• Journal of the Korea Institute of Information and Communication Engineering
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• 제19권3호
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• pp.651-658
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• 2015

Recently, lots of research works have been actively focused on the self-driving car. In order to implement the self-driving car, lots of fusion techniques should be merged and, specially, it is noted that a vehicle-attached camera can provide several useful functionalities such as traffic lights recognition, pedestrian detection, stop-line recognition including simple driving records. Accordingly, as one of the efficient tools for the self-driving car implementation, this paper proposes a mathematical model for estimating effectively the road distance with a vehicle-attached black box camera. The proposed model can be effectively used for estimating the road distance by using the height of black box camera or the widths of the referenced road line and the observed road line. Through several simulations, it is shown that the proposed model is effective in estimating the road distance.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2008년도 춘계학술대회논문집
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• pp.432-435
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• 2008

Launch vehicle for injecting the satellite into its orbit is composed with propulsion system, guidance and navigation system, telemetry and so on. Among the others, the propulsion system is the most important part, because that is the key factor of failure of launch vehicle. Especially, the most of failures were occurred in time of engine startup. Therefore, the study of the conditions for stable engine startup is needed at the first step of development. The many researches were accomplished for mathematical modeling, stable startup engine and control of liquid propellant rocket engine. But the cavitation problem that can be occurred at an inlet of pump associated with propellant feeding system wasn't considered in these works. In this paper, propulsion system model was integrated with clustered engines and propellant feeding system for the simulations of engine startup. As the results of simulations, the requirements were deduced for the stable engine startup without the cavitation at an inlet of pump.

• Journal of Institute of Control, Robotics and Systems
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• 제17권10호
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• pp.967-982
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• 2011

This paper presents a FTNCS (Fault-Tolerant Networked Control System) that can tolerate control surface failure and packet delay/loss in an UAV (Unmanned Aerial Vehicle). The proposed method utilizes the benefits of self-diagnosis by smart actuators along with the control allocation technique. A smart actuator is an intelligent actuation system combined with microprocessors to perform self-diagnosis and bi-directional communications. In the event of failure, the smart actuator provides the system supervisor with a set of actuator condition data. The system supervisor then compensate for the effect of faulty actuators by re-allocating redundant control surfaces based on the provided actuator condition data. In addition to the compensation of faulty actuators, the proposed FTNCS also includes an efficient algorithm to deal with network induced delay/packet loss. The proposed algorithm is based on a Lagrange polynomial interpolation method without any mathematical model of the system. Computer simulations with an UAV show that the proposed FTNCS can achieve a fast and accurate tracking performance even in the presence of actuator faults and network induced delays.

• Transactions of the Korean Society of Mechanical Engineers A
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• 제27권9호
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• pp.1492-1498
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• 2003

This study proposes a new conceptual Hybrid Electric Brake System (HEBS) which overcomes problems of a conventional hydraulic brake system. HEBS adopt a contactless type bake system when a vehicle speed is high, to obtain superior braking performances by eddy current. On the contrary, when a vehicle speed is low, HEBS employs a contact type brake system such as conventional hydraulic brake system to generate higher brake force. Therefore, HEBS transfers faster the braking intention of drivers and guarantees the safety of drivers. Braking torque analysis is performed by using a mathematical model which is proposed to investigate the characteristic of a vehicle dynamics when the brake torque is applied. Optimal torque control is achieved by maintaining a desired slip corresponding to the road condition. The results show that HEBS reduces the stopping distance, saves the electric energy, and increases the stability.

• Journal of Korean Society of Industrial and Systems Engineering
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• 제45권4호
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• pp.134-141
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• 2022

Transportation in urban area has been getting hard to fulfill the demand on time. There are various uncertainties and obstacles related with road conditions, traffic congestions, and accidents to interrupt the on-time deliveries. With this situation, the last mile logistics has been a keen issue for researchers and practitioners to find the best strategy of the problem. A way to resolve the problem is to use parcel lockers. Parcel locker is a storage that customers can pick up their products. Transportation vehicles deliver the products to parcel lockers instead of all customer sites. Using the parcel lockers, the total delivery costs can be reduced. However, the inconvenience of customer has to increase. Thus, we have to optimal solution to balance between the total delivery costs and customers' inconvenience. This paper formulates a mathematical model to find the optimal solution for the vehicle routing problem and the location problem of parcel lockers. Experimental results provide the viability to find optimal strategy for the routing problem as well as the location problem.

