• 제어로봇시스템학회논문지
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• 제2권2호
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• pp.102-107
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• 1996

It is difficult to analyze the high speed rolling missile with the generally used missile body fixed coordinates. In this study, we formulate the dynamic equations of the high speed rolling missile with the principal axis of inertia, and make the analytical model of one axis steering missile using pitch/yaw symmetry and complex summation method. With this model we analyze the control characteristics and propose the design considerations of high speed rolling missile with one axis control fin using PNG law in conjuntion with a seeker signal.

• 한국항공우주학회지
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• 제42권12호
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• pp.997-1003
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• 2014

무인항공기의 자동이착륙을 성공적으로 수행하기 위해서는 자동 지상활주 제어는 반드시 설계되어야 하는 중요한 부분이다. 이러한 지상활주 제어기를 설계하기 위해서는 정확하고 신뢰도 높은 착륙장치 모델은 반드시 필요하다. 본 연구에서는 착륙장치 모델링을 완성하기 위해서 특별히 착륙장치 측력 모델링을 수행하였다. 조향각 명령을 포함한 Cornering Angle을 계산하여 측력을 모델링하였다. 그리고 모델링된 착륙장치 모델을 포함한 비선형 6자유도 시뮬레이션 환경을 이용하여, 항공기의 바람벡터 방향인 Course Angle 오차를 해소하기 위한 전륜 조향(Nose Wheel Steering)과 러더 조향(Rudder Steering)을 동시에 이용하는 자동 지상활주 제어기를 설계하였다. 설계된 지상활주 제어기를 동일하게 적용하여, 착륙장치 모델을 포함한 시뮬레이션 결과와 실제 무인기를 이용한 자동 지상활주 시험 결과를 비교하였고, 이로써 착륙장치 측력 모델링과 지상활주 제어기의 정확성을 입증하였다.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2004년도 한국우주과학회보 제13권2호
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• pp.102-102
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• 2004

• 한국항공우주학회지
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• 제37권1호
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• pp.89-98
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• 2009

CMG는 3축으로 토크를 발생시키기 위해 클러스터로 구성하여 사용할 수 있다. CMG 클러스터에서 발생되는 여러 가지 설계에 고려되어야 할 문제들이 있다. 이러한 문제들을 지상에서 미리 검증하는 것이 필수적이다. 따라서 본 논문에서 토크센서로 위성자세를 계산하는 CMG 시뮬레이터를 제안하였다. 개발과정에서 발생한 김발각문제 해결을 위해 보정방법과 칼만필터가 제시되었다. 보정방법은 계산된 김발각을 기본으로 사용하고 센서 값을 보조로 사용해서 오차를 줄인다. 또한 개발된 CMG 시뮬레이터를 이용하여 특이점 회피를 위한 구동법칙과 자세제어 로직 시험결과도 예로서 제시되었다.

• 대한인간공학회지
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• 제31권6호
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• pp.725-731
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• 2012

Objective: The aim of this study is to investigate visual feedback effects and human performance in the foot mouse control. Background: Generally, computer mouse tasks are controlled by visual feedback. In order to understand the characteristics of a foot mouse control, it is important to investigate the patterns of visual feedback involved in foot-mouse control tasks. Human performance of foot mouse control is also an important factor to understand the foot mouse control. Method: Three types of mouse control were determined to investigate visual feedback effects and human performance in the foot mouse control. Visual feedback effects in the foot mouse control were compared with those of a typical hand mouse. The cursor movement speed and mental workload were measured in the three types of tasks and two types of mouses. Results: Mouse control tasks with an element of homing-in to the target were more quickly performed by the hand mouse than the foot mouse. Mental workload was also higher in the foot mouse than the hand mouse. However, in the steering movement, human performance of the foot mouse control was not lower than that of the hand mouse control. Visual feedback in the foot mouse control was less required than in the hand mouse control. Conclusion: The foot mouse was not efficient in the most mouse control tasks, compared to the hand mouse. However, the foot mouse was efficient in the steering movement, moving a cursor within a path with lateral constraints. Application: The results of this study might help to develop the foot mouse.

