• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.35-42
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• 2022

This paper presents a stochastic model predictive control (SMPC) for stop maneuver of autonomous vehicles considering perception uncertainty of stopped vehicle. The vehicle longitudinal motion should achieve both driving comfortability and safety. The comfortable stop maneuver can be performed by mimicking acceleration profile of human driving pattern. In order to implement human-like stop motion, we propose a reference safe inter-distance and velocity model for the longitudinal control system. The SMPC is used to track the reference model which contains the position uncertainty of preceding vehicle as a chance constraint. We conduct simulation studies of deceleration scenarios against stopped vehicle in urban environment. The test results show that proposed SMPC can execute comfortable stop maneuver and guarantee safety simultaneously.

• Journal of the Society of Naval Architects of Korea
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• v.54 no.4
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• pp.301-311
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• 2017

Safety operational envelope (SOE) is the area which guarantees the safety of a submarine from the accident such as jamming and flooding. The maximum safe depth is set to prevent the damage to the hull from increasing water pressure with depth. A minimum safety depth is set to prevent a submarine from the exposure above the free surface and collision against surface ship. The prediction method for the SOE in the design phase is needed to operate the submarine safely. In this paper, the modeling and calculation methods of the SOE are introduced. Main ballast tank blowing modeling and propeller force modeling are conducted to simulate the accidents and the recovery process. The SOEs are established based on the crash stop and emergency rising maneuver simulation. From the simulation results, it can be known that the emergency rising maneuver is more effective recovery action than the crash stop.

• Journal of Mechanical Science and Technology
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• v.15 no.2
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• pp.143-151
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• 2001

In the paper, a robust control mechanism is presented to maneuver a flexible spacecraft with the deflection reduction during large slewing operation at the same time. For deflection reduction and maneuvering of the flexible spacecraft, a control mechanism is developed with the application of stochastic optimal sliding-mode control, a linear tracking model and input shaping technique. A start-coast-stop maneuver is employed as a slewing strategy. It is shown that the control mechanism with he strategic maneuver results in better performance and is more efficient than rigid-body-like maneuver, by applying to the Spacecraft Control Laboratory Experiment (SCOLE) system in a space environment.

• International Journal of Precision Engineering and Manufacturing
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• v.1 no.2
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• pp.105-114
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• 2000

An output feedback control (OFC) is presented for a linear stochastic system with known disturbance and applied to a flexible spacecraft for the reduction of residual vibration while allowing the natural deflection during operation. By converting the tracking problem into regulator problem, the OFC minimizes the expected value of a guadratic objective function composing of error stats which always remain on the intersection of sliding hypersurfaces. For the numerical evaluation with a flexible spacecraft, a large slewing maneuver strategy is devised with a tracking model for nominal trajectory and start-cost-stop strategy for economical maneuver in conjunction with the input shaping technique. The performance and efficacy of the proposed control scheme are illustrated with the comparison of different maneuver strategies.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2747-2752
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• 2003

This paper has develops a new framework to understand the human’s driving maneuver based on the expression as HDS focusing on the driver’s stopping maneuver. The driving data has been collected by using the three-dimensional driving simulator based on CAVE, which provides three-dimensional visual information. In our modeling, the relationship between the measured information such as distance to the stop line, its first and second derivatives and the braking amount has been expressed by the PWPS model, which is a class of HDS. The key idea to solve the identification problem was to formulate the problem as the MILP with replacing the switching conditions by binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control law’ according to the following scenario: At the beginning of the stopping behavior (just after finding the stopping point), the driver decelerate the vehicle based on the acceleration information, and then switch to the control law based on the distance to the stop line.

• Journal of Auto-vehicle Safety Association
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• v.16 no.2
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• pp.6-13
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• 2024

This paper presents a method of longitudinal motion planning of autonomous vehicles to deal with the non-signalized crosswalk environment. Based on the traffic laws, vehicles should slow down when passing the non-signalized crosswalk to prepare for situations where a nearby pedestrian starts to cross. If a pedestrian is in the crossing phase, vehicles should stop in front of the stop-line and wait until the pedestrian finishes the crossing maneuver. To realize these behaviors in autonomous vehicles, the driving mode and corresponding driving strategy are determined when vehicles encounter the crosswalk. The driving mode is determined according to the behavioral status of the nearby pedestrian. Longitudinal motion for the stopping or passing maneuver is planned according to the determined driving mode. The proposed algorithm has been validated via autonomous driving tests with our test vehicle in a real world. The test results show that the proposed algorithm enables the test vehicle to follow the traffic laws and behave safely against crossing pedestrians in the non-signalized crosswalk.

• Maritime Security
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• v.6 no.1
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• pp.109-135
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• 2023

The North Korean military's maneuver toward Honam was the fastest maneuver the North Korean army had demonstrated during the Korean War, and it was a threatening attack that forced the Korean and Allied forces to fully adjust the defenses of the Nakdong River. However, when this study analyzed the North Korean military's maneuver toward Honam in terms of indirect approach strategy, there were a number of factors that inevitably led to its failure. In terms of implementing the indirect approach strategy, the North Korean military cited a number of failure factors, including the dispersion of combat forces, the inflexibility of changing the line of operation, the maneuvering of ground forces, and the lack of psychological distaction. However, the North Koreans were preparing for a final "surprise attack," in which the 7th Division, which was following the North Korean 6th Division, took another diversion and attempted to attack in the direction of Tongyeong. With this, the North Koreans intended to break through the Nakdong River defenses and head for Pusan. However, the North Korean attack was ultimately thwarted by the Korean Navy and Marine Corps' Tongyeong Amphibious Operation. With a swift maneuver using the sea as a maneuvering space, the Navy and Marine Corps occupied key points first, creating an advantageous situation and fending off an attack by the North Korean 7th Division. The Navy and Marine Corps' Tongyeong Amphibious Operation finally thwarted the North Korean military's maneuver toward Honam, thus maintaining the Nakdong River defenses.

• Journal of the Korean Institute of Navigation
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• v.17 no.1
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• pp.17-29
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• 1993

The new flexible controlling method integrated with some existing maneuvers of reducing a great head way during approaching a pilot station or anchor berth, namely , Super Rudder (Woo) controlling method originally was developed. The conclusions of this paper are drawn. 1) Super Rudder (Woo) controlling method has the shortest distance along base course and distance off base course among all reducing maneuvers including Rudder Cycling. 2) This new method is flexibly adjustable to a range of yaw angles 5-35 degrees either ship's side depending on traffic situations, 3) This new method is versatile controlling maneuver enabling shipandlers to reduce or stop a ship's headway and to adjust the proper courses to a pilot station or anchor berth.

• Journal of Advanced Navigation Technology
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• v.9 no.2
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• pp.185-192
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• 2005

The aim of this paper is to analyze handling qualities of tiltrotor aircraft(TR-S4) in helicopter flight mode including hovering and forward flight. Analysis of handling qualities is composed of aircraft response to control inputs that effect on stability and controllability. In short term response analysis, bandwidth is the critical parameter for small amplitude motions since it relates to the ability of a pilot to crisply start and stop maneuver. The handling qualities of TR-S4 in helicopter mode are analyzed with a SAS and an attitude controller and are satisfied level 1 in almost criteria with simulation of TR-S4 6-DOF nonlinear model.