• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.69-76
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• 2005

The laser interferometer system such as HP5529A is one of the most powerful equipment fur measurement of the straightness error in precision stages. The straightness measurement system, HP5529A is composed of a Wollaston prism and a reflector. In this system, the straightness error is defined as relative lateral motion change between the prism and the reflector and computed from optical path difference of two polarized laser beams between these optics. However, rotating motion of the prism or the reflector used as a moving optic causes unwanted straightness error. In this paper, a compensation method is proposed for removing the unwanted straightness error generated by rotating the moving optic and an experiment is carried out for theoretical verification. The result shows that the unwanted straightness error becomes very large when the reflector is used as the moving optic and the distance between the reflector and the prism is far. Therefore, the prism must be generally used as the moving optic instead of the reflector so as to reduce the measurement error. Nevertheless, the measurement error must be compensated because it's not a negligible error if a rotating angle of the prism is large. In case the reflector must be used as the moving optic, which is unavoidable when the squareness error is measured between two axes, this compensation method can be applied and produces a better result.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.47-50
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• 1991

LPM(Linear Pulse Motor) provide direct and precise position control of bidirectional linear motion. LPM is not subject to the same linear velocity and acceleration limitations inherent in systems converting rotary to linear motion such as lead screws, rack and pinion, belt and pulley drives. With LPM, all the thrust force generated by the motor is efficiently applied directly to the load. And speed, distance, and acceleration are easily programmed in a highly repeatable fashion. Potential industrial and application fields of LPM include PCB assembly, industrial sewing machines, automatic inspection, coil winder, medical uses, conveyer system, laser cut and trim systems, semiconductor wafer processing, OA instruments etc. This paper describes various design parameter of LPM such as magnetic ciucuit construction methods, phase number and tooth number per pole, permanent magnet and coil mmf, tooth geometries. And to solve the problems of existing control methods, in this paper, a new control method of the LPM is proposed throughout modern control theory.

• International Journal of Precision Engineering and Manufacturing
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• v.8 no.4
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• pp.3-9
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• 2007

Existing long range piezoelectric motors with friction based transmission mechanisms are limited by the axial load capacity. To overcome this problem, a new linear piezoelectric motor using one piezoelectric actuator combined with a novel stepping mechanism is reported in this paper. To obtain both long range and fine accuracy, dual positioning control strategy consisting of coarse positioning and fine positioning is used. Coarse positioning is used for long travel range by accumulating motion steps obtained by piezoelectric actuator. This is followed by fine positioning where required accuracy is obtained by fine motion displacement of piezoelectric actuator. This prototype is able to provide resolution of 20 nanometers and withstand a maximum axial load of 300N. At maximum load condition, the positioner can move forward to a travel distance of 5mm at a maximum speed of 0.4 mm/sec. This design of nanopositioner can be used in applications for ultra precision positioning and grinding operations where high axial force capacity is required.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.323-327
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• 2002

In order to control the railway noise, the radiation characteristic of the noise during the train passage should be analyzed. Generally, the major noise sources for Korean Train Express are the rolling noise and power unit noise up to 300km/h. In this paper, we describe on a train model that is considered to be a row of point sources to calculate the radiation characteristic. The calculation results are compared with short distance measurement. It is shown that the radiation characteristic of the rolling noise is dipole type. The noise generated by the power unit is radiated as the cosine type. The noise level at an observer is increased in the direction of motion and reduced in the direction opposite to the motion with increasing of the train speed. The calculation results including the moving effect of the noise source at 300km/h show in good agreement.

• The Journal of Korea Robotics Society
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• v.10 no.3
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• pp.171-177
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• 2015

A telerobot offers a more engaging and enjoyable interaction with people at a distance by communicating via audio, video, expressive gestures, body pose and proxemics. To provide its potential benefits at a reasonable cost, this paper presents a telepresence robot system for video communication which can deliver speaker's head motion through its display stanchion. Head gestures such as nodding and head-shaking can give crucial information during conversation. We also can assume a speaker's eye-gaze, which is known as one of the key non-verbal signals for interaction, from his/her head pose. In order to develop an efficient head tracking method, a 3D cylinder-like head model is employed and the Harris corner detector is combined with the Lucas-Kanade optical flow that is known to be suitable for extracting 3D motion information of the model. Especially, a skin color-based face detection algorithm is proposed to achieve robust performance upon variant directions while maintaining reasonable computational cost. The performance of the proposed head tracking algorithm is verified through the experiments using BU's standard data sets. A design of robot platform is also described as well as the design of supporting systems such as video transmission and robot control interfaces.

