• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.16-20
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• 2022

Accurate state estimation is important for autonomous driving. However, the estimation error increases in situations that a lot of longitudinal slip occurs. Therefore, this paper presents a vehicle state estimation method using an Extended Kalman Filter. The filter estimates the states of the host vehicle robust to wheel slip. It utilizes the measurements of the four-wheel rotational speeds, longitudinal acceleration, yaw-rate, and steering wheel angle. Nonlinear measurement model is represented by Ackermann Model. The main advantage of this approach is the accurate estimation of yaw rate due to the measurement of the steering wheel angle. The proposed algorithm is verified in scenarios of autonomous emergency braking (AEB), lane change (LC), lane keeping (LK) using an automated vehicle. The results show that the proposed algorithm guarantees accurate estimation in such scenarios.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• Structural Engineering and Mechanics
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• v.90 no.5
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• pp.447-458
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• 2024

This study investigated the influence of scale ratio and vertical load on the seismic performance of Puzuo joints in traditional Chinese timber structures. Three low-cyclic reversed loading tests were conducted on three scaled specimens of Bujian Puzuo in Yingxian Wooden Pagoda. This study focused on the deformation patterns and analyzed seismic performance under varying scale ratios and vertical loads. The results indicated that the slip and rotational deformations of Bujian Puzuo were the primary deformations. The scale of the specimen did not affect the layer where the maximum interlayer slip occurred, but it did decrease the proportion of slip deformation. Conversely, the reducing vertical load caused the layer with the maximum slippage and the position of the damaged Dou components to shift upward, and the proportion of slip deformation increased. When the vertical load was decreased by 3.7 times, the maximum horizontal bearing capacity under positive and negative loadings, initial stiffness, and energy dissipation of the specimen decreased by approximately 60%, 58.79%, 69.62%, and 57.93%, respectively. The horizontal bearing capacity under positive loading and energy dissipation of the specimen increased by 35.63% and 131.54%, when the specimen scale was doubled and the vertical load was increased by 15 times.

• The Journal of the Acoustical Society of Korea
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• v.35 no.3
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• pp.183-191
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• 2016

A systematic development process for the low noise FEAD (Front End Accessory Drive) system is presented by combining CAE (Computer Aided Engineering) and the experimental rig test. In the estimation of the belt drive noise, two main difficulties arise from the high non-linearity due to the stick-slip contacts on the interfaces of the belt and pulleys, and the interaction of the belt drive system with the powertrain rotational parts. In this work, a recently developed analysis method of the belt drive has been employed considering powertrain rotational dynamics. As results, it shows good correlation with the vehicle tests in various operational modes. The established model has been employed to validate the new design improving the stick-slip noise of the problematic FEAD system. Furthermore, the best proposal of FEAD system in terms of functionality [NVH (Noise, Vibration and Harshness), fuel economy, cost. etc.] has been suggested in the concept design stage of new engine through this presented methodology.

• Steel and Composite Structures
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• v.20 no.5
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• pp.1023-1042
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• 2016

Based on Hamilton's principle, the flexural vibration differential equations and boundary conditions of the steel-concrete composite beam (SCCB) with comprehensive consideration of the influences of the shear deformation, interface slip and longitudinal inertia of motion were derived. The analytical natural frequencies of flexural vibration were compared with available results previously observed by the experiments, the results calculated by the FE model and the other similar beam theories available in the open literatures. The comparison results showed that, the calculation results of the analytical and Timoshenko models had a good agreement with the results of the experimental test and FE model. Finally, the influences of shear deformation and interface slip on the flexural natural frequencies of the SCCB were discussed. The shear deformation effect increases with the increase of the mode orders of flexural natural vibration, and the flexural natural frequencies of the higher mode orders ignoring the influence of shear deformations effect would be overestimated. The interface slip effect decrease with the increase of the mode orders of flexural natural vibration, and the influence of the interface slip effect on flexural natural frequencies of the low mode orders is significant. The influence of the degree of shear connection on shear deformation effect is insignificant, and the low order modes of flexural natural vibration are mainly composed of the rotational displacement of cross sections.

