• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.53-59
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• 2022

This paper describes an integrated control of torque vectoring and rear wheel steering using model predictive control. The control objective is to minimize the yaw rate and body side slip angle errors with chattering alleviation. The proposed model predictive controller is devised using a linear parameter-varying (LPV) vehicle model with real time estimation of the varying model parameters. The proposed controller has been investigated via computer simulations. In the simulation results, the performance of the proposed controller has been compared with uncontrolled cases. The simulation results show that the proposed algorithm can improve the lateral stability and handling performance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.591-597
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• 2017

This study is to develop a vehicle Integrated Dynamics Control System(IDCB) that can stabilize the lateral dynamics and maintain steerability. To accomplish this task, an eight degree of freedom vehicle model and a nonlinear observer are designed. The IDCB independently controls the brake systems of four wheels with a fuzzy logic control and a sliding model control. The result shows that the nonlinear observer produced satisfactory results. IDCB tracked the reference yaw rate and reduced the body slip angle under all tested conditions. It indicates that the IDCB enhanced lateral stability and preserved steerability.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.1019-1022
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• 2002

Pipe-cutting machines have been used in many fields. Recently, an automatic pipe-cutting machine that uses magnet has born developed. In this paper, a magnetic-type automatic pipe-cutting machine that attaches itself and performs unmanned cutting process is proposed. It is designed that there is a room at the bottom of its body to contain a magnet. And it uses magnetic force between the magnet and the pipe surface to prevent slip and to attach the machine to the pipe against gravity. Also the magnetic force is adjustable by changing the gap between the magnet and the pipe. This machine is, however, necessary to control cutting velocity for the elevation of work efficiency and the adjustable faculties. During pipe cutting process, the gravity acting on the pipe-cutting machine widely varies. That is, the cutting machine gets fast when moving from the top to the bottom of the pipe and slow when moving from the bottom to the top. Actually the system is kind of a non-linear system where the gravity is function of climbing angle of the cutting machine along the pipe. Especially jerking motion is critical. Therefore, authors design the non-linear controller that estimates the current position of the machine along the pipe and compensates the effect of gravity in this paper. It receives the feed back signal from the encoder.

• Journal of Auto-vehicle Safety Association
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• v.11 no.2
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• pp.23-28
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• 2019

This paper presents an optimal performance of rear wheel steering vehicle for maneuverability. The maneuverability of vehicle is evaluated in terms of yaw rate, body slip angle and driver input. The maneuverability of vehicle can be improved by rear wheel steering system. To obtain optimal performance of rear wheel steering vehicle, the optimal control history is designed. The high dimensional trajectory optimization problem is solved by formulating a quadratic program considering rear wheel steer input. To evaluate handling performance 7 degree-of-freedom vehicle model with actuation sub-models is designed. A step steer test is conducted to evaluate rear wheel steering vehicle. A response time, a TB factor, overshoot, and yaw rate gain are investigated through objective criteria, assessment webs. The handling performance of vehicle is evaluated via computer simulations. It has been shown from simulation studies that optimal controlled rear wheel steering vehicle provides improved performance compared to others.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.8
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• pp.41-47
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• 2017

With the introduction of new technologies, ground weapons have led to the development of artificial intelligence and the attention of major developed countries. In this study, CFD was performed through the BLU-103 model to obtain aerodynamic data for aircraft that are subjected to rotational motion. To simulate the steady-state of a rotating body, the body was fixed and the principle of rotating the body by rotating the surrounding air was used. In order to examine the aerodynamic feasibility of the rotating aircraft, the analysis was carried out at intervals of $30^{\circ}$ angle from $0^{\circ}$ to $90^{\circ}$ for the simple shape and the side slip angle. It was confirmed that the drag coefficient for the simple model satisfies the quantitative results of 1.0 ~ 1.2 through CD presented in "Drag Book". The aerodynamic data was constructed by applying the valid input verified through the simple type analysis conditions to the actual shape, and the tendency was analyzed. The analysis confirmed that CX, CZ and CY increase not only in the simple model but also in the rotation of the actual model. Especially, the influence of CZ was judged to have contributed to the flight.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.17 no.4
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• pp.379-388
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• 1995

This study was based on a series of 369 patients with Oral and Maxillofacial injuries treated at Kumi Hospital, College of Medicine, Soon-Chun-Hyang University from Jan. 1992 to Dec. 1994. The results obtained were as follows : 1. The number of male patient was 310 and that of female was 59, leading to 5.3 : 1 of male-female ratio, and the 3rd decade was the highest age group in incidence. 2. Weekly incidence was the highest in Sun. & Sat. and monthly incidence was the highest in Nov.& Oct. 3. Causes as follows : traffic accident 41.9%, slip& fall down 25.4%, human trouble 16.5%, industrial accident 7.5%, sports 6.7%, etc. 4. Site distribution as follows : mandible fracture 32.3%, maxilla fracture 4.8%, zygoma fracture 21.4%, nasal bone fracture 34.1%, orbital& ethmoidal fracture 4.6%. 5. The most common site of mandible was symphysis & angle, and the ratio of OR & CR was 1.3 : 1. 6. The most common site of maxilla was Le Fort 1, 2, and the ratio of OR & CR was 3 : 1. 7. The most common site of zygoma was body, the ratio of OR & CR was 3.3 : 1. 8 . The mean period of intermaxillary fixation was 4.33weeks. 9. Combined injury in facial fracture was 35.8% : The facial fracture were most frequently combind with head & neck(47.0%), upper extremities and abdomen(9.8%). 10. The mean elapsed time from injury to hospital was 1.9days, and that to operation was 5.1days. 11. The mean number of combined teeth injury was 0.6, and percent of combined soft tissue injury of face was 51.3%. 12. Post-operative complication occurred in 4 out of 323 cases. all of that was infection.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.25 no.2
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• pp.471-482
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• 1995

