• Journal of the Korean Society for Precision Engineering
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• v.25 no.10
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• pp.58-66
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• 2008

In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.645-650
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• 2010

In this paper we present the Bimodal-tram simulator using the PXI embedded real-time controllers. The Bimodal-tram is developed in KRRI (Korea Railroad Research Institute). The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are placed in the ground. The vehicle is controlled by NCS. NCS governs the manual mode and automatic mode driving. The simulator is designed by an identical conception with the real control condition. The dynamic motion of vehicle is simulated by the nonlinear dynamic model. The control computer calculates the control values. The signal interface is linked by CAN communication. The simulation is processed by real-time base. The test driver can see the graphic motion of vehicle and can operate the steering wheel, gas and brake pedal to control direction and velocity of vehicle during the simulation. At present, the simulator is only operated by manual mode. The automatic mode will be linked after the control algorithm is finished. We will use the simulator to develop the control algorithm in the automatic mode. This paper shows the simulator designed for Bimodal-tram using real-time based controller. The results of the test using the simulator are presented and discussed.

• Tribology and Lubricants
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• v.28 no.3
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• pp.107-111
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• 2012

In this study, application feasibility of Magneto-rheological elastomer to friction control is investigated to identify the reciprocating friction and wear performance in applied magnetic field. Friction and wear of MR elastomerare measured by reciprocating tester by controlling the magnetic field. In the case of applied magnetic field, the coefficient of friction increases as both load and velocity increase. For the case of no magnetic field, the value of coefficient of friction hardly changes during the test. The amount of destruction is measured through cross section images of MR elastomer after tests. The depths of destruction are compared for MR elastomer with or without magnetic field. The results show that the depth of destruction of MR elastomer with magnetic field is deeper than without magnetic field. Based on the obtained results, optimal braking and driving performance can be achieved by controlling the coefficient of friction of MR elastomer, which can be applied to various industrial applications such as driving systems of automobiles and robots.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.5
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• pp.63-71
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• 2007

The conversion efficiency, durability and pressure drop of the automotive exhaust catalysts are dependent on the flow distribution within the substrate. Conventional porous medium approaches assuming monolith resistance based on the one-dimensional laminar flow for simulating the flow through the automotive exhaust catalysts over-predict the flow uniformity in the monolith. In this study, additional pressure loss is also considered by accounting for entrance effects due to the oblique flow incident on the front face of monolith as a consequence of flow separation and recirculation within the diffuser. The incorporation of an additional pressure loss improves the predictions for the maximum flow velocity within the substrate. An numerical study has also been conducted for the three-dimensional unsteady incompressible non-reacting flow inside various dual-monolith catalytic converters for the rapid acceleration/deceleration driving.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.675-682
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• 2009

Instead of direct driving like BLDC, the induction principle is adopted as a driving one for planar stage. The stage composed of four linear induction motors put in square type is activated by two-axial forces; low-frequency attractive force and thrust force of the linear induction motors. Here, the modified vector control whose new inputs are q-axis current and dc current biased to three phase current instead of d-axis current or flux current is applied extensively to overall motion of the stage. For the developed system, the precision step test and the constant velocity test are tried to guarantee its feasibility for TFT-LCD pattern inspection. However, to exclude a discontinuity due to phase shift and minimize a force ripple synchronized with the command frequency, the initial system is revised to the antagonistic structure over the full degree of freedom. Concretely describing, the porous air bearings guide an air-gapping of the stage up and down and a pair of liner induction motors instead of single motor are activated in the opposite direction each other. The performances of the above systems are compared from trapezoid tracking test and sinusoidal test.

• Journal of Mechanical Science and Technology
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• v.18 no.1
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• pp.132-144
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• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.497-497
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• 2000

This paper is concerned with the design of LMI based H$_{\infty}$ controller for a line of sight(LOS) stabilization system. This system which is even linearized to analyse nonlinear characteristic has also a lot of uncertainties. In addition, the angular velocity disturbance from the vehicle's driving deteriorates the stabilized LOS, main purpose of this system. In case of fast driving, particularly, all components which are ignored and skipped to make mathematical modelling act as the uncertainties against this system. The robustness against these uncertainties has been also continuously demanded including the well tracking performance for the target. Therefore, this paper employed H$_{\infty}$ control theory to satisfy these problems and LMI method to make suitable controller with few constraints for this system. Although this system matrix doesn't have full rank, this method make it possible to design H$_{\infty}$ controller and deal with R and S matrices for reducing its order. Consequently, this paper shows that the re-analyses on the real disturbances are achieved and the proposed robust controller for them has better disturbance attenuation and tracking performance. This paper contributes the applicability of reduced order H$_{\infty}$ controller to real system by handling LMI..

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.6
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• pp.596-601
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• 2014

In this study, driving efficiency and the safety of motorcycle drivers due to the mounting gradient of motorcycle protective glass are investigated through flow analysis. Mounting gradients of motorcycle protective glass in models 1, 2, and 3 are $60^{\circ}$, $70^{\circ}$, and $80^{\circ}$, respectively. Wind velocity of 100 km/h is applied to the protective glass installed at the front of each model. The flow resistance values of models 2 and 3 are 1.2 and 1.5 times, respectively, that of model 1. The driving efficiency of model 1 is the highest among the three models. Pressure to the driver's face in models 2 and 3 is 1.2 times higher than in model 1. Because the pressure to the driver's face in model 1, with mounting gradient of $60^{\circ}$, is the lowest among the three models, model 1 is the safest. This result can be applied to improve the safety of motorcycle drivers.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.3
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• pp.181-189
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• 2000

The aerodynamic characteristics of large transport vehicle has become more and more important in recent vehicle design to improve driving performance in high speed cruising and raise the product valve with regard to a comfortable driving condition. Hence, detailed knowledge of the flow field around truck coner vane is essential to improve fuel efficiency and reduce the dirt contamination on vehicle body surface. In this study, three-dimensional flow characteristics around corner vane attached to truck cabin were computed for the steady, incompressible, and high speed viscous flow, adopting the RNG k-$\varepsilon$ turbulence model. In order to investigate the influence of configuration and structure of corner vane, computations were carried out for four cases at a high Reynolds number, Re=4.1$\times$106 (based on the cabin height). The global flow patterns, drag coefficient and the distributions such as velocity magnitude, turbulent kinetic energy around the corner vane, were examined. As a result of this study, we could identify the flow characteristics around corner vane for the variation of corner vane length and width. Also, suggest the improved structure to reduce the dirt contamination in cabin side.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.1051-1059
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• 2008

In the development process of an ECU (Electrical Control Unit), numerous tests are necessary to evaluate the performance and control algorithm. The vehicle based test is expensive and requires long time. Also, it is difficult to guarantee the safety of the test driver. To overcome the various problems faced in the development process, the ECU test has been done using HIL (Hardware In the Loop). The HIL environment has the actual hardware including an ECU and a virtual vehicle model. In this paper, the test platform environment is devloped for the AWS ECU black box test. The test platform is built on HIL (Hardware In the Loop) architecture. Using the developed test platform, the control algorithm of the AWS ECU can be evaluated under the virtual driving condition of the bi-modal tram. Driving conditions, such as a front steering angle and vehicle velocity, are defined through the PC (Personal Computer) input. Input signals are transformed to electrical signals in the PC. These signals become the input conditions of the AWS ECU. The AWS ECU is stimulated by arbitory input conditons, and responses of the system are observed.