• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.113-120
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• 2016

This paper presents observer-based virtual sensors for YMC(Yaw Moment Control) systems by differential braking. A high-fidelity empirical model of the hydraulic unit in YMC system was developed for a model-based observer design. Optimal, adaptive, and robust observers were then developed and their estimation accuracy and robustness against model uncertainty were investigated via HILS tests. The HILS results indicate that the proposed disturbance attenuation approach indeed exhibits more satisfactory pressure estimation performance than the other approach with admissible degradation against the predefined model disturbance.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.584-591
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• 2014

This paper presents a novel aided navigation method for AUV (Autonomous Underwater Vehicles). The navigation system for AUV includes several sensors such as IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and depth sensor. In general, the $13^{th}$ order INS error model, which includes depth error, velocity error, attitude error, and the accelerometer and gyroscope biases as state variables is used with measurements from DVL and depth sensors. However, the model may degrade the estimation performance of the heading state. Therefore, the $11^{th}$ INS error model is proposed. Its validity is verified by using a degree of observability and analyzing steady state error. The performance of the proposed model is shown by the computer simulation. The results show that the performance of the reduced $11^{th}$ order error model is better than that of the conventional $13^{th}$ order error model.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.4
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• pp.531-537
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• 2018

This paper propose a bidirectional dc-to-dc converter employing dual inductor for current ripple reduction. Conventional bidirectional dc-to-dc converter uses a single inductor for two different modes; boost and buck; therefore it is difficult to satisfy the optimized inductance value for each mode. To improve this problem, the proposed converter adds two switches, a diode, and one inductor. By proper switching of the additional switch, the proposed converter operates with a inductor in boost mode, but it works with dual inductor in buck mode. Hence in both modes the proposed bidirectional converter can be operated with optimized inductance values. Most of all the optimized inductance in buck mode can reduce the current ripple and its effective value(rms), which are directly related to the temperature increase resulted in short lifetime of battery. To verify the validity of the proposed approach, we first analyzes the operation of the proposed converter theoretically, and implement computer-aided simulations and experiments using a prototype.

• 전자공학회논문지 IE
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• v.46 no.2
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• pp.33-45
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• 2009

In this paper, the implementation of the backward movement control of a truck-trailer type mobile robot using fuzzy model based control scheme considering the practical constraints, computing time-delay and quantization is presented. We propose the fuzzy feedback controller whose output is delayed with unit sampling period and predicted. The analysis and the design problem considering the computing time-delay become very easy because the proposed controller is syncronized with the sampling time. Also, the stability analysis is made when the quantization exists in the implementation of the fuzzy control architectures and it is shown that if the trivial solution of the fuzzy control system without quantization is asymptotically stable, then the solutions of the fuzzy control system with quantization are uniformly ultimately bounded. The experimental results are shown to verify the effectiveness of the proposed scheme.

• Aerospace Engineering and Technology
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• v.3 no.2
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• pp.56-64
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• 2004

In this research, design results of computer hardware which control solid motor movable nozzle thrust vector control(TVC) actuator for Korea Space Launch Vehicle I(KSLV-I) are described. TVC computer hardware is the equipment which has jobs for receiving control commands from Navigation Guidance Unit(NGU) and then actuating TVC actuator. Also, it has ability to communicate with other on board or ground equipments. Computer hardware has a digital signal processor as the main processor which is capable of high speed calculating ability of control algorithm, so it can have more stability, reliability and flexibility than the previous analog controller of KSR-III. Target board was designed for on board program development and then first prototype hardware was developed. Top level system design criteria, hardware configurations and ground support equipment of TVC computer system are described.

• Journal of IKEEE
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• v.23 no.4
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• pp.1461-1464
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• 2019

In this paper, we propose the development of embedded board for integrated radiation exposure protection fireman's life-saving alarm capable of location tracking and radiation measurement. The proposed techniques consist of signal processing unit, communication unit, power unit, main control unit. Signal processing units apply shielding design, noise reduction technology and electromagnetic wave subtraction technology. The communication unit is designed to communicate using the wifi method. In the main control unit, power consumption is reduced to a minimum, and a high performance system is formed through small, high density and low heat generation. The proposed techniques are equipment operated by exposure to poor conditions, such as disaster and fire sites, so they are designed and manufactured for external appearance considering waterproof and thermal endurance. The proposed techniques were tested by an authorized testing agency to determine the effectiveness of embedded board. The waterproof grade has achieved the IP67 rating, which can maintain stable performance even when flooded with water at the disaster site due to the nature of the fireman's equipment. The operating temperature was measured in the range of -10℃ to 50℃ to cope with a wide range of environmental changes at the disaster site. The battery life was measured to be available 144 hours after a single charge to cope with emergency disasters such as a collapse accident. The maximum communication distance, including the PCB, was measured to operate at 54.2 meters, a range wider than the existing 50 meters, at a straight line with the command-and-control vehicle in the event of a disaster. Therefore, the effectiveness of embedded board for embedded board for integrated radiation exposure protection fireman's life-saving alarm has been demonstrated.

