• 제어로봇시스템학회논문지
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• 제17권11호
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• pp.1145-1153
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• 2011

EMB (Electro-Mechanical Brake) systems can provide improved braking and stability functions such as ABS, EBD, TCS, ESC, BA, ACC, etc. For the implementation of the EMB systems, reliable and robust fault detection algorithm is required. In this study, a model-based fault detection algorithm is designed based on the analytical redundancy method in order to monitor current and force sensor faults in EMB systems. A state-space model for the EMB is derived including faulty signals. The fault diagnosis algorithm is constructed using the analytical redundancy method. Observer is designed for the EMB and the fault detectability condition is examined based on the residual analysis. The performance of the proposed model-based fault detection algorithm is verified in simulations. The effectiveness of the proposed algorithm is demonstrated in various faulty cases.

• International Journal of Automotive Technology
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• 제6권5호
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• pp.475-481
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• 2005

This paper deals with the algorithm of estimating the longitudinal speed of a braking vehicle using measurements from an accelerometer and a standard wheel speed sensor. We evolve speed estimation algorithms of increasing complexity and accuracy on the basis of experimental tests. A final speed estimation algorithm based on a Kalman filtering is developed to reduce measurement noise of the wheel speed sensor, error of the tire radius, and accelerometer bias. This developed algorithm can give peak errors of less than 3 percent even when the accelerometer signal is significantly biased.

• 한국자동차공학회논문집
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• 제10권6호
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• pp.234-240
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• 2002

This paper treats the problem of estimating the longitudinal velocity of a braking vehicle using measurements from an accelerometer and wheel speed data from standard anti-lock braking wheel speed sensors. We develop and experimentally test three velocity estimation algorithms of increasing complexity. The algorithm that works the best gives peak errors of less than 3 percent even when the accelerometer signal is significantly biased.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1139-1145
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• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• Steel and Composite Structures
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• 제19권1호
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• pp.75-92
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• 2015

In this paper, optimization of cylindrical shells under external pressure to minimize its weight has been studied. Buckling equations are based on standard of ABS underwater vehicles. Dimension and type of circumferential stiffeners, and its distance from each other are assumed as variables of optimization problem. Considering the extent of these variables, genetic algorithms have been used for optimization. To study the effect of hydrostatic pressure on the shell and its fabrication according to the existing standards, geometrical and construction as well as stress and buckling constraints have been used in optimization algorithm and also penalty functions are applied to eliminate weak model. Finally, the best model which has the minimum weight considering the applied pressure has been presented.

• 유변학
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• 제11권1호
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• pp.18-27
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• 1999

본 연구에서는 3차원 열성형 공정 알고리듬과 이에 membrane approximation을 도입한 근사적인 알고리듬을 개발하였고, 이 알고리듬을 이용하여 몇몇 열성형계에 대한 수치모사를 수행하여 그 결과를 비교 분석하였다. 3차원 알고리듬의 경우에는 구성한 유한요소 평형 방정식에 벌칙함수를 도입하여 비압축성 조건을 만족시켜 해를 얻었으며, membrane approximation을 도입한 알고리듬의 경우에는 두께 방향의 응력을 무시하여 구성한 방정식으로부터 해를 얻었다. 구성방정식은 2nd Piola-Kirchhoff 응력 텐서와 Cauchy-Green 변형 텐서를 사용하여 표현하였고 수지의 물질 모델식으로는 2항의 Mooney-Rivlin 모델을 사용하였으며, total Lagrangian coordinate를 도입하여 지배방정식을 유한요소화함으로써 알고리듬을 구성하였다. 대상계로 선정한 사각평판 수지의 자유 부풀림 거동과 금형이 있는 경우에서의 수지의 부풀림 거동을 3차원 알고리듬과 membrane approximation 알고리듬을 각각 이용하여 분석하였으며 3차원 알고리듬의 경우 clamping 부분의 경계조건을 달리하여 결과를 비교하였다. 금형이 있는 계에 대해서는 slip 경계조건과 no-slip 경계조건을 각각 부여하여 수치모사를 수행, 수지의 변형거동과 응력분포를 비교 분석하였으며, 두께를 달리 한 수지에 대해 두께 방향의 응력을 비교 분석함으로써 membrane approximation 알고리듬의 한계에 대하여 논하였다. 한편 수지 온도 변화에 따른 성형품의 두께 분포의 변화를 살펴보기 위하여 ABS 수지를 대상으로 하여 $137.8^{\circ}C$에서 $171.1^{\circ}C$사이의 온도에서 수행한 인장실험 데이터를 수치모사에 사용하였다. 그 결과 수지의 온도가 높을수록 두께의 표준편차가감소하여 균일한 두께 분포를 얻을 수 있음을 확인하였고 이는 수지의 흐름성이 증가함으로써 나타나는 현상으로 해석할 수 있다.