• 자동차안전학회지
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• 제13권1호
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• pp.6-13
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• 2021

This paper presents yaw moment control for modification of steering characteristic in rear-driven vehicle with front in-wheel motors (IWMs). The proposed control algorithm is designed to modify yaw rate response of the test vehicle. General approach for modification of steering characteristic is to define the desired yaw rate and track the yaw rate. This yaw rate tracking method can cause the chattering problem because of the IWM actuator response. Large overshoot and settling time in IWM torque response can amplify the oscillation in control input and yaw rate. To resolve these problems, open-loop IWM controller for cornering agility was designed to modify the understeer gradient of the vehicle. The proposed algorithm has been investigated via the computer simulations and the vehicle tests. The performance evaluation has been conducted on dry asphalt using E-segment test vehicle. The performance of the proposed algorithm has been compared to general yaw rate tracking algorithm in the vehicle tests. It has been shown that the proposed control law improved the cornering agility without chattering problem.

• International Journal of Aeronautical and Space Sciences
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• 제4권2호
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• pp.26-36
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• 2003

The objective of this study is to enhance neural-network guidance to consider the impact condition. The optimal impact condition in this study is defined as an head-on attack. Missile impact-angle error, which is a measure of the degree to which the missile is not steering for a head-on attack, can also have an influence on the final miss distance. Therefore midcourse guidance is used to navigate the missile, reducing the deviation angle from head on, given some constraints on the missile g performance. A coordinate transformation is introduced to simplify the three-dimensional guidance law and, consequently, to reduce training data. Computer simulation results show that the neural-network guidance law with the coordinate transformation reduces impact-angle errors effectively.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.861-866
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• 2007

This paper presents development of a vehicle lateral and longitudinal control for autonomous driving control and test results obtained using an electric vehicle. Sliding control theory has been used to develop a vehicle speed and distance control algorithm. The longitudinal control algorithm that maintains safety and comfort of the vehicle consists of a cruise and STOP&GO control depending on traffic conditions. Desired steering angle is determined through the lateral position error and the yaw angle error based on preview optimal control. Motor control inputs have been directly derived from the sliding control law. The performance of the autonomous driving control which is integrated with a lateral and longitudinal control is investigated by computer simulations and driving test using an electric vehicle. Electric vehicle system consists of DC driving motor, an electric power steering system, main controller (Autobox)

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1126-1131
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• 2007

This paper presents unified chassis control (UCC) to improve the vehicle lateral stability. The unified chassis control implies combined control of active front steering (AFS), electronic stability control (ESC) and continuous damping control (CDC). A direct yaw moment controller based on a 2-D bicycle model is designed by using sliding mode control law. A direct roll moment controller based on a 2-D roll model is designed. The computed direct yaw moment and the direct roll moment are generated by AFS, ESP and CDC control modules respectively. A control authority of the AFS and the ESC is determined by tire slip angle. Computer simulation is conducted to evaluate the proposed integrated chassis controller by using the Matlab, simulink and the validated vehicle simulator. From the simulation results, it is shown that the proposed unified chassis control can provide with improved performance over the modular chassis control.

• 대한산업공학회지
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• 제40권3호
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• pp.267-274
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• 2014

The purpose of this study is to identify a relationship between the time taken and the characteristics of touch key for touch-screen-based in-vehicle information system (IVIS) and to suggest a new Fitts' law formula that is added a driving speed parameter. Many studies already have shown that Fitts' law is well fitted in various devices for primary tasks, but there is no study of Fitts' law for secondary task in dual-task situation. Fitts' law may not be applied to the secondary task as it is, because the secondary task performance can be affected by the amount of attention for the primary task. To verify this, we carried out an experiment that showed whether pointing task to touch-screen-based IVIS during driving is affected by driving speeds or not. In the experiment, 30 people were volunteered for participants and the participants carried out driving task and pointing task on the screen of IVIS simultaneously. We measured the time to point a touch key on IVIS for every condition (3 driving speeds${\times}5$ touch key sizes${\times}7$ distances between steering wheel and touch key). As a result, there was an effect of driving speed on the pointing time. As we extended the index of difficulty of the conventional Fitts' law formula by incorporating driving speed, we established an extended Fitts' law formula for pointing on IVIS, which showed better accordance with dual task situation. This study can be evidence that secondary task performance is affected by degree of concentration on primary task, and the extended Fitts' law formula can be useful to design interfaces of IVIS.