• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.8 s.179
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• pp.1899-1909
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• 2000

This paper proposes a new $H_{\infty}$ yaw moment control scheme using brake torque switching for improving vehicle performance and stability especially in high speed driving. In the scheme, one wheel is selected, depending on the vehicle states, at which a brake torque for control is applied. Steering angles are modeled as a disturbance to the system and the $H_{\infty}$ controller is designed to minimize the difference between the performance of the vehicle and that of the desired model. Its performance robustness as well as stability robustness to system parameter variations is assured through ${\mu}$-analysis. Various simulations with a nonlinear 8-DOF vehicle model show that proposed controller enhances the vehicle performance and stability under disturbances and parameter variations as well as under the normal driving condition.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.4
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• pp.213-221
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• 2017

Utilizing the existing polishing robot prevents unrestricted change of direction, driving, and identification of driving pathway. To overcome this barrier, driving mechaism has been designed with Omniwheels with encoders and RSSI method of beacon system has been utilized to identify the driving path by position recognition. Due to the wheel characteristics, the Omniwheel mobile robot generates greater slip than the conventional mobile robot, which reduces its driving accuracy. Therefore, to improve the driving accuracy, the localization is conducted through the fusion of encoder and RSSI of beacon data to compensate for the errors caused by Dead Reckoning and inaccuracy of sensors. Finally, the localization accuracies of the proposed and conventional indoor localization method are compared to show effectiveness of the proposed driving control for a polishing robot.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.3
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• pp.330-338
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• 2011

Odometry is the critical factor to estimate the location of the robot. In the mobile robot with wheels, odometry can be performed using the information from the encoder. However, the information of location in the encoder is inaccurate because of the errors caused by the wheel's alignment or slip. In general, visual odometer has been used to compensate for the kinetic errors of robot. In case of using the visual odometry under some robot system, the kinetic analysis is required for compensation of errors, which means that the conventional visual odometry cannot be easily applied to the implementation of the other type of the robot system. In this paper, the novel visual odometry, which employs only the single camera toward the ground, is proposed. The camera is mounted at the center of the bottom of the mobile robot. Feature points of the ground image are extracted by using median filter and color contrast filter. In addition, the linear and angular vectors of the mobile robot are calculated with feature points matching, and the visual odometry is performed by using these linear and angular vectors. The proposed odometry is verified through the experimental results of driving tests using the encoder and the new visual odometry.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.2
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• pp.28-35
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• 2009

Positioning technology which a part technology of Mobile Robot is an essential technology to locate the position of Robot and navigate to wanted position. The Robot that based on wheel drive uses Odometry position. technology. But when using Odometry positioning technology, it's hard to find out constant error value because a slip phenomenon occurs as the Robot runs. In this paper, we present the way to minimize positioning error by using Odometry and Inertial sensor. Also, the way to reduce error with Inertial sensor on SLAM using image will be shown, too.

• Advances in Automotive Engineering
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• v.1 no.1
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• pp.21-39
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• 2018

Clutch energy is the thermal energy dissipated on the clutch disc, and it reaches its highest level during drive-off as a result of the difference between the angular speeds of the flywheel and clutch disc, and the torque transmitted. The thermal energy dissipated effects the clutch life. This study presents a new drive-off and thermal model to calculate the clutch energy for a rear wheel driven heavy-duty vehicle and to analyze the effects of clutch energy on temperatures of clutch pressure plate, flywheel and clutch housing. Three different driver profiles are used, based on the release of the clutch pedal in modulation zone: i) the pedal travels with the same speed all the way, ii) the travel speed of the pedal increases, iii) the travel speed of the pedal decreases. Vehicle test is performed to check the accuracy of the model. When compared to a simpler model that is widely used in the literature to calculate the clutch energy, the model used in this study calculates the clutch energy and angular speed behaviors of flywheel and transmission input shaft in better agreement with experimental results. Clutch wear and total clutch life are also estimated using the mean specific friction power.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.3
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• pp.29-35
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• 2022

When a vehicle is driven off a road surface, the deformations of the road surface and tire are combined. Consequently, the dynamic behavior of wheel movement becomes difficult to predict and control. Herein, we propose a tire test bed to capture the dynamic behavior of tires moving on sand and soil. Based on this study, it is discovered that the slip rate can be controlled, and the vertical force can be measured using a load cell. The test results show that this test bed can be useful for capturing the dynamic behavior of the tire and validating dynamic simulations. In fact, the tire test bed developed in this study can be used to verify the results of computer simulations. In addition, it can be used for basic experiments pertaining to the speed control of unmanned autonomous vehicles.

