• 선박안전
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• 통권36호
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• pp.71-78
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• 2014

If we don't know the intention of altering course of a target ship when being in a head-on or a crossing situation, we may be confused about our decision making to change our course for collision avoidance and be in a danger of collision. In order to solve these problems, we need to develop an automatic detection system on altering course of a target ship for efficient collision avoidance. In this paper, we proposed an early detection system on altering course of a target ship using the steering wheel signal. This system will contribute to the reduction of collision accidents and also be used to the VTS system and the analysis of marine accidents.

• 대한산업공학회지
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• 제25권2호
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• pp.173-183
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• 1999

The three design elements of automobile occupant packaging such as pedals, steering wheel, and seat are the most important factors to design an ergonomically sound layout for improving driving comfort and performance. The aim of the study is to find out coherent characteristics of the relationships among three design elements. For this purpose, Triangular Method is suggested. We extracted properties for determining the shape, size, and location of the triangle that is composed of Accelerated Heel Point, Steering Wheel Point, and Hip Point. An experiment was conducted at a seating buck in which the design elements are freely adjustable by the subject to investigate driver's preferred arrangement of three elements. Statistical analyses revealed that there was a subtle change in the shape of triangle according to different percentiles and that the significant difference was observed only for the size of the triangle. The results will be effectively applied to design a comfortable seat packaging layout.

• 한국군사과학기술학회지
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• 제11권4호
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• pp.141-148
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• 2008

In this paper, we develop a detailed full dynamic model which includes various rough terrains for 6-wheel skid-steering mobile robot based on the real experimental autonomous vehicle called Dog-Horse Robot. We also design a co-simulation for performance comparison of path tracking algorithms. The control architecture in the co-simulation can be divided into two levels. The high level control is the closed-loop control of path tracking to follow a given path, and the low level is concerned about torque control of wheel motion. The simulation using the mechanical data of the Dog-Horse Robot is performed under the Matlab/Simulink environment. We also simulate and evaluate the performance of the model based adaptive controller.

• 한국철도학회:학술대회논문집
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• 한국철도학회 1999년도 추계학술대회 논문집
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• pp.558-565
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• 1999

Rubber wheel-type AGT has two major kinds of bogie; one is the bogie type and the other and passenger loads. This paper deals with the statics analysis for two types of bogie frame subjected to combined external forces, as well as independent ones specified in UIC 515-4. Furthermore, the dynamics analysis is performed under vibrational loading conditions so as to compare dynamic characteristics, Numerical results by using commercial packages, Ⅰ-DEAS and NASTRAN show that maximum stresses do not exceed the yielding level of material used for both bogies. From an overall viewpoint of strength, the bogie type turns out to be superior to the steering type except the case of a lateral loading. It is also observed that the steering type shows a be stiffened. It is strongly anticipated that vibrational fatigue analysis should be carried out under realistic loading conditions closely matching to situations such as running surface and lateral clearances along the guideway.

• 한국자동차공학회논문집
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• 제17권5호
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• pp.84-90
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• 2009

The bi-modal tram is under development as a new public transportation. The features of the tram are an extended wheel base and its length. This features result in difficulties for drivers on maneuvering the tram. Therefore, the all wheel steering system is applied to the articulated vehicle. The AWS system enables the vehicle to steer all the rear wheels independently and improves its driving characteristics. However, the bi-modal tram has a problem to move backward in the limited place because of its geometric feature and the AWS system. Hence, the reverse parking assistant algorithm for articulated vehicle is developed to solve the problems of the reverse parking. Using the vehicle model which includes the reverse parking assistant algorithm, the dynamic analysis is performed for several parking cases. By the result of the analysis, the stability and validity of the reverse parking assistant algorithm is verified.

• 한국자동차공학회논문집
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• 제15권6호
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• 로봇학회논문지
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• 제15권3호
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• 드라이브 ㆍ 컨트롤
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• 제3권1호
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• pp.16-21
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• 2006

• 한국철도학회:학술대회논문집
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• 한국철도학회 2006년도 춘계학술대회 논문집
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• pp.1118-1123
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• 2006

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.1061-1062
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• 2010