• The Journal of Korea Robotics Society
• /
• v.9 no.2
• /
• pp.124-131
• /
• 2014

The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.

• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.9
• /
• pp.116-125
• /
• 2008

Inkjet printing technology with a drop-on-demand (DOD) inkget head technology has been recognized as one of versatile and low cost manufacturing tools in the electronics industry. Concerned with control of driving signal, however, general strategy to optimize jetting stability has not been understood well, because of the inherent complex multi-physics nature in inkjet phenomena. Motivated by this, present study investigates the effect of driving waveforms of piezoelectric head on jetting characteristics of DOD inkjet system focused on jetting stability with phase matching of pressure waves in the print head. The results show that velocities and volumes of the ink jetted droplets were linear relations with the driving signal's maximum voltage, while periodic behaviors are observed with the driving signal's pulse widths.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.1444-1449
• /
• 2007

Inkjet printing technology with a drop-on-demand (DOD) inkjet head technology has been recognized as one of versatile and low cost manufacturing tools in the electronics industry. Concerned with control of driving signal, however, general strategy to optimize jetting stability has not been understood well, because of the inherent complex multi-physics nature in inkjet phenomena. Motivated by this, present study investigates the effect of driving waveforms of piezoelectric head on jetting characteristics of DOD inkjet system focused on jetting stability with phase matching of pressure waves in the print head. The results show that velocities and volumes of the ink jetted droplets were linear relations with the driving signal's maximum voltage, while periodic behaviors are observed with the driving signal's pulse widths.

• Journal of Power System Engineering
• /
• v.1 no.1
• /
• pp.106-123
• /
• 1997

In this study, vehicle directional stability is investigated for limit driving for crash avoidance maneuver using a full vehicle dynamic model. The model was analytically validated using typical step steering and lane change simulation. Limit driving condition for the vehicle model was quoted from research results of references. It was demonstrated that instable vehicle motion was caused by not only road conditions but also driving conditions. Also, the simulation showed that braking combined with steering caused very hazardous situation in crash avoidance maneuver. Finally, phase plane plot approach was used to evaluate the dynamic instability.

• Korean Journal of Computational Design and Engineering
• /
• v.3 no.1
• /
• pp.40-47
• /
• 1998

Recently, the various driving simulator have been used widely to analyze the handling performance of vehicle and to verify the motion control algorithm of vehicle. In this study, a virtual driving simulator based on the 20-DOF vehicle model is realized to estimate the handling performance and stability of a 4WS (Four-wheel-steering) and/or 4n(Four-wheel-driving) vehicle. Especially the DC motor controlled 4WS actuator is modelled in order to reflect the effect of the responsiveness of actuator on the handling performance and stability. And the realized simulator can be applied to develope a real time simulation system for designing and testing the real vehicles.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
• /
• 2001.07a
• /
• pp.1005-1009
• /
• 2001

The application of the ultrasonic nozzle has been extended because it is possible atomization of liquid material. In this study, the driving characteristics of the ultrasonic nozzle on the driving circuit were investigated. And the characteristics of the ceramic oscillator were investigated for the temperature stability. The ceramic oscillator were made the Pb[(Sb$\sub$1/2/,Nb$\sub$1/2/)$\sub$0.035/-(Mn$\sub$1/3/Nb$\sub$2/3/)$\sub$0.065/- (Zr$\sub$x/Ti$\sub$l-x/)$\sub$0.9/]O$_3$with mole ratio of Zr/Ti. The ceramis oscillator were need the curie temperature of the over 300[$^{\circ}C$] for the temperature stability. When the Zr/Ti ratio was 49/51, it's curie temperature is 322[$^{\circ}C$] and the electromechanical coupling factor(k$\sub$p/) and mechanical quality factor(Q$\sub$m/) showed the values of 0.555, 1,214, respectively The resonance frequency of ceramic oscillator were from 40KHz to 45KHz. So that, the driving circuit were made a possibility that the frequency are variable. The driving current of ultrasonic nozzle showed the value of maximum 80[mA]. Also, The surface temperature of ceramic oscillator showed 80[$^{\circ}C$] at driving time 10[min]. We knew that the ultrasonic nozzle had stabile driving above 10[min.].