• The Korean Journal of Rheology
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• v.9 no.3
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• pp.124-131
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• 1997

스테인레스 강(SUS 316L) 분말과 왁스계 결합제를 혼합하여 제조한 분말사출재의 유변학적 특성을 낮은 전단율에서 측정하기 위해 동심원반식 점성측정기를 이용하여 실험을 실시하였다. 측정기 벽면에서 발생하는 벽면 슬립(Slip)을 확인하고 벽면 슬립을 보정하기 위하여 두가지의 원반 간격에서 측정된 실험 자료를 이용하여 벽면 슬립을 보정하는 방법을 채택하였다. 실험 중, 측정 전단율범위를 제한하는 Thixotropy 현상을 발견학고 이에대한 원인분석을 위한 실험을 진행한 결과 과도한 전단응력에 의해서 분말사출재로부터 분리되어 나온 슬립층이 내부로 빠르게 흡수되어 들어가지 못하고 잔류하면서 Thixotropy 현상을 발 생시키는 것으로 판단되었다. Thixotropy 현상이 발생하지 않는 범위를 조사한후, 제한된 범위내에서 분말사출재의 유변학적 특성을 측정하였다. 측정된 자료는 항복응력을 지니는 유체의 특성을 표현하는 Bingham 식의 변형식에 잘 근사 되었으며, 슬립속도를 실험결과로 부터 계산한 결과 전단응력에 따라 선형적인 관계를 가지고 있는 점과 항복응력의 존재를 정성적으로 보여주는 결과를 얻었다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.982-986
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• 2000

Perpendicular guideway mechanism has a different behavior with horizontal guideway mechanism due to the slider weight. So, to decrease its weight effect, counter balances such as weight type and hydraulic cylinder type are used. But it can also make another motion behavior by weight rate of slider and counter balance, its connected position. Therefore, it is necessary to find design parameters and analyze their effect. This paper dealt with the optimal design of perpendicular guideway mechanism. For analysis, the theoretic model as same as real machine tool and sib plate to adjust the clearance was used. Rotational angle and displacement of slider, pressure distribution, friction distribution were calculated. Stick slip, intermittent motion of slider according to friction change was adapted to the perpendicular guideway mechanism.

• Proceedings of the Korea Concrete Institute Conference
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• 1992.04a
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• pp.143-147
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• 1992

Description of the behavior of the R.C structural members fixed on massive concrete is not normally generalization of recognized configuration for regular R.C. design guidanes. This can be due to the complexity of evaluation of internal resistancy and deflection changes of the members subjected to the various external forces. On the base of axially loaded member fixed on footing, however, the estimation of deflection changes due to flexural force shear force and rotational force is to be carried out in ways of specifying the bond characteristics of axial bars embedded in massive concrete. This work is to quantify adhesion of steel-concrete, initial concrete cracking stress near bar rib, maximum bond stress and residual stress in concrete respectively. In addition to quantification of them for particulate behavior, the suggestions of multi-linear bond stress-slip diagram made in carrying out finite element analyses for adhesion failure, examining concrete cracking status and reviewing existing experimental data lead to alternatively constructed relationship between bond stress and slip for a axial bars embedded massive concrete.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.6
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• pp.109-120
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• 1996

Serpentine belt drive system offers the advantages of light weigh, low cost, quientness, and efficiency. Since these belts are typically longer than conventional belts, a tensioner component is added to maintain acceptable belt tension levels and make no slippage between pulleys and belts. This paper addresses the modeling and analysis of the automotive belt drive systems and also addresses the predicton of slippage on rotational modes. Vibration characteristics are determined from the eigenvalue problem governing the free response. Under certain engine operating conditions, the dynamic tension fluctuations may be sufficient to cause the belt to slip on particular accessory pulleys, It is found that this slippage can be reduced by adding the tensioner component from the analysis of belt tension and belt compression.