• International Journal of Automotive Technology
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• 제6권6호
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• pp.615-623
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• 2005

In this research, an effective technique was examined to improve the drift running performance. Concretely, the driver model by which the counter steer was done was assumed to the model by which the vehicle body slip angle (and the vehicle body slip angle velocity) was feed back. Next, the effectiveness of the system which added the assist steer angle corresponding to the steering wheel angle velocity to a front wheel steer angle was clarified as a drift running performance improvement technique of the vehicle. As a result, because the phase advances when the differentiation steer assistance is added, it has been understood to be able to cover the delay of the counter steer when the drift running. Therefore, it has been understood that the drift control does considerably easily. Moreover, it has been understood that the differentiation steer assistance acts effectively at the drift cornering by which the drift angle is maintained in cornering and the severe lane change with a drift at a situation. That is, it was understood to be able to settle to the drift angle of the aim quickly at the time of the drift cornering because the delay of the control steer angle of the counter steer was improved. Moreover, it was understood for the transient overshoot of the vehicle tracks to be able to decrease, and to return to the state of stability quickly at the severe lane change.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1120-1124
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• 2005

We reviewed controllers with a time delay estimation in this paper. Time delay control (TDC) and sliding mode control (SMC) are well known robust control schemes. Basically, the TDC has a main characteristic called a time delay estimation from which we can estimate the total uncertainty of a system. . The TDC causes the stick-slip in the case of systems with a friction. The so-called TDCSA which are short for TDC with switching action was developed to reduce the stick-slip. The TDC has the additional switching action term in the TDC structure. In the other hand, the SMC dose not have a time delay estimation but instead it can estimate the system uncertainty through the switching action. The SMC has a difficulty to estimate the total uncertainty of a system because it does not have a time delay estimation. In order to solve the difficulty, some control schemes were developed. Among them, we need to focus our attention on two control schemes: SMCPE and SMCTE, which are short for sliding mode control with a perturbation estimation and sliding mode control with a time delay estimation, respectively. In this paper, we analyzed and compared the characteristic of above three controllers. Even though the motives for the development of three control schemes are different, three control schemes have much in common in terms of their controller structures.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문집
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• pp.255-261
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• 2002

A four-degree of freedom model is suggested to understand the basic dynamical behaviors of the normal interaction between two masses of the friction induced normal vibration system. The two masses may be considered as the pad and the disk of the brake. The phase space analysis is performed to understand complicated in-plane dynamics of the non-linear model. Attractors in the phase space are examined for various conditions of the parameters. In certain conditions, the attractor becomes a limit cycle showing the stick-slip phenomena. In this paper, on the basis of the in-plane motion not only the existence of the limit cycle but also the size of the limit cycle is examined o demonstrate the non-linear dynamics that leads the unstable state and then the normal vibration is investigated as the state of the in-plane motion For only one case of the system frequency(two masses with same natural frequencies), the propensity of the normal vibration is discussed in detail. The results show an important fact that it may be not effective when too much damping is present in the only one part of the masses.

• 한국자동차공학회논문집
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• 제24권3호
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• pp.310-318
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• 2016

The demands for vehicle safety systems such as ABS and ESC have been increased. Accurate vehicle state estimation is required to realized the abovementioned systems and tire-friction coefficient is crucial information. Estimation of lateral tire-road friction coefficient using pneumatic trail information is mainly dealt in this paper. Pneumatic trail shows unique characteristics according to the wheel side slip angle and these property is highly sensitive to vehicle lateral motion. The proposed algorithm minimizes the use of conventional tire models such as magic formula, brushed tire model and Dugoff tire model. The pure side slip maneuver, which means no longitudinal dynamics, is assumed to achieve the ultimate goal of this paper. A simulation verification using Carsim and Simulink is performed and the results show the feasibility of the proposed algorithms.

• Ocean and Polar Research
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• 제26권2호
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• pp.333-339
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• 2004

This paper is concerned with an experimental investigation about tractive performance of a tracked vehicle on extremely soft soil. A tracked vehicle model with principal dimensions of $0.9\;m(L)\;{\times}\;0.75\;m(B)\;{\times}\;0.4\;m(H)$ and the weight of 167 kg was constructed with a pair of driving chain links driven by two AC-servo motors. The tracks are configured with detachable grousers with variable span. Deep seabed was simulated by means of bentonite-water mixture in a soil bin of $6.0\;m(L)\;{\times}\;3.7\;m(B)\;{\times}\;0.7\;m(H)$. Slip of vehicle and driving torque of motor were measured with respect to experimental variables; grouser span, grouser chevron angle, driving speed, drawbar-pull weight, position of center-of-gravity and weight. $L_8$ orthogonal array is adopted for DOE (Design Of Experiment). The effects of experiment variables on traction performance are evaluated.

• 한국지진공학회논문집
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• 제19권3호
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• pp.103-108
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• 2015

This work introduces a modal testing and analysis results of the mock-up for a layered stone pagoda. The pagoda has been horizontally excited by an impact hammer. As to the measured acceleration time responses, the first five lower mode shapes and natural frequency are extracted by the TDD technique. It is observed that the time delay of a shear wave occurs through friction surfaces. Such phenomena cannot be described by using the traditional analytical models such as a continuum cantilever beam model or a discrete shear building model. However, the time delay typically affects only the phases of the pagoda system. The frequencies of the pagoda system are not affected by such time delay. It is found in the first time that the layered stone pagoda system has a set of closely placed modes in near of natural frequency. It is believed that such modes are due to the friction characteristics in friction surfaces. Based on the stick-slip friction model, it seems that the one of the closely placed mode can be a self-excited one.

