• International Journal of Fuzzy Logic and Intelligent Systems
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• 제14권1호
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• pp.26-33
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• 2014

This study addresses the control problem of an unmanned aerial vehicle (UAV) during the transition period when the flying mode changes from hovering to translational motion in the horizontal plane. First, we introduce a compensation algorithm that improves height stabilization and reduces altitude drop. The main principle is to incorporate pitch and roll measurements into the feedforward term of the altitude controller to provide a larger thrust force. To further improve altitude control, we propose the fuzzy logic controller that improves system behavior. Simulation results presented in the paper highlight the effectiveness of the proposed controllers.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.934-939
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• 2004

Railway wheel/rail contact conditions have an influence on dynamic behavior of rolling stock. If there are problems of incompatibility between wheel and rail, damages like wheel wear, wheel spalling, rail wear, etc are occurred. Especially wheel and rail profiles are important factor of vehicle curving performance, so compatibility study between wheel and rail has to be carried out preferentially, In this study, we have analyzed the compatibility between wheel and rail of KNR conventional line to improve the maintenance efficiency of wheel and rail. Thus we showed the results relating to wheel/rail geometric contact, vehicle running performances as the change of wheel/rail combination.

• International Journal of Automotive Technology
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• 제7권1호
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• pp.91-99
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• 2006

The diesel Auxiliary Power Unit (APU) for vehicle applications is a complex nonlinear system. For the purpose of this paper presents a dynamic average model of the whole system in an entirely physical way, which accounts for the non-ideal behavior of the diode rectifier, the nonlinear phenomena of generator-rectifier set in an elegant way, and also the dynamics of the dc load and diesel engine. Simulation results show the accuracy of the model. Based on the average model, a simple PI control scheme is proposed for the multivariable system, which includes the steps of model linearization, separate PI controller design with robust tuning rules, stability verification of the overall system by considering it as an uncertain one. Finally it is tested on a detailed switching model and good performances are shown for both set-point following and disturbance rejection.

• 한국자동차공학회논문집
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• 제11권4호
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• pp.151-157
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• 2003

In this paper, a blackbox approach is carried out to model the nonlinear dynamic bushing model. One-axis durability test is performed to describe the mechanical behavior of typical vehicle elastomeric components. The results of the tests are used to develop an empirical bushing model with an artificial neural network. The back propagation algorithm is used to obtain the weighting factor of the neural network. Since the output for a dynamic system depends on the histories of inputs and outputs, Narendra algorithm of 'NARMAX' form is employed to consider these effects. A numerical example is carried out to verify the developed bushing model.

• 연구논문집
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• 통권24호
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• pp.97-106
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• 1994

Steering system is typically one of the vehicle parts that may injure an unrestrained driver in a frontal collision. Therefore, the engineers of vehicle safety parts researched the allowable injury criteria such as HIC(head injury criterion). chest acceleration and knee impact force. From their research, they recognized that development of energy absorbing steering system was necessary to protect the driver. Energy absorbing parts of steering system consist of shear capsule, ball sleeve and shaft assembly. We performed the modelling and dynamic analysis of the energy absorbing steering column with the unrestrained driver model. The conclusions of this study are as follows. 1) The variation of column angle has an important effects on the dynamic responses of steering system and driver behavior. 2) The energy absorbing steering system satisfies the safety criterion of FMVSS 203, 208, but not the safety criterion of FMVSS 204.

• 동력기계공학회지
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• 제17권4호
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• pp.23-30
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• 2013

In this paper, the payload condition is considered and computer simulation is carried out to analyze the dynamic behavior of the middle-sized truck under the condition with different weight and location. The computer model for the truck is established and ADAMS/Car is employed to simulate the truck vehicle. A single lane change and bump-pass simulation are performed to evaluate the performance according to the weight and the position of it. Effects of the location and weight of commercial vehicle are analyzed. According to the simulation results, the front deck is preferred as the load location.

• 한국기계가공학회지
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• 제20권4호
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• pp.66-72
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• 2021

Since the behavior of an autonomous underwater vehicle (AUV) is influenced by disturbances and moments that are not accurately known, the depth control law of AUVs must have the ability to track the input signal and to reject disturbances simultaneously. Here, we proposed robust tracking control for controlling the depth of an AUV. An augmented closed-loop system is represented by an error dynamic equation, and we can easily show the asymptotic stability of the overall system by using a Lyapunov function. The robust tracking controller is consisted of the internal model of the command signal and a state feedback controller, and it has the ability to track the input signal and reject disturbances. The closed-loop control system is robust to parameter uncertainties. Simulation results showed the control performance of the robust tracking controller to be better than that of a P + PD controller.

• Structural Engineering and Mechanics
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• 제86권3호
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• pp.361-371
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• 2023

Boundary condition is an important factor affecting the vibration characteristics of structures, under different boundary conditions, structures will exhibit different vibration behaviors. On the basis of the previous work, this paper extends to the nonlinear resonance behavior of axially moving graphene platelets reinforced metal foams (GPLRMF) plates with geometric imperfection under different boundary conditions. Based on nonlinear Kirchhoff plate theory, the motion equations are derived. Considering three boundary conditions, including four edges simply supported (SSSS), four edges clamped (CCCC), clamped-clamped-simply-simply (CCSS), the nonlinear ordinary differential equation system is obtained by Galerkin method, and then the equation system is solved to obtain the nonlinear ordinary differential control equation which only including transverse displacement. Subsequently, the resonance response of GPLRMF plates is obtained by perturbation method. Finally, the effects of different boundary conditions, material properties (including the GPLs patterns, foams distribution, porosity coefficient and GPLs weight fraction), geometric imperfection, and axial velocity on the resonance of GPLRMF plates are investigated.

• 로봇학회논문지
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• 제19권2호
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• pp.188-195
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• 2024

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a neural network-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such as hazing and low contrast occur, it is hard to apply conventional simultaneous localization and mapping (SLAM) methods. At the same time, the behavior of Autonomous Underwater Vehicle (AUV) is computationally constrained. In this paper, we utilize a neural network-based image enhancement method to improve pose estimation and mapping quality and apply a sliding window-based mesh expansion method to enable lightweight, fast, and photorealistic mapping. To validate our results, we utilize real-world and indoor synthetic datasets. We performed qualitative validation with the real-world dataset and quantitative validation by modeling images from the indoor synthetic dataset as underwater scenes.

• Structural Engineering and Mechanics
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• 제91권3호
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• pp.291-300
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• 2024

This paper predicts the combined resonance behavior of the truncated conical shells (TCSs) under transverse and parametric coupled excitation. The motion governing equation is formulated in the framework of high-order shear deformation theory, von Kármán theory and Hamilton principle. The displacements and boundary conditions are characterized by a set of displacement shape functions with double Fourier series. Subsequently, the method of varying amplitude (MVA) is utilized to derive the approximate analytical solution of system response of TCSs. A comparative analysis is conducted to verify the accuracy of the current computational method. Additionally, the interaction mechanism of combined resonance, parametric resonance and primary resonance is examined. And the effect of damping coefficient, the external excitation, initial phase, axial motion speed, temperature variation, humidity variation, material properties and semi-vortex angle on the vibration mechanism are analyzed.