• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.5
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• pp.478-485
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• 2015

Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can't be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can't be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can't be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.

• Computers and Concrete
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• v.18 no.1
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• pp.1-16
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• 2016

In this study, an Artificial Neural Network (ANN) and Adaptive Network-based Fuzzy Inference Systems (ANFIS) prediction models for flexural strength of the cement mortars have been developed. For purpose of constructing this models, 12 different mixes with 144 specimens of the 2, 7, 28 and 90 days flexural strength experimental results of cement mortars containing pure Portland cement (PC), blast furnace slag (BFS), waste tire rubber powder (WTRP) and BFS+WTRP used in training and testing for ANN and ANFIS were gathered from the standard cement tests. The data used in the ANN and ANFIS models are arranged in a format of four input parameters that cover the Portland cement, BFS, WTRP and age of samples and an output parameter which is flexural strength of cement mortars. The ANN and ANFIS models have produced notable excellent outputs with higher coefficients of determination of $R^2$, RMS and MAPE. For the testing of dataset, the $R^2$, RMS and MAPE values for the ANN model were 0.9892, 0.1715 and 0.0212, respectively. Furthermore, the $R^2$, RMS and MAPE values for the ANFIS model were 0.9831, 0.1947 and 0.0270, respectively. As a result, in the models, the training and testing results indicated that experimental data can be estimated to a superior close extent by the ANN and ANFIS models.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.313-320
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• 2011

Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WS/6WD vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WS/6WD vehicles are favored for military use in off road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that using in-wheel motor can generate the independent wheel torque without other mechanical parts. Conventional vehicles, however, cannot generate an opposite driving force at each side wheel. Using an independent steering and driving system, six-wheel vehicles can show better performance than conventional vehicles. Using of independent steering and driving system, the 6 wheel vehicle can improve a performance better than conventional vehicle. This vehicle enhances the maneuverability under low speed and the stability at high speed. This paper describes an independent 6WS/6WD vehicle, consists of three parts; Vehicle Model, Control Algorithm for 6WS/6WD and Simulation. First, vehicle model is application of TruckSim software for 6WS and 6WD. Second, control algorithm describes the optimum tire force distribution method in view of energy saving. Last is simulation and verification.

• Elastomers and Composites
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• v.54 no.4
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• pp.330-334
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• 2019

Cryogenic crushing techniques have been employed for recycling waste rubber articles and for extracting residual organic additives present in rubber samples. Rubber particulate derived from tire tread abrasion is one of the key components of road dust. Therefore, in this work, we prepared rubber particulates using a cryogenic crusher and characterized their shapes as well as size distributions according to the type of rubber. The rubber particulates exhibited uneven surfaces with the presence of some small pieces. The order of the particle size distribution was observed to be: NR > BR > SBR. Subsequently, carbon black was added; this led to a decrease in the particle size and the shape becoming rougher. The crushed particulates of the carbon black-filled samples comprised agglomerated shapes of small pieces, which were similar in shape to that of wear debris in tire tread. It was discovered that crosslink density was one of the principal factors that led to the formation of small crushed particulates. The small particulates obtained by cryogenic crushing can be utilized as model rubber particulates for researching micro dust.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2001.05a
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• pp.202-206
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• 2001

In spreading an internet service and developing a network technology, The interest of study about the remote control system using web environment increased. In treatise, We describe a design and an implementation of the gateway system that is based 3-tier model using corba in middleware. This system is applicatble various system environment because of using middleware and overcome a time limit and range limit because of using web browser interface.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.7 s.238
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• pp.1005-1012
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• 2005

An OHT(Over Head Transportation) vehicle is an example of the industrial monorail vehicle, and it is used in the automobile, semiconductor, LCD manufacturing industries. OHT vehicle is moved by main wheels and guide rollers. The major function of the main wheel is to support and drive the OHT vehicle. The roles of the guide roller is the inhibition of derailment and steering of the OHT vehicle. Since the required vehicle velocity becomes faster and the required load capacity is increased, the durability characteristics of the wheel and roller, which was made of urethane, need to be increased. So it is necessary to estimate the fatigue life cycle of the wheel and roller. In this study, OHT dynamic model was developed by using the multi body dynamic analysis program ADAMS. Wheel and roller are modeled by the 3-D surface contact module. Especially, motor cycle tire mechanics is used in the wheel contact model. The OHT dynamic model can analyze the dynamic characteristic of the OHT vehicle with various driving conditions. And the result was verified by a vehicle traveling test. As a result of this study, the developed model is expected to predict wheel dynamic load time history and makes a contribution to design of a new monorail vehicle.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.926-936
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• 2000

Actual and strict definition of the shift quality for the powertrain system equipped an automatic transmission must be understood through the acceleration change of the vehicle body, which the driver directly feels as a shift shock. For this reason, it is necessary to concurrently analyze the characteristics of the powertrain system and the vehicle body. This paper presents the mathematical model of the vehicle body, which is based on the equivalent lumped system, to append to the developed model of the powertrain system. The concept of tire slip is also introduced for the experimental relationship between tire/road and driving force. Using the developed dynamic simulation programs, shift transients characteristics are analyzed. Theoretical results are compared with experimental ones from real car tests in equal conditions in order to prove the validity of presented model. In these tests, the system to measure the vehicle acceleration is used with various speeds and engine throttle sensors. It is expected that the presented modeling techniques can provide good predictions of the vehicle driving comfortability.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.10
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• pp.1752-1758
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• 2006

Racing game requires plausible physics model that can be simulated in realtime. Minor artifacts in racing games are easily noticed, and any kinds of games should work interactively. It is difficult to model the accurate tire-ground physics and to integrate the model into realtime environments. In this paper, an efficient and effective 'imaginary wall' model was proposed. The method can be easily implemented because of the simplicity of the physical model used, and the result of the simulation is realistic enough for the racing games.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.565-570
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• 2001

Vehicle dynamics control (VDC) system requires more information on driving conditions compared with ABS and/or TCS. In order to develop the VDC system, tire slip angles, vehicle side-slip angle, and vehicle lateral velocity as well as road friction coefficient are needed. Since there are not any cheap and reliable sensors, recent researches on parameter estimation have given rise to a number of parameter estimation techniques. This paper presents new vehicle model to estimate vehicle's yaw rate. This model is improved from the conventional 2 degrees of freedom vehicle model, so-called bicycle model, taking nonlinear effects into account. These nonlinear effects are: (i) tyre nonlinearity; (ii) lateral load transfer during cornering; (iii) variable gear ratio with respect to vehicle velocity. Estimation results are validated with the experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.11
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• pp.91-99
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• 2003

When the driver suddenly depresses the brake pedal under critical conditions, the desired trajectory of the vehicle can be changed. In this study, the vehicle dynamics and fuzzy logic controller are used to control the vehicle trajectory. The dynamic vehicle model consists of the engine, the rotational wheel, chassis, tires and brakes. The engine model is derived from the engine experimental data. The engine torque makes the wheel rotate and generates the angular velocity and acceleration of the wheel. The dynamic equation of the vehicle model is derived from the top-view vehicle model using Newton's second law. The Pacejka tire model formulated from the experimental data is used. The fuzzy logic controller is developed to compensate for the trajectory error of the vehicle. This fuzzy logic controller individually acts on the front right, front left, rear right and rear left brakes and regulates each brake torque. The fuzzy logic controlling each brake works to compensate for the trajectory error on the split - $\mu$ road conditions follows the desired trajectory.