• Journal of the Korean Society for Railway
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• v.19 no.1
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• pp.20-28
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• 2016

Curved squeal noise may result when railway vehicles run on curved tracks. Contact between the wheels and the rails causes a stick-slip phenomenon, which generates squeal noise. In order to identify the mechanism of the squeal noise systematically, a scaled test rig has been fabricated. Knowledge of the contact forces between the wheels and the rail rollers is essential for investigating the squeal noise characteristics; however, it is difficult to measure there contact force. In this study, contact forces have been calculated indirectly according to the modal behavior of the subframe that supports the rail roller and the responses at specific positions of that subframe. In order to verify the estimated contact forces, the displacements at the contact points between the wheels and rail rollers have been calculated from the estimated forces; the resulting values have been compared with the measured displacement values. The SPL at the specific location has been calculated using the estimated contact forces and this also has been compared with the SPL, measured in a semi-anechoic chamber. The comparisons in displacements and SPLs show good correlation.

• Journal of Drive and Control
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• v.17 no.4
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• pp.133-140
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• 2020

Traction performance of a tractor varies depending on soil conditions. Sinkage and slip of the driving wheel for tractor frequently occur in a reclaimed land. The objective of this study was to develop a tractor suitable for a reclaimed land. Traction performance was evaluated according to soil conditions of reclaimed land and paddy field. Field experiments were conducted at two test sites (Fields A: paddy field; and Field B: reclaimed land). The tractor load measurement system was composed of an axle rotation speed sensor, a torque meter, a six-component load cell, GPS, and a DAQ (Data Acquisition System). Soil properties including soil texture, water content, cone index, and electrical conductivity (EC) were measured. Referring to previous researches, the tractor traveling speed was set to B3 (7.05 km/h), which was frequently used in ridge plow tillage. Soil moisture contents were 33.2% and 48.6% in fields A and B, respectively. Cone index was 2.1 times higher in field A than in field B. When working in the reclaimed land, slip ratios were about 10.5% and 33.1% for fields A and B, respectively. The engine load was used almost 100% of all tractors under the two field conditions. Traction powers were 31.9 kW and 24.2 kW for fields A and B, respectively. Tractive efficiencies were 83.3% and 54.4% for fields A and B, respectively. As soil moisture increased by 16.4%, the tractive efficiency was lowered by about 28.9%. Traction performance of tractor was significantly different according to soil conditions of fields A and B. Therefore, it is necessary to improve the traction performance of tractor for smooth operations in all soil conditions including a reclaimed land by reflecting data of this study.

• Archives of design research
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• v.11
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• pp.48-58
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• 1995

In 1981. KOREA applied YEAR OF WORLD DISABLED DESIGNNATED BY UN as starting point to begin noticing disabled and gradually improve and understand the problems of the disabled.This study considering the income level and welfare level selected basic most widely used wheelchair as subject of study. Design Application of this study's main analysis are as follolVs 1. MAN-MACHINE INTERFACE STUDY ANALYSIS!Basic concept of wheelchair is for persons uncapable of move by sitting down. so main focus of study was considered on equipment which on chair. 2. WHEELCHAm MOVEMENT STUDY ANALYSISlThrough movement and test measurement which can be considered as basic study of Ergonomics, observe movement changes accordingly. 3. BACK(MAIN) WHEEL AND HANDRIM MOVEMENT ANALYSIS / Seat and wheel as the most important component of a wheelchair, study the relation of handrim and hand movement and test the most effective and comfortable handrim. Direction of the study was concerntrated on three areas, with results and information collected, would like to suggest design change of X type collapsible chair in areas of size of SEAT(air pocket type), HANDRIM(anti-slip hump), ARMHEST(transfer movement, rubber padding. accent), and HANDLE(adjustable, round type). The content started this study is only one small position of understanding the disabled. Also, the importance of one of many business of assisting disabled rehabilitation. (IJISABLED, REHABILITATION. APPROACH)

• Korean Journal of Soil Science and Fertilizer
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• v.47 no.6
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• pp.425-431
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• 2014

Most fields in highland areas are covered with rye or hairy vetch for conservation during a fallow. However, using cover crops needs an effort to sow, and this makes top soil more vulnerable to loss due to surface disturbances. The aims of this study were to develop an automatic seeding-regulator device using a low-price, extensive-use GPS sensors and a DC motors and to evaluate a working efficiency of it after adaptation to partial tillage machine for reducing seeding effort. The amount of runoff water and soil loss was evaluated with partial tillage and simultaneous-seeding after harvesting soybean, in 17% slope lysimeters. In results, the seeding amount with the machine speed was stable between $0.5{\sim}0.8m\;s^{-1}$ of working sections. The automatic control device of seeding-rate could be enough to solve the slip problems of power selecting supply system or five four-wheel drive device. In partial tillage and simultaneous seeding, runoff water was 11.6% ($1.8m^3ha^{-1}$) of the scatter-seeding control ($15.5m^3ha^{-1}$) and soil loss was 13.2% ($7kg\;ha^{-1}$) of the scatter-seeding control ($53kg\;ha^{-1}$). These results suggest that partial tillage and simultaneous-seeding methods are very effective in decreasing work effort and soil loss of sloped land.