• Clinics in Shoulder and Elbow
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• v.19 no.4
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• pp.209-215
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• 2016

Background: The purpose of this study was to identify the clinical and radiological outcomes of hook plate fixation for lateral end fracture of the clavicle and acromioclavicular dislocation. Methods: There were a total of 20 cases with lateral end fracture of the clavicle and 16 cases with acromioclavicular dislocation. All patients were evaluated for range of motion, functional score by using Constant score, and American Shoulder and Elbow Surgeons shoulder index at just before implant removal and at final follow-up. Coracoclavicular distance was measured in acromioclavicular dislocation and bony union was evaluated in the lateral end fracture of the clavicle. Results: The clinical outcomes and range of motion were increased at the final follow-up compared with just before implant removal in both the lateral end fracture of the clavicle and acromioclavicular dislocation. In acromioclavicular dislocation, all cases-except one-showed maintenance of reduction after implant removal. Moreover, in the lateral end fracture of the clavicle, all cases-except one-showed bony union. Conclusions: Hook plate fixation in the lateral end fracture of the clavicle and acromioclavicular dislocation resulted in good clinical and radiological results.

• IE interfaces
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• v.15 no.1
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• pp.82-88
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• 2002

A study was conducted to develop user-centered kitchen furniture and workspace to reduce fatigue and to prevent housewives's disorders such as low back pain and musculoskeletal disorders from housekeeping activities. A questionnaire survey and interview were performed on 150 households those live in 32Pyung-type($105m^2$) apartment in Seoul vicinity. Also actual housekeeping activities for 24 hours were video-taped for further motion analysis. Results of the study revealed that housewives complained the inconvenience and small size of storage space, and worksurface height as the most important problems to be considered for redesign. And they responded, if feasible, sitting is preferred over standing while they are working. After adapting a sit/stand chair in the kitchen, a physiological experiment measuring heart rate(HR) and oxygen consumption($VO_2$) as response variables was conducted to examine the effects of sit/stand chair in reducing physiological demand during housekeeping activities. The results showed that working on sit/stand chair reduced energy expenditures by maximum of 30% and 31.0% in terms of HR and $VO_2$, respectively. Also rearrangement of kitchen structure based on motion analysis showed that walking distance during daily housekeeping activities can be reduced by 5.5% on the average. Hence, it is concluded that adapting a sit/stand chair in the kitchen could reduce fatigue and occupational disorders of housewives from extended housekeeping activities.

• Wind and Structures
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• v.25 no.1
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• pp.25-38
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• 2017

This study investigates the dynamic analysis of a transversely isotropic thin plate. The plate is made of hyperelastic John's material and its constitutive law is obtained by taken the Frechect derivative of the highlighted energy function with respect to the geometry of deformation. The three-dimensional equation governing the motion of the plate is expressed in terms of first Piola-Kirchhoff's stress tensor. In the reduction to an equivalent two-dimensional plate equation, the obtained model generalizes the classical plate equation of motion. It is obtained that the plate under consideration exhibits harmonic force within its planes whereas this force varnishes in the classical plate model. The presence of harmonic forces within the planes of the considered plate increases the natural and resonance frequencies of the plate in free and forced vibrations respectively. Further, the parameter characterizing the transversely isotropic structure of the plate is observed to increase the plate flexural rigidity which in turn increases both the natural and resonance frequencies. Finally, this study reinforces the view that non-classical models of problems in elasticity provide ample opportunity to reveal important phenomena which classical models often fail to apprehend.

• Journal of Korea Multimedia Society
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• v.14 no.12
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• pp.1536-1543
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• 2011

Video stabilization is a very important step for vision based applications in the vehicular technology because the accuracy of these applications such as obstacle distance estimation, lane detection and tracking can be affected by bumpy roads and oscillation of vehicle. Conventional methods suffer from either the zooming effect which caused by a camera movement or some motion of surrounding vehicles. In order to overcome this problem, we propose a novel video stabilization method using FOE(Focus of Expansion). When a vehicle moves, optical flow diffuses from the FOE and the FOE is equal to an epipole. If a vehicle moves with vibration, the position of the epipole in the two consecutive frames is changed by oscillation of the vehicle. Therefore, we carry out video stabilization using motion vector estimated from the amount of change of the epipoles. Experiment results show that the proposed method is more efficient than conventional methods.