• 한국해양공학회지
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• 제19권2호
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• pp.82-89
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• 2005

This study deals with the development of the extended Kalman filter(EKF) algorithm for the localization of underwater mining vehicles. Both simulation and experimental studies in a test bed are carried out. For the experiments, a scale dawn tracked vehicle is run in a soil bin containing cohesive soil of bentonite-water mixture. To develop the EKF algorithm, we use a kinematic model including the inner/outer track slips and the slip angle for the vehicle. The measurements include the inner and outer wheel speeds from encoders, the heading angle from a compass sensor and a fiber optic rate gyro, and x and y coordinate position values from a vision system. The vision sensor replaces the LBL(Long Base Line) sonar system used in the real underwater positioning situations. Artificial noise signals mimicking the real LBL noise signal are added to the vision sensor information. To know the mean slip values of the tracks in both straight and cornering maneuver, several trial running experiments are executed before applying the EKF algorithm. Experimental results show the effectiveness of the EKF algorithm in rejecting the sensor measurements noise. Also, the simulation and experimental results show close correlations.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.445-450
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• 2005

In this paper, we suggest an integrated tactile display system that provides kinesthetic force, pressure distribution, vibration and slip/stretch. The system consists of two parts: a 2 DOF force feedback device for kinesthetic display and a tactile feedback device for displaying the normal stimulation to the skin and the skin slip/stretch. Psychophysical experiments measure the effects of fingerpad selection, the direction of finger movements and the texture width on tactile sensitivity. We also investigate the characteristics of lateral finger movement while subjects perceive different textures. From the experimental results, the principal parameters for designing a tactile display are suggested. A tactile display device, using eight piezoelectric bimorphs and a linear actuator, Is implemented and attached to a 2 DOF translational force feedback device to simultaneously simulate the texture and stiffness of the object. As a result, we find out that the capability of the suggested device is sufficient to display physical quantities to display the texture.

• 터널과지하공간
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• 제25권4호
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• pp.320-331
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• 2015

본 논문에서는 독일 북부의 그로스 쉐네벡 지역에서 진행된 EGS 실증프로젝트를 수리자극 시험 중심으로 소개한다. 이 지역에서는 사암 및 화산암으로 이루어진 심도 4 - 4.4 km의 지층 내에 각각 1개의 주입정과 생산정을 갖는 순환 시스템을 구성했다. 정단층 및 주향이동단층 응력상태 하에서 물 또는 젤과 균열지지체를 주입하여 주입정과 생산정에서 각각 수리자극이 이루어졌으며, 그 결과 주입지수가 $0.97m^3/(hr^*MPa)$에서 $7.5m^3/(hr^*MPa)$로 증가하였고 생산성지수는$2.4m^3/(hr^*MPa)$에서 $10.1m^3/(hr^*MPa)$로 4.25배 증가했다. 그러나 주입정과 생산정을 연결하는 순환수리시험에서는 2년간 생산성지수가 $8.9m^3/(hr^*MPa)$에서 $0.6m^3/(hr^*MPa)$까지 감소했다. 화산암층에서의 수리자극에 대해 전단 미끄러짐 해석을 수행한 결과 전단균열의 발생 방향 및 요구되는 유체 압력을 실제 수리자극 결과와 유사하게 예측해 냈다. 화산암층에서의 수리자극 시 미소진동을 관측한 결과 모멘트 규모 -1.8에서 -1.0 범위의 미소진동이 80회 나타나 미소진동의 발생은 극히 미미했다.

• Nutrition Research and Practice
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• 제6권4호
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• pp.366-374
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• 2012

In order to create a worker-friendly environment for institutional foodservice, facilities operating with a dry kitchen system have been recommended. This study was designed to compare the work safety and work environment of foodservice between wet and dry kitchen systems. Data were obtained using questionnaires with a target group of 303 staff at 57 foodservice operations. Dry kitchen facilities were constructed after 2006, which had a higher construction cost and more finishing floors with anti-slip tiles, and in which employees more wore non-slip footwear than wet kitchen (76.7%). The kitchen temperature and muscular pain were the most frequently reported employees' discomfort factors in the two systems, and, in the wet kitchen, "noise of kitchen" was also frequently reported as a discomfort. Dietitian and employees rated the less slippery and slip related incidents in dry kitchens than those of wet kitchen. Fryer area, ware-washing area, and plate waste table were the slippery areas and the causes were different between the functional areas. The risk for current leakage was rated significantly higher in wet kitchens by dietitians. In addition, the ware-washing area was found to be where employees felt the highest risk of electrical shock. Muscular pain (72.2%), arthritis (39.1%), hard-of-hearing (46.6%) and psychological stress (47.0%) were experienced by employees more than once a month, particularly in the wet kitchen. In conclusion, the dry kitchen system was found to be more efficient for food and work safety because of its superior design and well managed practices.