• Geomechanics and Engineering
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• v.14 no.5
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• pp.421-428
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• 2018

In deep mining, the lateral deformation of strip coal pillar appears to be a new characteristic. In order to study the lateral deformation of coal-mass, a monitoring method and monitoring instrument were designed to investigate the lateral deformation of strip coal pillar in Tangkou Coalmine with the mining depth of over 1000 m. Because of without influence of repeated mining, the bedding sandstone roof is easy to break and the angle between maximum horizontal stress and the roadway is small, the maximum lateral deformation is only about 287 mm lower than the other pillars in the same coalmine. In deep mining, the energy accumulation and release cause a discontinuous damage in the heterogeneous coal-mass, and the lateral deformation of coal pillar shows discontinuity, step and mutation characters. These coal-masses not only show a higher plasticity but also the high brittleness at the same time, and its burst tendency is more obvious. According to the monitoring results and theoretical calculations, the yield zone of the coal pillar width is determined as 15.6 m. The monitoring results presented through this study are of great significance to the stability analysis and design of coal pillar.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.10
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• pp.967-974
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• 2017

In this paper, a differential-braking-based yaw moment control system was developed to guarantee robust performance against road bank angle. A new target yaw rate model was established by combining the signal from a lateral acceleration sensor and 2-DOF single track model. In addition, a disturbance observer was utilized to take into account parameter uncertainties in yaw dynamics and to improve robust performance of the controller. CARSIM, which is a multi-DOF vehicle dynamic simulation tool, was used to verify the performance of the proposed controller in various driving scenarios. The simulation results indicate that the stability of the vehicle was robustly maintained by the controller, which is characterized by the reflection of the signal of a lateral acceleration sensor signal and by the compensation of the errors in the model parameters via the disturbance observer.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.1147-1156
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• 1993

In order to analyze lateral control in the backward maneuver of a tractor -trailer combination , a kinematic vehicle model and a human operator model with time delay were utilized for the operator/vehicle system. The analysis was carried out using the frequency domain approach. The open-loop stability of the vehicle motion was analyzed through the transfer functions. The sensitivity of the stability of the vehicle motion. to a change in the steering angle, was also analyzed. A mathematical model of the closed -loop operator/vehicle system was then formulated. The closed -loop stability of the operator /vehicle system was then analyzed. The effect of the delay time on the system was also analyzed through computer simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.11
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• pp.1291-1297
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• 2014

This paper proposes integrated chassis control (ICC) with electronic stability control (ESC) and active rear steering (ARS). Direct yaw moment control is used to generate a control yaw moment. A weighted pseudo-inverse-based control allocation (WPCA) method is adopted to distribute the control yaw moment into tire forces, generated by ESC and ARS. Simulation-based tuning of variables weights in the WPCA is used to enhance the yaw moment distribution performance. Simulations using the vehicle simulation software $CarSim^{(R)}$ show that the proposed ICC is effective in improving maneuverability and lateral stability.

• International Journal of Automotive Technology
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• v.7 no.7
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• pp.803-812
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• 2006

In order to reduce the negative effects of dynamic coupling among vehicle subsystems and improve the handling performance of vehicle under severe driving conditions, a vehicle chassis control integration approach based on a main-loop and servo-loop structure is proposed. In the main-loop, in order to achieve satisfactory longitudinal, lateral and yaw response, a sliding mode controller is used to calculate the desired longitudinal, lateral forces and yaw moment of the vehicle; and in the servo-loop, a nonlinear optimizing method is adopted to compute the optimal control inputs, i.e. wheel control torques and active steering angles, and thus distributes the forces and moment to four tire/road contact patches. Simulation results indicate that significant improvement in vehicle handling and stability can be expected from the proposed chassis control integration.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.3
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• pp.226-232
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• 2020

Repetition of landing with visual control in sports and training is common, yet it remains unknown how landing with visual control affects postural stability and lower limb kinetics. The purpose of this study was to test the hypothesis that landing with visual control will influence on lower limb control for intrinsic dynamic postural stability. Kinematics and kinetics variables were recorded automatically when all participants (n=10, mean age: 22.00±1.63 years, mean heights: 177.27±5.45 cm, mean mass: 73.36±2.80 kg) performed drop landings from 30 cm platform. Visual control showed higher medial-lateral force, peak vertical force, loading rate than visual information condition. This was resulted from more stiff leg and less time to peak vertical force in visual control condition. Leg stiffness may decrease due to increase of perturbation of vertical center of gravity, but landing strategy that decreases impulse force was shifted in visual control condition during drop landing. These mechanism explains why rate of injury increase.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.998-1003
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• 2013

This study proposes an adaptive control algorithm for lateral motion of a UGV (Unmanned Ground Vehicle) using an NN (Neural Networks). The lateral motion of the UGV can be corrupted with various uncertainties such as side slip. In order to compensate the performance degradation of the UGV under various uncertainties, an NN-based adaptive control is designed by utilizing a virtual control concept. Since both the drift and input gain terms are uncertain, the proposed method adapts the whole terms related to the difference between the nominal and real systems. To avoid a singularity problem with the adaptive control, the affine property of the UGV dynamic model is utilized and the overall closed-loop stability is analyzed rigorously. Finally, numerical simulations using Carsim are performed to validate the effectiveness of the proposed scheme.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.2
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• pp.106-112
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• 2005

Modern versions of supersonic jet fighter aircraft have several different weapon loading configuration to support air-to-air combat and air-to-ground delivery of weapon modes. These various aircraft loading conditions could result in asymmetric configurations to the aircraft once delivered. These asymmetric configurations could result in decreased handling qualities for the pilot maneuvering, stability, control issues and aerodynamic performance of the aircraft. In order to eliminate or decrease these adverse impacts on the pilot's ability, development of T-50 flight control law attempts to control the aircraft in both longitudinal and lateral-directional axes. Especially, the design of the lateral-directional roll axis control laws, utilizing a simple roll rate feedback structure and gains such as F-16, is developed for the T-50 aircraft to meet the aircraft's design requirements. Consequently, it is found that the improved control law decreases the roll-off phenomenon in lateral axes during pitch maneuver.

• Korean Journal of Applied Biomechanics
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• v.20 no.1
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• pp.101-108
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• 2010

Recently, core and neuromuscular training(CNT) is emerging as a clinically relevant tool to improve neuromuscular control and to prevent sports injuries. The purpose of this study was to examine the effect of a 12 weeks CNT program on the dynamic stability after drop landing. The subjects attempted drop landing onto the force platform on single foot from a 40 cm height distance. The collected data was used to calculate the dynamic stability index. The Dynamic stability index was derived by measuring the medial-lateral stability index(MLSI), anterior-posterior stability index(APSI), and the vertical stability index(VSI). In comparison to the control group, the MLSI and APSI showed no difference, yet, it resulted in higher VSI. The results of this study suggest that CNT is worthwhile to be considered as a way to improve neuromuscular control and to prevent traumatic injuries. However, the results are taking into consideration to discuss the limitations of CNT and suggested future approaches.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.1
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• pp.51-57
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• 2011

Information of the lateral velocity and the sideslip angle in a vehicle is very useful in many active vehicle safety applications such as yaw stability control and rollover prevention. Because cost-effective sensors to measure the lateral velocity and the sideslip angle are not available, reliable algorithms to estimation them are necessary. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters from the combined estimation method are updated recursively to minimize the discrepancy between the model and the physical plant, and any possible effects caused by disturbances. The performance of the proposed monitoring system is evaluated through simulations and experiments.