estimator shows robust performance without exact vehicle mass information.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1132-1137
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• 2007

This paper describes a Unified Chassis Control (UCC) strategy to prevent vehicle rollover by integrating individual modular chassis control systems such as Electronic Stability Control (ESC) and Continuous Damping Control (CDC). The UCC threshold is determined from a rollover index computed by estimated roll angle, roll rate and measured lateral acceleration. A direct yaw moment control method is used to design the ESC based on a 2-D bicycle model. Similarly, the CDC is designed based on a 2-D roll model using a direct roll moment control method. The performance of the proposed UCC scheme is investigated and compared to that of modular chassis controllers through computer simulations using a validated vehicle simulator. It is shown that the proposed the UCC can lead to improvements in vehicle stability and efficient actuation of chassis control systems.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.153.1-153
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• 2001

This paper describes a development of rehabilitation training system for the postural balance control. A new rehabilitation training system, designated as a virtual cycling system, was developed to improve postural balance control by combining virtual reality technology with an unfixed bicycle. In this experiment, 20 normal adults were tested to investigate the influencing parameters of postural balance control. In order to evaluate the usefulness and the training effects of the system, several parameters Including path deviation, cycling velocity, cycling time, center of pressure, and head movement were evaluated and analyzed quantitatively. Also, to improve the effect of balance training, the visual feedback information related to the subject´s weight shift was ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.181.6-181
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• 2001

This paper describes a development of rehabilitation training system for the postural balance control. A new rehabilitation training system, designated as a virtual cycling system, was developed to improve postural balance control by combining virtual reality technology with an unfixed bicycle. In this experiment, 20 normal adults were tested to investigate the influencing parameters of postural balance control. In order to evaluate the usefulness and the training effects of the system, several parameters including path deviation, cycling velocity, cycling time, center of pressure, and head movement were evaluated and analyzed quantitatively. Also, to improve the effect of balance training, the visual feedback information related to the subject's weight shift was assessed to identify whether it was useful. It could be also known ...