• Science of Emotion and Sensibility
• /
• v.22 no.3
• /
• pp.47-54
• /
• 2019

We examined previous studies of the correlation analysis of heart rate variability as a method to reduce the stress caused by outside noise during driving, and we investigated whether there are electrocardiographic changes when drivers play music, which provides a stable sound source amid the noise. Because the number of cars increases every year, drivers and passengers show an increase in stress caused by outside noise. The stress from outside noise while a person is driving can cause several disorders, such as anxiety, immunosuppression, depression, and heart disease. Subjects in this study operated a vehicle simulator to reduce the stress from outside noise and were given different auditory stimuli, and we studied the drivers' responses to the stimuli. Repeated-measures analysis of variance revealed a significant differences between subjects exposed to different auditory stimuli (ρ < 0.05). Through post hoc analyses, we examined these differences. We found significant differences between factor 1 (stability) and factor 2 (simulation driving), between factor 1 (stability) and factor 3 (driving + police siren), and between factor 1 (stability) and factor 4 (driving + police siren + music). In addition, the factor that produced the highest level of sympathetic nervous system activity was factor 4 (driving + police siren + music), followed by factor 3 (driving + police siren), factor 2 (driving), and factor 1 (stability). In conclusion, even when a police siren was heard during driving, there were no significant differences on electrocardiograms (ECGs). In addition, even when the siren was heard over the music, there was no difference on the ECGs (ρ < 0.01). In future studies, investigators should determine which types of music help stabilize the heart rate during driving.

• Journal of Auto-vehicle Safety Association
• /
• v.5 no.1
• /
• pp.62-68
• /
• 2013

This paper describes development of 4 Wheel Drive (4WD) Electric Vehicle (EV) based driving control algorithm for severe driving situation such as icy road or disturbance. The proposed control algorithm consists three parts : a supervisory controller, an upper-level controller and optimal torque vectoring controller. The supervisory controller determines desired dynamics with cornering stiffness estimator using recursive least square. The upper-level controller determines longitudinal force and yaw moment using sliding mode control. The yaw moment, particularly, is calculated by integration of a side-slip angle and yaw rate for the performance and robustness benefits. The optimal torque vectoring controller determines the optimal torques each wheel using control allocation method. The numerical simulation studies have been conducted to evaluated the proposed driving control algorithm. It has been shown from simulation studies that vehicle maneuverability and lateral stability performance can be significantly improved by the proposed driving controller in severe driving situations.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.8
• /
• pp.905-912
• /
• 2011

In order to protect equipment such as controllers, it is important to improve the driving stability of $6{\times}6$ skidsteering vehicles driven on rough roads. The estimation and improvement of the driving stability should be based on the vertical acceleration, roll acceleration, and pitch acceleration. These variables will be used to achieve multivariable control and increase the vehicle driving stability. In this study, to improve vehicle stability by reducing the vertical acceleration, roll angular acceleration, and pitch angular acceleration, the skyhook control method is employed to control MR(Magnetorheological) dampers equipped with the vehicle. The proposed control system is tested in multibody dynamic simulation.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.17 no.5
• /
• pp.257-263
• /
• 2022

Active stabilizers use signals such as steering angle, yaw rate, and lateral acceleration to vary the roll stiffness of the front and rear suspension depending on the vehicle's driving conditions, and are attracting attention as RSC (Roll Stability Control) system that suppresses roll when turning and improves ride comfort when going straight. Various studies have been conducted in relation to active stabilizer bars and RSC systems. However, accurate modeling of passive stabilizer model and active stabilizer model and vehicle dynamics analysis result verification are insufficient, and performance result analysis related to vehicle roll angle estimation and electric motor control is insufficient. Therefore, in this study, an accurate vehicle dynamics model was constructed by measuring the passive/active stabilizer bar model and component parameters. Based on this, the analysis result with high reliability was derived by comparing the roll angle estimation algorithm based on the lateral acceleration and suspension of the vehicle with the actual vehicle driving test result. In addition, it was intended to accurately analyze the motor torque characteristics and roll reduction effects of the electric motor-driven RSC system.