• Journal of the Korean Institute of Gas
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• v.16 no.6
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• pp.102-106
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• 2012

The purpose of this paper is to study the failure cases in relation to system of Air Bag in vehicle happened in the field. In the first example, it was separated the soldering parts connected the wire pin between air bag module and clock spring of air bag. Whenever the pin shake by the car's vibration, the driver verified the malfunction phenomenon appeared air bag warning lamp on instrument panel in front of driver's seat. in car inside room. The second example, it verified the warning lamp lighting phenomenon of air bag by produced the circuit plate non-contacting of single an element in air bag electronic control unit. The third example, it verified the light of air bag warning indicator lamp by separated with soldering parts connecting inner pin and resistance terminal of seat belt pretensioner using passenger seat. The fourth example, when the passenger car crash a back of truck, the former bumper get jammed under the latter as the roof height of car low less than that. Therefore, the impact of Car's collision verified that don't transfer with body frame of vehicle because of no attachment impact sensor in it.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.138-142
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• 2004

In this paper, we present a new method for monitoring of ECU's sensor signals of vehicle. In order to measure the ECU's sensor signals, the interfaced circuit is designed to communicate ECU and the Embedded Linux is used to monitor communication result through Web the Embedded Linux system and this system is said "ECU Interface Part". In ECU Interface Part the interface circuit is designed to match voltage level between ECU and SA-1110 micro controller and interface circuit to communicate ECU according to the ISO, SAE communication protocol standard. Because Embedded Linux does not allow to access hardware directly in application level, anyone who wants to modify any low level hardware must develop device driver. To monitor ECU's sensor signals the most important thing is to match serial level between ECU and ECU Interface Part. It means to communicate correctly between two hardware we need to match voltage and signal level, and need to match baudrate. The voltage of SA-1110 is 0 ${\sim}$ +3.3V and ECU is 0 ${\sim}$ +12V and, ECU's communication Line K does multiple operation so, the interface circuit is used to match voltage and signal level. In Addition to ECU's baudrate is 10400bps, it's not standard baudrate in computer environment. So, we need to develop a device driver to control the interface circuit, and change baudrate. To monitor ECU's sensor signals through web there's a network socket program is working in Embedded Linux. It works as server program and manages user's connections and commands. Anyone who wants to monitor ECU's sensor signals he just only connect to Embedded Linux system with web browser then, Embedded Linux webserver will return the ActiveX webbased measurement software. It works in web browser and inits ECU, as a result it returns sensor signals through web. All the programs are developed with GCC(GNU C Compiler) and, webbased measurement software is developed with Borland C++ Builder.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.5
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• pp.84-90
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• 2014

The aim of this paper is to investigate the application of solar energy in reducing cabin thermal load. When a vehicle is parked under the sun in summer, the interior temperature can reach up to $70^{\circ}C$ depending on the solar intensity. Solar power, one of the green energies, is used in automobile air conditioning systems, in order to operate the blower. The power supply of a blower's voltage has been used in a solar sunroof experiment. At the climate wind tunnel, cabin temperature changes were conducted with various operating modes of an air handling system and the preventilation parking conditions of several vehicles, outdoors, was also examined. The test results of the solar sunroof, 39.3W power and 14.1% efficiency were obtained. The thermal load behavior was analysed with the air handling system operating mode differently according to the cabin temperature. By simply operating the blower, average cabin temperature decreased between $5^{\circ}C{\sim}10^{\circ}C$ in those vehicles parked outdoors in summer. This reveals that cabin thermal comfort can be improved without consuming the vehicle's extra energy, and that the performance of the air-conditioning system is better than those currently found in vehicles. Moreover, fuel economy will be increased as a result of the reduction in the use of the air-conditioning system, and many other human advantages will be gained. Such advantages include minimized VOCs and a healthy cabin environment.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.3
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• pp.108-118
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• 2017

This paper presents experimental results of realtime sonar-based SLAM (simultaneous localization and mapping) using probability-based landmark-recognition. The sonar-based SLAM is used for navigation of underwater robot. Inertial sensor as IMU (Inertial Measurement Unit) and DVL (Doppler Velocity Log) and external information from sonar image processing are fused by Extended Kalman Filter (EKF) technique to get the navigation information. The vehicle location is estimated by inertial sensor data, and it is corrected by sonar data which provides relative position between the vehicle and the landmark on the bottom of the basin. For the verification of the proposed method, the experiments were performed in a basin environment using an underwater robot, yShark.