• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2765-2768
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• 2003

The PI controller has many trial-and-error steps for gain design. This paper proposes a new design concept. In this method, a degree of stability and Kharitonov theory are applied and the controller gain is directly expressed by system parameters and current controller's bandwidth. Simulation results for permanent magnetic synchronous motor(PMSM) driving systems confirm the validity of proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.543-547
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• 2005

In this paper, we designed a intelligent autonomous driving robot by using Fuzzy algorithm. The object of designed robot is recognition of obstacle, avoidance of obstacle and safe arrival. We append a suspension system to auxiliary wheel for improvement in stability and movement. The designed robot can arrive at destination where is wanted to go by the old and the weak and the handicapped at indoor hospital and building.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1401-1402
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• 2011

• Advances in Automotive Engineering
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• 제1권1호
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• pp.123-141
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• 2018

Hardware-in-the-loop (HiL) simulation is a very powerful tool to design, test and verify automotive control systems. However, well-validated and high degree of freedom vehicle models have to be utilized in these simulations in order to obtain realistic results. In this paper, a vehicle dynamics model developed in the Carsim Real Time program environment and its validation has been performed using experimental results. The developed Carsim real time model has been employed in the Tofas R&D hardware-in-the-loop simulator. Experimental and hardware-in-the-loop simulation results have been compared for the standard FMVSS No. 126 test and the results have been found to be in good agreement with each other. Two electronic stability control (ESC) algorithms, named the Basic ESC and the Integrated ESC, taken from the earlier work of the authors have been tested and evaluated in the hardware-in-the-loop simulator. Different evaluation methods have been formulated and used to compare these ESC algorithms. As a result, the Integrated ESC system has been shown superior performance as compared to the Basic ESC algorithm.

• 자동차안전학회지
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• 제12권2호
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• pp.27-32
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• 2020

This paper presents steering system requirements to ensure the stabilized lateral control of autonomous driving vehicles. The two main objectives of a lateral controller in autonomous vehicles are maintenance of vehicle stability and tracking of the desired path. Even if the desired steering angle is immediately determined by the upper level controller, the overall controller performance is greatly influenced by the specification of steering system actuators. Since one of the major inescapable traits that affects controller performance is the time delay of the steering actuator, our work is mainly focused on finding adequate parameters of high level control algorithm to compensate these response characteristics and guarantee vehicle stability. Actual vehicle steering angle response was obtained with Electric Power Steering (EPS) actuator test subject to various longitudinal velocity. Steering input and output response analysis was performed via MATLAB system identification toolbox. The use of system identification is advantageous since the transfer function of the system is conveniently obtained compared with methods that require actual mathematical modeling of the system. Simulation results of full vehicle model suggest that the obtained tuning parameter yields reduced oscillation and lateral error compared with other cases, thus enhancing path tracking performance.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.336-341
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• 2015

This paper proposes a balancing and driving control system for a Mecanum wheel ball robot which has a two axis structure and four motors. The inverted pendulum control method is adopted to maintain the balance of the ball robot while it is driving. For the balancing control, an anon-model-based controller has been designed to control the device simply without the need of a complex formula. All the gains of the controller are heuristically adjusted during the experiments. The tilt angle is measured by IMU sensors, which is used to generate the control input of the roll and pitch controller to make the tilt angle zero. For the driving control, the PID control algorithm has been adopted with angles of the wheels and the encoder data. The performance of the designed control system has been verified through the real experiments with the suggested ball robot.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2002년도 하계학술대회 논문집 Vol.3 No.2
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• pp.686-689
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• 2002

The application of the ultrasonic nozzle has been extended because it is possible atomization of liquid material. In this study, the characteristics of the ultrasonic nozzle and ceramic oscillator were investigated. The oscillator for the ultrasonic nozzle were made piezoelectric ceramic of $Pb[(Sb_{1/2}Nb_{1/2})_{0.035}-(Mn_{1/3}Nb_{2/3})_{0.065}-(Zr_{0.49}Ti_{0.51})_{0.90}]O_3$. The electromechanical coupling factor$(k_p)$ and mechanical quality factor$(Q_m)$ showed the values of 0.555, 1,214 respectively when the Zr/Ti ratio was 49/51. Moreover, this oscillator will have the temperature stability because it's curie temperature is $322[^{\circ}C]$. The driving current of ultrasonic nozzle showed the value of 80[mA] when the driving time was 10[min.]. 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.].

• 로봇학회논문지
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• 제11권2호
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• pp.83-91
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• 2016

Most of outdoor mobile robots have a suspension on each wheel in order to relieve the shock by ground obstacles and to improve the driving stability. Typically, in the actual operations, the suspensions have been used under a given set of conditions as all the damping and spring coefficients of the suspensions are fixed. However, it is necessary to readjust the coefficients of the suspensions according to surface conditions that may cause the unstable shaking of a robot body at high speed driving. Therefore, this paper is focused on the mobility analysis of an outdoor robot when the coefficients of suspensions (in particular, damping coefficients) are changed while driving on an uneven road surface. In this paper, a semi-active suspension with twelve damping coefficient levels was used and a small sized vehicle with the suspensions was employed to analyze the mobility dependent on a change of the damping coefficient. And the mobility was evaluated through driving experiments on a bumped slope.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 추계학술대회논문집
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• pp.385-386
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• 2008

Dynamic stability of the vehicle rearview mirror is an important factor for the driver's visual perception (image blur) when driving down the road and regarded as one of the vehicle level N&V performance of visible component vibration. Several projects within GM identified a set of objective metrics and validation methods that can replace current existing subjective evaluation of mirror stability. This paper presents objective evaluation results for assessing dynamic stability (angle of rotation) of the vehicle rearview mirrors using both in-lab FRF measurements and on-road testing.

• Geomechanics and Engineering
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• 제13권1호
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• pp.43-61
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• 2017

The inverted T-type abutments are generally used in highway bridges constructed in Korea. This type of abutment is used because it has greater stability, with more pile foundations embedded in the bedrock, while simultaneously providing support for lateral earth pressure and vertical loads of superstructures. However, the cross section of inverted T-type abutments is large compared with the piers, which makes them more expensive. In addition, a differential settlement between the abutment and embankment, as well as the expansion joints, causes driving discomfort. This study evaluated the driving comfort of several types of abutments to improve driving comfort on the abutment. To achieve this objective, a traditional T-type abutment and three types of candidate abutments, namely, mechanically stabilized earth wall (MSEW) abutment supported by a shallow foundation (called "true MSEW abutment"), MSEW abutment supported by piles (called "mixed MSEW abutment"), and pile bent and integral abutment with MSEW (called "MIP abutment"), were selected to consider their design and economic feasibility. Finite element analysis was performed using the design section of the candidate abutments. Subsequently, the settlements of each candidate abutment, approach slabs, and paved surfaces of the bridges were reviewed. Finally, the driving comfort on each candidate abutment was evaluated using a vehicle dynamic simulation. The true MSEW abutment demonstrated the most excellent driving comfort. However, this abutment can cause problems with respect to serviceability and maintenance due to excessive settlements. After our overall review, we determined that the mixed MSEW and the MIP abutments are the most appropriate abutment types to improve driving comfort by taking the highway conditions in Korea into consideration.