• Journal of Korean Society of Industrial and Systems Engineering
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• 제45권4호
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• pp.217-224
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• 2022

Due to the issue of the sustainability in transportation area, the number of electric vehicles has significantly increased. Most automakers have decided or planned to manufacture the electric vehicles rather than carbon fueled vehicles. However, there are still some problems to figure out for the electric vehicles such as long charging time, driving ranges, supply of charging stations. Since the speed of growing the number of electric vehicles is faster than that of the number of charging stations, there are lack of supplies of charging stations for electric vehicles and imbalances of the location of the charging stations. Thus, the location problem of charging stations is one of important issues for the electric vehicles. Studies have conducted to find the optimal locations for the charging stations. Most studies have formulated the problem with deterministic or hierarchical models. In this paper, we have investigated the fluctuations of locations and the capacity of charging stations. We proposed a mathematical model for the location problem of charging stations with the vehicle routing problem. Numerical examples provide the strategy for the location routing problems of the electric vehicles.

• Transactions of the Korean Society of Automotive Engineers
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• 제10권5호
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• pp.214-222
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• 2002

Computer simulations are widely used to analyze passenger safety in simulated traffic accidents. ATB, Articulated Total Body, is a computer simulation model developed to predict gross human body response to such dynamic environments as vehicle crashes and pilot ejections. ATB, whose code is open, has high flexibility and application capability that users can easily insert defined modules and functions. ATB is, however, inconvenient as it was coded in FORTRAN and it needs a formated input file. Moreover, it takes much time to make input files and to modify coding errors. This study aims to increase user friendliness by adding a preprocessor program, WINATB(WINdows ATB), to the conventional ATB. WINATB, programmed in Visual C＋＋ and OpenGL, uses ATB IV as a dynamic solver. The preprocessor helps users prepare input files through graphic interface and dialog box. An additional postprocessor makes the graphical presentation of simulated results. In these case of the frontal crash, the rear impact and the side impact, the simulation results obtained by WINATB and MADYMO(MAthematical Dynamic Model) are compared to validate the effectiveness of WINAIB.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• 제12권3호
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• pp.103-113
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• 2013

Shock wave model describes the propagation speed of kinematic waves in traffic flow. It was first presented by Lighthill and Whitham and has been deployed to solve many traffic problems. A recent paper pointed out that there are some traffic situations in which shock waves are not observable in the field, whereas the model predicts the existence of waves. The paper attempted to identify how such a counterintuitive conclusion results from the L-W model, and resolved the problem by deriving a new asymptotical shock wave model. Although the asymptotical model successfully eliminated the paradox of the L-W model, the validation of the new model is confined within the realm of the deceleration flow situation since the model was derived under such constraint. The purpose of this paper is to derive the remaining counter asymptotical shock wave model for acceleration traffic flow. For this, the vehicle trajectories in a time-space diagram modified to accommodate the continuously increased speed at every instant in such a way that the relationship between the spacing from the preceding vehicle and the speed of the following vehicle strictly follows Greenshield's model. To verify the validity of the suggested model, it was initially implemented to a constant flow where no shock wave exists, and the results showed that there exists no imaginary shock wave in a homogeneous flow. Numerical applications of the new model showed that the shock wave speeds of the asymptotical model for the acceleration flow tend to lean far toward the forward direction consistently. This means that the asymptotical models performs in a systematically different way for acceleration and for declaration flows. Since the output difference among the models is so distinct and systematic, further study on identifying which model is more applicable to an empirical site is recommended.

• IEMEK Journal of Embedded Systems and Applications
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• 제15권3호
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• pp.139-148
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• 2020

This paper is concerned with the H₂ attitude controller design for 3 degree of freedom (DOF) Hover systems with an event-triggered mechanism. The 3 DOF Hover system is an embedded platform for unmanned aerial vehicle (UAV) provided by Quanser. The mathematical model of this system is obtained by a linearization around operating points and it is represented as a linear parameter-varying (LPV) model. To save communication network resources, the event-triggered mechanism (ETM) is considered and the performance of the system is guaranteed by the H₂ controller. The stabilization condition is obtained by using Lyapunov-Krasovskii functionals (LKFs) and some useful lemmas. The effectiveness of the proposed method is shown by simulation and experimental results.

• Proceedings of the KIEE Conference
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.818-821
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• 1999

Helicopter system is regarded as a challenging example in multivariable robust control application since the dynamics of helicopter is highly coupled and nonlinear. In this paper, Dynamic equations for model helicopter at hover are derived. Various system properties are stated with respect to control of the attitude of the vehicle. A linearized model is used to analyse the system stability and to design the attitude controller. The simulation results of LQG controller are presented.