• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.5
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• pp.553-563
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• 2015

Reportedly the fatality rate from secondary collision is six times higher than the average fatality rate from all traffic accidents. So prevention of the secondary collision is attracting significant attention from automotive industries. However, the secondary collision prevention systems that have been developed are not considering possibility of brake actuator failure that can occur by the impact during the initial collision. In this paper, a new system has been developed that could prevent secondary collision even in case of brake actuator failure by taking advantage of still operating actuators. In this system, a steering control is performed for maintaining a lane by using linear quadratic regulator. Additionally, the system attempts differential brake control with the remaining braking capability to stop the vehicle in the shortest distance. Through simulation in various collision scenarios, the system has demonstrated significant potential of preventing secondary collision that could otherwise have resulted in severe fatality.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1006-1013
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• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• Journal of Biosystems Engineering
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• v.25 no.4
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• pp.301-310
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• 2000

An autonomous tractor system was developed and its performance was evaluated. The system consisted of a tractor system of and a remote control station. The tractor and the remote control station communicated each other via wireless modems. The tractor had a DGPS(differential global positioning system), sensors, a controller and a modem. The DGPS collected position data and the tractor status was estimated. The information of tractor status and sensors was transferred to the remote control station. Then, the control station determined the control data such as steering angles using a fuzzy controller. The fuzzy controller used the information from the DGPS, sensors, and GIS(geographic information system) data. The control data were obtained by remote signal processing at the control station The control data for autonomous operation were transferred to the tractor controller. The performances of an autonomous tractor were evaluated for various speeds, different initial positions and different initial headings. About 1.3 seconds of time lag was occurred in transferring the tractor status data and the control data. Compensation the time lag, about 27cm deviation was observed at the speed of 0.5m/s and 37cm at the speed of 1m/s. Error caused mainly by the time lag and it would be reduced by developing a full-duplex radio module for controlling the remote tractor.

• Journal of Biosystems Engineering
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• v.20 no.3
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• pp.226-235
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• 1995

An unmanned speed sprayer was developed using a remote control and an inductive cable guidance systems to protect operators and environment from hazardous pesticides. The sprayer consists of a remote control system, an induction system, obstacle detectors, control actuators and an one-chip microcomputer. The sprayer can be operated by the induction guidance and/or remote control. The following summarize characteristics of the developed speed sprayer. 1) Both the remote control and the induction guidance operation were possible with the developed speed sprayer. 2) Sixteen functions of the forwarding, backing, halting, steering, 3-way valve for nozzles and fan operating etc. were utilized on the remote control system. 3) It was concluded that the DTMF method, having less transmitting error, performed better than the FSK method for an agricultural remote controller. A radio station may be necessary. 4) The digital inductive guidance system, consisting of five low-impedance detection coils and a window comparator circuit, performed better than the analog detecting system, guiding route using inductive voltage differential from tow detection coils.

• The Journal of the Korea Contents Association
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• v.15 no.5
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• pp.18-26
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• 2015

In this paper, we presented a design and control method of multi-stage with wagon and lift stage. Multi-stage system has 4 degree-of-freedom(DOF), i.e., forward/backward/left/right/rotate and up/down motion. Wagon mechanism in the type of two wheel and steering is proposed in order to improve for the maneuverability compared to the existing differential-type wagons. Also, the lift mechanism is designed by interlocking type in order to make the maximum height bigger than 10 times of the original height. We also proposed a path planning algorithm. The performance of the propped system is validated via multi motion experiments, so that the multi-stage system is useful for various performances production.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.46 no.4
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• pp.1-9
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• 2009

In this paper, a small area 12-bit 300MSPS CMOS Digital-to-Analog Converter(DAC) is proposed for display systems. The architecture of the DAC is based on a current steering 6+6 segmented type, which reduces non-linearity error and other secondary effects. In order to improve the linearity and glitch noise, an analog current cell using monitoring bias circuit is designed. For the purpose of reducing chip area and power dissipation, furthermore, a noble self-clocked switching logic is proposed. To verify the performance, it is fabricated with $0.13{\mu}m$ thick-gate 1-poly 6-metal N-well Samsung CMOS technology. The effective chip area is $0.26mm^2$ ($510{\mu}m{\times}510{\mu}m$) with 100mW power consumption. The measured INL (Integrated Non Linearity) and DNL (Differential Non Linearity) are within ${\pm}3LSB$ and ${\pm}1LSB$, respectively. The measured SFDR is about 70dB, when the input frequency is 15MHz at 300MHz clock frequency.

• Journal of Navigation and Port Research
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• v.37 no.4
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• pp.401-407
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• 2013

In parallel with the development of ship equipment, bridge systems have been improved, but marine accidents due to human error have not been reduced. Recently, research in nautical bridge equipment has focused on suitable ergonomic designs in order to reduce these errors due to human factors. In a bridge of a ship, there are numerous auditory signals that deliver important information clearly to the sailors. However, only a few studies have been conducted related to the human recognition of these auditory signals. There are three types of auditory signals: voice alarms, abstract sounds, and auditory icons. This study was conducted in order to design more appropriate auditory icons using a sensibility evaluation method. The auditory icons were rated to have five warning situations (engine failure, fire, steering failure, low power, and collision) using the Semantic Differential Method. It is expected that the results of this study will be used as basic data for auditory displays inside bridges and for integrated bridge alarm systems.