• Journal of information and communication convergence engineering
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• v.21 no.4
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• pp.351-358
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• 2023

This study designed a model-based Vehicle Control Unit (VCU) software for electric vehicles. Electric vehicles have transitioned from conventional powertrains (e.g., engines and transmissions) to electric powertrains. The primary role of the VCU is to determine the optimal torque for driving control. This decision is based on the driver's power request and current road conditions. The determined torque is then transmitted to the electric drive system, which includes motors and controllers. The VCU employs an Artificial Neural Network (ANN) and calibrated reference torque to enhance the electric vehicle's performance. The designed VCU software further refines the final reference torque by comparing the control logic with the torque calculation functions and ANN-generated reference torque. Vehicle tests confirmed the effective optimization of vehicle performance using the model-based VCU software, which includes an ANN.

• Journal of the Korea Computer Graphics Society
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• v.25 no.3
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• pp.133-142
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• 2019

In physics-based character animation, trajectory optimization has been widely adopted for automatic motion synthesis, through the prediction of an optimal sequence of future states of the character based on its system dynamics model. In general, the system dynamics model is neither in a closed form nor differentiable when it handles the contact dynamics between a character and the environment with rigid body collisions. Employing smoothed contact dynamics, researchers have suggested efficient trajectory optimization techniques based on numerical differentiation of the resulting system dynamics. However, the numerical derivative of the system dynamics model could be inaccurate unlike its analytical counterpart, which may affect the stability of trajectory optimization. In this paper, we propose a novel method to derive the closed-form derivative for the system dynamics by properly approximating the contact model. Based on the resulting derivatives of the system dynamics model, we also present a model predictive control (MPC)-based motion synthesis framework to robustly control the motion of a biped character according to on-line user input without any example motion data.

• Journal of Internet Computing and Services
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• v.7 no.1
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• pp.17-30
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• 2006

With the wide acceptance of the Internet and the Web, volumes of information and related users have increased and companies have become to need security mechanisms to effectively protect important information for business activities and security problems have become increasingly difficult. This paper proposes a improved access control model for access control enforcement in enterprise environments through the integration of the temporal constraint character of the GT-RBAC model. sub-role hierarchies concept and PBDM(Permission Based Delegation Model). The proposed model. called Extended GT-RBAC(Extended Generalized Temporal Role Based Access Control) delegation Model. supports characteristics of GTRBAC model such as of temporal constraint, various time-constrained cardinality, control flow dependency and separation of duty constraints (SoDs). Also it supports conditional inheritance based on the degree of inheritance and business characteristics by using sub-roles hierarchies and supports permission based delegation, user to user delegation, role to role delegation, multi-step delegation and temporal delegation by using PBDM.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.111-117
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• 2008

This paper presents a new continuation-based quasi-steady-state(CQSS) time-domain simulation algorithm incorporating a multiplicative aggregated load model for power systems. The authors' previous paper introduced a CQSS algorithm, which has the robust convergent characteristic near the singularity point due to the application of a continuation method. The previous CQSS algorithm implemented the load restoration in power systems using the exponent-based load recovery model that is derived from the additive dynamic load model. However, the reformulated exponent-based model causes the inappropriate variation of short-term load characteristics when switching actions occur, during time-domain simulation. This paper depicts how to incorporate a multiplicative load restoration model, which does not have the problem of deforming short-term load characteristics, into the time simulation algorithm, and shows an illustrative example with a 39-bus test system.

• Journal of Power Electronics
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• v.17 no.2
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• pp.323-333
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• 2017

This paper proposes a model-based optimal control algorithm for the clamp switch of a zero-voltage switching (ZVS) bidirectional DC-DC converter. The bidirectional DC-DC converter (BDC) can accomplish the ZVS operation using the clamp switch. The minimum current for the ZVS operation is maintained, and the inductor current is separated from the input and output voltages by the clamp switch in this topology. The clamp switch can decrease the inductor current ripple, switching loss, and conduction loss of the system. Therefore, the optimal control of the clamp switch is significant to improve the efficiency of the system. This paper proposes a model-based optimal control algorithm using phase shift in a micro-controller unit. The proposed control algorithm is demonstrated by the results of PSIM simulations and an experiment conducted in a 1-kW ZVS BDC system.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.855-860
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• 2007

This paper describes a human driver model developed based on finite preview optimal control method. The human driver steering model is constructed to minimize a performance index which is a quadratic form of lateral position error, yaw angle error and steering input. Simulation studies are conducted using a vehicle simulation software, Carsim. The Carsim vehicle model is validated using vehicle test data. In order to validate the human driving steering model, the human driver steering model is compared to the driving data on a virtual test track(VTT) and the actual vehicle test data. It is shown that human driver steering behaviors can be well represented by the human driver steering model presented in this paper

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.323-328
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• 2002

The control performance of a vehicle installed with an MR(magnetorheological) fluid-based damper is investigated on the basis of Herschel-Bulkley shear model. Generally, most of MR fluid damper has been analyzed based on a simple Bingham-plastic shear model. However, the Bingham-plastic shear model can not well describe the behavior of the damper on the condition of high velocity and high current field input. Therefore, in this study, the Herschel-Bulkley shear model in which the constant post-yield plastic viscosity in Bingham model is replaced with a power law model dependent on shear rate is used to assess control performance of a vehicle with MR fluid damper suspension system. This study deals with a two-degree-of-freedom suspension using the MR fluid damper for a quarter car model. The response for the bump input to identify the fastness of MR fluid damper embedded skyhook controller and requested magnetic field are investigated.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1194-1198
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• 1993

Active roll control can improve handling and ride comfort. Dynamic characteristics of the hydraulic actuators for active suspension, which can be modeled as the 1'st order time lag system, hinders the performance improvement. To overcome this shortcoming a predictive controller is designed based on 3 d.o.f. linear vehicle handling model. The effect of this controller is studied through the simulation based on 10 d.o.f. nonlinear vehicle model and the results is compared to that of feedforward controller which uses lateral acceleration as control signal.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.8
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• pp.2975-2982
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• 2010

In this paper, embedded control system of segway robot using model based design is presented. Design of control program in embedded system can be implemented simply and easily by model based design method using MATLAB/SIMULINK. Segway robot is consisted of a NXT Mindstorms controller, two DC servo motors, a ultrasonic sensor, a gyro sensor, and a light sensor. It is a unstable nonlinear system and has a control problem of body pitch angle. So controller of segway robot is designed using state feedback LQR control. It is confirmed through design and experiment of controller that the model based design method, that is not depend on target processor, has merits compared with the text based design in aspects such as a program development, an error detection/modify, and an insight of software structure.

• Journal of Power Electronics
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• v.15 no.6
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• pp.1628-1639
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• 2015

Line-interactive uninterruptible power supply (UPS) systems are good candidates for providing energy storage within a microgrid. In this paper, a control scheme for a line-interactive UPS system applied in a low-voltage microgrid is presented. It is based on the Q-w and P-E droop control to achieve a seamless transition between grid-connected and stand-alone operation modes. Moreover, a new model for designing the controllers is built in the dq-frame based on the instantaneous power definition. The new-built model takes into account the dynamic performance of the output impedance of the inverter in the dq-frame and can be evaluated in the time domain. Compared to the traditional model based on the instantaneous power definition, the new-built model is more accurate to describe the dynamic performance of the system. Simulation and experimental results obtained with a microgrid consisting of two 40-kW line-interactive UPS systems are given to validate the control strategy of the line-active UPS system and the accuracy of the new-built model.