• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.435-441
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• 2013

A swarm robot system consists of with multiple mobile robots, each of which is called an agent. Each agent interacts with others and cooperates for a given task and a given environment. For the swarm robotic system, the loss of the entire work capability by malfunction or damage to a single robot is relatively small and replacement and repair of the robot is less costly. So, it is suitable to perform more complex tasks. The essential component for a swarm robotic system is an inter-robot collaboration strategy for teamwork. Recently, the swarm intelligence theory is applied to robotic system domain as a new framework of collective robotic system design. In this paper, FA (Firefly Algorithm) which is based on firefly's reaction to the lights of other fireflies and their social behavior is employed to optimize the group behavior of multiple robots. The main application of the firefly algorithm is performed on path planning of swarm mobile robots and its effectiveness is verified by simulations under various conditions.

• Journal of Energy Engineering
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• v.22 no.4
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• pp.394-398
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• 2013

At present, using of electromagnetic control valve (ECV) in external variable displacement swash plate type compressor is a common issue. Solenoid operated ECV controls vehicle air conditioning system through a pulse width modulation (PWM) input signal that supplied from an external source. Different port pressure controls the swash plate movement inside the compressor at certain angles that finally determines the refrigerant flow rate to the vehicle compartment for passengers comfort. In this paper, crankcase pressure flow (Pc flow) is calculated with some ECV samples with corresponding to amount of variable supply of current ranges from 0.20Amp to 0.95Amp.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.950-955
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• 2004

In the manufacture of liquid crystal display devices, there is a strong demand for contactless glass plate handling devices that can manipulate a glass plate without contaminating or damaging it. To fulfill this requirement, an electrostatic transportation device for glass plates is proposed. This device can directly drive a glass plate and simultaneously provide contactless suspension by electrostatic forces. To accomplish these two functions, a feedback control strategy and the operational principle of an electrostatic induction motor are utilized. The stator possesses electrodes which exert electrostatic forces on the glass plate and are divided into a part responsible for suspension and one for transportation. To accomplish dynamic stability and a relatively fast suspension initiation time, the structure of the electrode for suspension possesses many boundaries over which potential differences are formed. In this paper, an electrode pattern suitable for the suspension of glass plates is described, followed by the structure of the transportation device and its operational principle. Experimental results show that the glass plate has been transported with a speed of approximately 25.6 mm/s while being suspended stably at a gap length of 0.3 mm.

• Journal of the korean Society of Automotive Engineers
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• v.14 no.6
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• pp.67-73
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• 1992

This paper describes Hyundai's research and development work on a flexible fuel vehicle (FFV). The work on FFV has been conducted to evaluate its potential as an alternative to the conventional gasoline vehicle. Hyundai FFV described here can be operated on M85, gasoline, or any of their combinations, in which the methanol concentration is measured by an electrostatic type fuel sensor. For that operation, a special FFV ECU(Eletronic Control Unit) has been developed and incorporated in the FFV. The characteristics affecting FFV operation, such as FFV ECU control strategy and injector flow rate, have been investigated and optimized through the experiment. And various development tests have been performed in view of engine performance, durability, cold startability, and exhaust emissions reduction. The exhaust gas aftertreatment system consisting of manifold type catalyst and secondary air injection system shows good emission reduction performance including formaldehyde, and finally, the possibility of the FFVs as the low emission vehicles is evaluated by presenting NMOG(Non-Methane Organic Gases) levels with respect to M0 and M85. With these results, it is concluded that FFV can be a candidate for the low emission vehicles, but more works on its durability improvement is required.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.30-37
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• 2007

The injection and spray characteristics of top-feed type injector was investigated under liquid phase injection fueled with liquefied petroleum gas (LPG). Different pressures and temperatures of fuel injection system were tested to identify the injection characteristics after hot soaking. MIE-scattering technique was used for verification of successful liquid phase injection after hot soaking. In case of bottom-feed type injector, the injection was accomplished at every experimental condition. In case of top-feed type injector, when the pressure of LPG was over 1.2 MPa, the injection was not executed. However, under the pressure were 1.2 MPa, the liquid phase injection after hot soaking was accomplished. The engine with top-feed type fuel injection equipment was restarted successfully after hot soaking.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1915-1920
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• 2015

ISO 26262 is an international standard for the functional safety of electric and electronic systems in vehicles, and this standard has become a major issue in the automotive industry. In this paper, a functional safety compliant electronic control unit (ECU) for an electric power steering (EPS) system and a demonstration purposed EPS system are developed, and a software and hardware structure for a safety critical system is presented. EPS is the most recently introduced power steering technology for vehicles, and it can improve driver’s convenience and fuel efficiency. In conformity with the design process specified in ISO 26262, the Automotive Safety Integrity Level (ASIL) of an EPS system is evaluated, and hardware and software are designed based on an asymmetric dual processing unit architecture and an external watchdog. The developed EPS system effectively demonstrates the fault detection and diagnostic functions of a functional safety compliant ECU as well as the basic EPS functions.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1265-1271
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• 2011

These days the number of aged and disabled people is increasing rapidly. But most of the disabled or the aged who have the ability to work, want to engage in economic activities and solve social restrictions as well as their bad financial conditions. This paper concerns about the tracking control of an electric wheelchair robot for welfare vehicle where the seat and electric wheelchair are separated and electric wheelchair robot must be autonomously controlled without the help of assistant. So the aged or the disabled people can drive welfare vehicle by himself by adopting this system. Therefore the concept of both an autonomous driving of electric wheelchair and path tracking robots is required in this system. Finally we suggested fuzzy controller in order to control the path tracking of electric wheelchair robot and compared the capability of the proposed controller with conventional PID controller.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.1
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• pp.71-77
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• 2008

This paper proposes an Electronic Throttle Body (ETB) model considering a non-linearity of DC motor driver which is integrated with a H-bridge and a gate driver. A propagation delay and reverse recovery time of switching components cause non-linear characteristic of DC motor driver. This non-linearity affects not only the amateur voltage of DC motor, but also entire behaviour and parameters of ETB. In order to analyze the behavior of ETB more accurately, this non-linear effect of DC motor driver is modeled. The developed ETB model is validated by use of the step response and ramp response experiments, and it shows relatively accurate results compared with linear DC motor driver model.

• Transactions of the Korean Society of Automotive Engineers
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• v.25 no.3
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• pp.344-349
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• 2017

Suspension noise from under a passenger car is one of the important factors that impact the perceptual quality for drivers. However, it is difficult to validate this by component level testing in the early stage of development, because suspension noise caused by interaction of the related parts has been found at saleable vehicles late during development or at the manufacturing stage, when many customers have already filed for claims. This study proposed a validation testing under research by the DFSS process that enables reproduction of vehicle level noise by component level testing using a shock absorber with the related parts, such as urethane bumper and top mount. This study also developed a compromised test matrix while analyzing the noise factors through experimental design and analysis of variance to determine what factors can affect noise. Based on this study, we expect that the vehicle level and customer claim can be validated during initial development timing by a more reliable component noise validation test.