• 한국자동차공학회논문집
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• 제20권1호
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• pp.14-19
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• 2012

On-line and real-time information of the longitudinal velocity is the essential factor for the Advanced Vehicle Control Systems such as ABS(Anti-lock Brake System), TCS(Traction Control System), ESC (Electronic Stability Control) etc. However, the longitudinal velocity cannot be easily measured or calculated during braking maneuvering. A new algorithm is presented for the estimation of the longitudinal velocity with the measurements of the vehicle longitudinal/lateral acceleration, steering angle and yaw rate. The algorithm is designed utilizing the Extended Kalman Filter based on the 3 degree of freedom vehicle model. In order to compensate for the biased sensor signal on the inclined road, the inclined angle is also estimated. The performance of the proposed estimation algorithm is evaluated in field tests.

• 대한기계학회논문집A
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• 제30권3호
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• pp.295-301
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• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS systems. In order to achieve the superior braking performance through the wheel-slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a robust wheel slip controller is developed based on the adaptive sliding mode control method and an optimal target slip assignment algorithm. An adaptive law is formulated to estimate the longitudinal braking force in real-time. The wheel slip controller is designed using the Lyapunov stability theory and considering the error bounds in estimating the braking force and the brake disk-pad friction coefficient. The target slip assignment algorithm is developed for the maximum braking force and searches the optimal target slip value based on the estimated braking force. The performance of the proposed wheel-slip control system is verified In simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.

• 대한조선학회논문집
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• 제48권3호
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• pp.281-287
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• 2011

This paper explains the basic theory and a new development of for the residual strength prediction program of the asymmetrically damaged ships, being capable of searching moment-curvature relations considering neutral axis mobility. It is noted that moment plane and neutral axis plane should be separately defined for asymmetric sections. The validity of the new program is verified by comparing moment-curvature curves of 1/3 scaled frigate model where the results from new algorithm well coincide with experimental and nonlinear FEA results for intact condition and with nonlinear FEA results for damaged condition. Applicability of new algorithm is also verified by applying VLCC model to the newly developed program. It is proved that reduction of residual strengths is visually presented using the new algorithm when damage specifications of ABS, DNV and IMO are applied. It is concluded that the new algorithm shows very good performance to produce moment-curvature relations with neutral axis mobility on the asymmetrically damaged ships. It is expected that the new program based on the developed algorithm can largely reduce design period of FE modeling and increase user conveniences.

• 전자공학회논문지 IE
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• 제45권4호
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• pp.33-41
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• 2008

텔레매틱스 시스템의 기능 중 현실적으로 상품성 있는 기능으로 "차량 원격 진단 기능", "운전 패턴 분석 기능"이 있으며 이를 구현하기 위한 기술로는 차량 신호 인터페이스 기술, 자가 진단 인터페이스 기술, 가속도/자이로 센서 인터페이스 기술, PS 신호 처리 기술, 운전 패턴 분석 기술, 무선통신(CDMA) 처리 기술 등이 사용된다. 이러한 기술을 기반으로 본 논문에서는 차량 주행 중에 자각의 EMS(Engine Management System), TMS(Transmission Management System), ABS/TCS, A/BAG 능에서 진단된 차량의 이상 유무를 실시간으로 분석하고, 운전자 주행 패턴 및 차량 관리에 대한 사항을 점검하여 무선통신(CDMA)을 통해 정보센터로 전송하여 이를 DB화함으로써 효율적 차량 관리 및 운전자 관리가 가능하다. 본 연구는 이러한 차량 원격진단 및 운전 패턴 분석기능을 구현하는 H/W와 S/W를 설계 및 제작하고 실차 시험을 통해 이를 검증한다.