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스카이 훅 제어를 이용한 6X6 견마 차량의 주행 안정성 향상 방안 연구
전수희(Su Hee Jeon),이정한(Jeong Han Lee),유완석(Wan Suk Yoo),김재용(Jae Yong Kim) 대한기계학회 2011 大韓機械學會論文集A Vol.35 No.8
견마로봇이 야지 노면에서 주행할 때 로봇에 설치되어 있는 각종 장비의 보호를 위하여 주행 안정성을 높이는 것이 중요하다. 견마로봇의 주행 안정성을 평가하는 데에 있어서 차체의 수직 가속도, 롤 각가속도, 피치 각가속도의 영향이 지배적이다. 가속도가 발생한다는 의미는 차체에 그만큼의 힘이 가해진다는 것을 의미한다. 따라서 차체에 작용하는 힘의 크기를 조절함으로써 차량의 안정성을 향상시킬 수 있다. 차량의 안정성을 높이기 위한 하나의 방법으로 MR 댐퍼와 스카이 훅 제어기법을 적용할 수 있다. 본 연구에서는 6X6 견마로봇에 대하여 MR 댐퍼에 스카이 훅 제어기법을 적용하였으며, 수직 가속도 및 롤, 피치 각가속도를 줄이는 방향으로 제어하여 차량의 주행 안정성을 향상시켰다. In order to protect equipment such as controllers, it is important to improve the driving stability of 6×6 skid-teering vehicles driven on rough roads. The estimation and improvement of the driving stability should be based on the vertical acceleration, roll acceleration, and pitch acceleration. These variables will be used to achieve multivariable control and increase the vehicle driving stability. In this study, to improve vehicle stability by reducing the vertical acceleration, roll angular acceleration, and pitch angular acceleration, the skyhook control method is employed to control MR(Magnetorheological) dampers equipped with the vehicle. The proposed control system is tested in multibody dynamic simulation.
스카이 훅 제어를 이용한 6X6 견마 차량의 주행 안정성 향상 방안 연구
전수희(Su Hee Jeon),정연수(Yun Su Jung),이정한(Jeong Han Lee),유완석(Wan Suk Yoo) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
When 6X6 skid steering vehicle is driven in rough road, it is important to improve the vehicle driving stability for protecting some equipment such as lots of controllers. So, vertical acceleration, roll acceleration and pitch acceleration can be used when estimating and enhancing the driving vehicle stability. Increasing the vehicle driving stability, these variables will be used as multi-variable control and sky-hook control method applied to MR damper equipped with the vehicle.
홍인표,Renchindorj Dolgorsuren,전수희,송영우,차재국,이중석,백정원,최성호 대한구강악안면임플란트학회 2021 대한구강악안면임프란트학회지 Vol.25 No.1
Purpose: The stability of graft material and membrane is crucial for successful guided bone regeneration. As 3,4-dihydroxy-L-phenylalanine (DOPA) is known to contribute to the adhesiveness of natural mussel adhesive proteins, the aim of this study was to evaluate the biocompatibility and bone regeneration using collagenated synthetic bone graft attached to the collagen membrane with DOPA in the rabbit calvaria model. Materials and Methods: Four circular bone defects of 8 mm diameter were created in the rabbit calvarium. Each defect in the calvarium was randomly allocated to 1) sham control group, 2) bone graft using a particle-type synthetic bone substitute (OP) group, 3) bone graft using collagenated synthetic bone block (OC) group, or 4) bone graft using the collagenated synthetic bone graft attached to collagen membrane with DOPA (OC-DOPA) group. A total of 10 rabbits were sacrificed at either 2 or 8 weeks post-surgery. Results: During histometric analysis, new bone formation in the OC-DOPA group was significantly greater than that in sham control at 8 weeks. On the contrary, there was no statistically significant difference in new bone area (NBA) between OC-DOPA and OC. Histologic analysis revealed infiltrations of inflammatory cells in the OP, OC, and OC-DOPA groups at 2 weeks. At 8 weeks, there were no remarkable inflammatory cells in the OP and OC groups. However, multinucleated giant cells (MNGC) were observed till 8 weeks in the OC-DOPA group.. Conclusion: The collagenated synthetic bone graft attached to the collagen membrane using DOPA showed its potential for guided bone regeneration. However, MNGC were observed until the late healing period.