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정연구(Y.K.Jeong),김동룡(D.R.Kim),장운성(E.S.Jang),문필수(P.S.Moon),김건상(K.S.Kim),황덕배(D.B.Hwang),오경규(K.K.Oh),고택범(T.B.Koh) 한국자동차공학회 1997 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1997 No.6_1
A new steering angle sensor which is composed of multi-turn angular potentiometer and encoder has been developed. This sensor can detect absolute steering angle over the range from -540 degree to +540 degree and output encoder signal which can be used as a control input signal. Applied to 4WS vehicle this sensor shows good performance and it also gives important information to ECU for checking its failure state.<br/>
정연구(Y.K.Jeong),장운성(W.S.Jang),문필수(P.S.Mun),김동룡(D.R.Kim),김건상(K.S.Kim) 한국자동차공학회 1997 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1997 No.11_2
In this study, a active front wheel steering mechanism which was driven by DC motor was developed. This mechanism used a electric clutch in the middle of steering shaft to prevent steering wheel from being steered by DC motor. Experimental result showed that this mechanism had 25deg of phase delay and consumed maximum 15A of current. When this mechanism applied to a vehicle, average consuming power was about 30W and the delay time for changing to fail-safe mode was about 92msec. This mechanism could be used to improve vehicle stability after a algorithm for reducing the effect of disturbance on vehicle motion is applied.
정연구(Y.K.Jeong),김동룡(D.R.Kim),김건상(K.S.Kim),이순걸(S.G.Lee) 한국자동차공학회 1996 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1996 No.11_1
4WS system is effective for improving stability and controllability of a vehicle by steering rear wheels actively. At first, 4WS system was made mechanically. But nowadays to minimize system energy consumption and to have flexibility in control algorithm, electric motor is chosen as the rear steering actuator. Since steering characteristic affects greatly on vehicle behavior, fail-safe counterplan is also very important in 4WS system development. The preloaded spring which returns rear wheels to neutral steer state any failure occurs is chosen as one of fail-safe<br/> equipment. But preloaded spring contains so big preloaded force that it causes nonsymmectic response characteristic of actuator. In this paper we design a modified trajectory controller which can give symmetric response characteristic for 4WS actuator with preloaded spring. we also applicate the controller to prototype 4WS vehicle and evaluate 4WS vehicle behavior.<br/> <br/>
권혁민(H. M. Kwon),한준희(J. H. Han),정연구(Y. K. Jeong) 한국정보과학회 1998 한국정보과학회 학술발표논문집 Vol.25 No.2Ⅱ
본 논문은 두 장의 스테레오 영상으로부터 자동적으로 특징점 정합을 수행하도록 하는 한 방법을 제안한다. Correlation기반의 특징점 정합을 빠르고 안정적으로 수행하며 이 때에 발생하는 애매성 문제에 대한 해결방법을 제시한다. 또한, LMedS방법을 사용하여 outlier를 효과적으로 제거시키고 에피폴라 기하를 이용하여 정합의 성능을 향상시킨다. 실내, 실외 영상에 대한 다양한 실험결과는 본 논문에서는 제안하는 방법이 빠르고 효율적임을 보여준다.