https://scholar.dgist.ac.kr/handle/20.500.11750/58894 2026-04-04T15:35:41Z 2026-04-04T15:35:41Z Cheon, Dasol Choi, Wonhyeok Nam, Kanghyun Oh, Sehoon https://scholar.dgist.ac.kr/handle/20.500.11750/58940 2025-08-22T10:10:11Z 2022-11-02T15:00:00Z

Title: Tire Vertical Force Estimation Method using Suspension Deformation and Stochastic Road Model in Vehicle Suspension System Author(s): Cheon, Dasol; Choi, Wonhyeok; Nam, Kanghyun; Oh, Sehoon Abstract: Tire vertical force is an important factor in the vehicle system because the tire vertical force directly affects the longitudinal force such as the driving force and the braking force, and the lateral force caused by steering motion. Therefore, estimating the tire vertical force is an essential issue. In this study, we propose a tire vertical force observer(TVFOB) using the measurable acceleration sensor and the suspension deformation sensor in a vehicle. The observer set a tire radius as a state, and the derivative of the tire radius is assumed as stochastic white Gaussian noise. A quarter car model is used to verify the performance of the algorithm The proposed algorithm is evaluated through the simulation by using Matlab Simulink and Carmaker.

2022-11-02T15:00:00Z 서영훈 남강현 천다솔 권태우 https://scholar.dgist.ac.kr/handle/20.500.11750/58899 2025-08-13T08:40:11Z 2020-11-18T15:00:00Z

Title: 전기자동차용 듀얼 모터구동 EVT 시스템의 강인한 구동제어 Author(s): 서영훈; 남강현; 천다솔; 권태우

2020-11-18T15:00:00Z Chung, Insu Lee, Sunyeop Nam, Kanghyun Seo, Younghoon Oh, Sehoon https://scholar.dgist.ac.kr/handle/20.500.11750/48151 2025-08-13T09:10:13Z 2023-10-26T15:00:00Z

Title: Synchronization Control of Dual Motor Driving Steer by Wire System Author(s): Chung, Insu; Lee, Sunyeop; Nam, Kanghyun; Seo, Younghoon; Oh, Sehoon Abstract: The Steer by Wire (SbW) system is a system that replaces the mechanical connection between the steering wheel and the vehicle's wheels with electrical signals to control steering. Dual motor driving SbW is designed with physical redundancy in case the SbW system does not operate normally. The system's mechanism requires synchronization control between the two motors to maintain driver safety in response to external disturbances and changes in driving conditions. This paper presents a position control scheme that utilizes the mean and difference of the two motor angles to directly control tracking performance and synchronization error. To apply the proposed method, the system's dynamics were theoretically analyzed, and a controller was designed based on that analysis. Finally, the proposed control scheme's performance is validated through experiments. © 2023 IEEE.

2023-10-26T15:00:00Z Lee, Deokjin Choi, Kiyoung Kim, Junyoung Yun, Wonbum Kim, Taehoon Nam, Kanghyun Oh, Sehoon https://scholar.dgist.ac.kr/handle/20.500.11750/47922 2025-08-13T09:10:13Z 2023-06-27T15:00:00Z

Title: ExSLeR: Development of a Robotic Arm for Human Skill Learning Author(s): Lee, Deokjin; Choi, Kiyoung; Kim, Junyoung; Yun, Wonbum; Kim, Taehoon; Nam, Kanghyun; Oh, Sehoon Abstract: The trend in robotics has shifted from collaboration with humans to learning and reproducing human skills, reflecting a growing social demand. In response, it is imperative to consider both hardware and software aspects in the design of robots. On the hardware side, the robot should be equipped with adequate sensors for mimicking human motion and force, and its design should meet necessary requirements such as workspace, degree of freedom, payload capacity, and weight, all of which are contingent upon the intended use of the robot. On the software side, the robot should be equipped with a real-time system and stable control algorithms to ensure safe operation. This paper presents the ExSLeR arm which meets the requirements for human skill learning. The performance of the ExSLeR arm is validated by a set of experiments through motion tracking with heavy payload and compliant interaction control tasks. © 2023 IEEE.

2023-06-27T15:00:00Z