• 한국생산제조학회지
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• 제19권1호
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• pp.121-127
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• 2010

We consider the robust trajectory tracking control problem for a skid steering mobile robots. A dynamic model is derived accounting for the effects of wheel skidding. The control design utilizes the dynamic feedback linearization techniques, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The additive controller using the sliding mode type is then robustified against the unmodelled dynamics and parameter uncertainty. Simulation results show the good performances under excessively uncorrected estimations of the longitudinal forces and the lateral resistive forces caused by the skidding of the wheels in tracking trajectories.

• 대한기계학회논문집B
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• 제27권1호
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• pp.61-68
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• 2003

This study deals with the use of the conjugate gradient method for the simultaneous estimation of two unknown boundary heat fluxes on the slab in reheating furnace. Temperature measurements by the experiment are used in the inverse analysis. The heat flux estimations for three different cases of measurement locations in the slab are performed: non-skid, skid, and shift-skid zones. The estimated heat fluxes for three cases indicated the three regions having local peak values of heat fluxes. The estimated temperatures at measurement locations were in good agreements with the measured temperatures within 5% relative error.

• 한국항공운항학회지
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• 제20권4호
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• pp.7-13
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• 2012

This paper is to estimate aerodynamic coefficients needed to determine the missiles' controller design and stability from simulation data of Skid-to-Turn missile. Method of determining aerodynamic coefficients is to apply Neural Network and Recursive Least Square and results were compared and researched. Also analysing actual flight test data was considered and sensor noise was added. Estimate parameter of data with sensor noise added and estimated performance and reliability for both methods that did not need initial values. Both Neural Network and Recursive Least Square methods showed excellent estimate results without adding the noise and with noise added Neural Network method showed better estimate results.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2003년도 춘계학술대회논문집
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• pp.168-171
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• 2003

Generally RF AGC (Roll Force Automatic Gauge Control) controls the roll gap using the variation of rolling force caused by the roll eccentricity and the entry thickness of material, but RE AGC takes the bad effect of the roll eccentricity. The Feed-forward (FF) AGC method, which controls the next stand roll gap by the estimation of the thickness variation due to skid mark is needed to supplement the shortage of RF AGC. In this paper, an adaptive filtering method which takes account of the kind of material, the final objective thickness and the rolling speed is proposed to predict skid mark thickness variation. In addition, an improved estimation method of control point using a speedometer and looper angle is suggested. Via on line test, the performance improvement of the suggested FF AGC method is verified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.150.5-150
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• 2001

This paper deals with a modified repetitive control method for compensating automatic gauge control (AGC) to reduce the effect of skid mark which directly influence the quality of products in plate mill process. Since the skid mark on the plate have thermal difference, it makes a different stretching rate and deflection of thickness. Firstly, the (AGC) system and the plate mill process are described by considering function in each control levels. The skid mark of the plate in practical control fields is shown. Also, its frequency variation is given by on-line FFT analysis method. Secondly, a key idea of the modified repetitive control method with time varying period disturbance is represented and compared with standard repetitive control method. Lastly, in simulation ...

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집B
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• pp.254-259
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• 2001

This study deals with the use of the conjugate gradient method for the simultaneous estimation of two unknown boundary heat fluxes on the slab in reheating furnace. Temperature measurements by the experiment are used in the inverse analysis. The heat flux estimations for three different cases of measurement locations in the slab are performed: non-skid, skid, and shift-skid zones. The estimated heat fluxes for three cases indicated the three regions having local peak values of heat fluxes. The estimated temperatures at measurement locations were in good agreements with the measured temperatures within 5% relative error.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집
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• pp.1643-1648
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• 2009

The braking system of train must posses the large baking effort in order to stop the train safety within the limited traveling distance. but, the excessive braking effort has been deteriorated the ride comfort due to high level of deceleration and jerk, and sometimes occurred the skid. because the applied braking force exceeds the allowable adhesive force. this skid causes not only to increase the a stopping distance but also to deteriorate the safety of train and damage the rall surface by wheel flat. In the present paper, braking force for disk brake of Tilting Train eXpress(TTX) was measured though on convention line test and the traction force was estimated by using the analytic model in skid condition. also, we have discussed the relationship between the bake force and traction force in starting condition.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2004년도 추계 학술발표회 제16권2호
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• pp.509-512
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• 2004

This research is targeting that estimate the effect on cement concrete pavement with type of chloride deicers. In order to this study objective, when chloride deicers were spread on road surface, thermal characteristics test was conducted. Also, skid resistance test according to types and concentration of chloride deicier, road surface conditions were investigated. As a test results, thermal characteristics with kind of chloride deicier could know that sodium chloride(NaCl) is exothermic reactive material, calcium chloride$(CaCl_2)$ is endothermic reactive material. And, in case of mixed salt of the calcium and sodium chloride, it could know that can change to the exothermic or endothermic reaction according to dosage ratios. Skid value by British Pendulum Tester(BPT) has shown that it is seldom difference between the types($CaCl_2$, NaCl, mixed salt) and solution concentrations(0.5, 0.8, 1.0, 4.0, $10\%$) of chloride deicier comparing with tap water except mixed salt($10\%$ solution concentration).

• 한국자동차공학회논문집
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• 제19권2호
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• pp.1-11
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• 2011

The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.

• 제어로봇시스템학회논문지
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• 제6권8호
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• pp.727-731
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• 2000

This paper presents a new practical autopilot design approach to acceleration control for tail-controlled STT(Skid-to-Turn) missiles. The approach is novel in that the proposed parametric affine missile model adopts acceleration as th controlled output and considers the couplings between the forces as well as the moments and control fin deflections. The aerodynamic coefficients in the proposed model are expressed in a closed form with fittable parameters over the whole operating range. The parameters are fitted from aerodynamic coefficient look-up tables by the function approximation technique which is based on the combination of local parametric models through curve fitting using the corresponding influence functions. In this paper in order to employ the results of parametric affine modeling in the autopilot controller design we derived a parametric affine missile model and designed a feedback linearizing controller for the obtained model. Stability analysis for the overall closed loop sys-tem is provided considering the uncertainties arising from approximation errors. the validity of the proposed modeling and control approach is demonstrated through simulations for an STT missile.