Bony remodeling pattern of condyle fractures in children are different from in adult for growing of condyle, also might affect treatment and prognosis of the condyle fracture. Subjects of this clinical and radiologic study were 26 temporomandibular joints diagnosed as condyle fracture in 23 patients under 15 years old age. They were treated with conservative method at Dental Hospital of Yonsei University from Jan., 1986 to Oct., 1994. Bony remodeling related with fracture pattern was evaluated. The results obtained are as follows: 1. The ratio of male to female in patients with condyle fracture was 1 : 0.9 and the difference of sex ratio was not noted. Comparing with preschool-age group and school-age group, age frequency was higher in preschool-age group(83％). 2. Fallen down(54％) was the most frequent cause of condyle fractures. Traffic accident and slip down were followed. 3. The most common clinical sign of condyle fractures was tenderness to paipation09 cases). Mouth opening limitation07 cases), swelling(7 cases), malocclusion(3 cases) were next in order. 4. According to sites of condyle fractures, unilateral fractures were in 20 patients and bilateral fractures in 3 patients, therefore total 23 patients-26 cases of condyle fracture were observed. According to fracture distribution, condyle fractures were in 10 patients(44％). Condyle fractures with symphysis fracture(9 patients, 39％), condyle fractures with ascending ramus fracture(2 patients, 9％), condyle fracture with mandibular body fracture(1 patient, 4％), and condyle fractures with mandibular angle fracture(1 patient, 4％) were followed. 5. In displacement pattern of fractured fragment of mandibular condyle, dispiacement(17 cases, 66％) was most common. Dislocation(5 cases, 19％) and deviation (4 cases, 15％) were next in order. 6. During the observation period of fractured condyles, remodeling patterns of fracture sites related with articular fossa were observed with usual condylar shape in 23 cases and with prominently different shape in 3 cases.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.1
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• pp.19-29
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• 2022

The result of a questionnaire survey conducted on fishermen using coastal fish traps shows that fall accidents during trap dropping and pulling constitute the highest proportion of accidents at 42.1 %, whereas slipping accidents on the deck or stricture accidents to the body due to the trap winding device constitute 21.1 % each. In addition, 53.2 % of all surveyed subjects responded that trap pulling is the most dangerous task, followed by fish sorting 33.8 %, and trap dropping 9.1 %. As for the main items requested by fishermen for improving the trap winding device, 36.8 % indicated a method to easily lift the trap from the water to the work deck, and 31.6 % indicated a method to overcome the rope tension and prevent slip when pulling the trap to reduce the accidents. The small trap fishing vessel winding device proposed herein can increase the winding force by strengthening the rope contact area and friction coefficient via an appropriate contact angle between the driving roller of the winding device and the rope. When the contact angles between the driving roller and the rope are 1°, 5°, 9°, 14° and 19°, the rope tension showed a difference according to each contact angle. When the contact angle is 9°, the rope tension is the highest at 392.62 kgf. Based on these experimental results, a prototype winding device is manufactured, and 25 traps are installed on a rope with a total length of 100 m at 4 m intervals in the sea, and then the rope tension is measured during trap pulling. As a result, the rope tension increases rapidly at the initial stage of trap pulling and shows the highest value of 31.89 kgf, which subsequently decreases significantly. Therefore, it is appropriate to design the winding force of a small trap fishing vessel winding device based on the maximum tension value of the rope specified at the beginning of the trap pulling operation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.12
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• pp.910-917
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• 2018

This paper describes the developments to improve the feeling and safety of the remote control system of unmanned vehicles. Generally, in the case of the remote control systems, a joystick-type device or a simple steering-wheel are used. There are many cases, in which there are operations without considering the feedback to users and driving feel. Recently, as the application area of the unmanned vehicles has been extended, the problems caused by not considering the feedback are emphasized. Therefore, the need for a force feedback-haptic control arises to solve these problems. In this study, the force feedback-haptic control algorithm considering the vehicle parameters is proposed. The vehicle parameters include first the state variables of dynamics, such as the body side-slip angle (${\beta}$) and yawrate (${\gamma}$), and second, the parameters representing the driving situations. Force feedback-haptic control technology consists of the algorithms for general and specific situations, and considers the situation transition process. To verify the algorithms, a simulator was constructed using the vehicle dynamics simulation tool with CAN communication environment. Using the simulator, the feasibility of the algorithms was verified in various scenarios.