• Structural Engineering and Mechanics
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• v.11 no.2
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• pp.133-149
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• 2001

A high-fidelity model of a tracked vehicle traversing a flexible ground terrain with a varying profile is presented here. In this work, we employed a recursive formulation to model the track subsystem. This method yields a minimal set of coordinates and hence, computationally more efficient than conventional approaches. Also, in the vehicle subsystem, the undercarriage frame is assumed to be connected to the chassis by a revolute joint and a spring-damper unit. This increase in system mobility makes the model more realistic. To capture the vehicle-ground interaction, a Winkler-type foundation with springs-dampers is used. Simulation runs of the integrated tracked vehicle system for vibrations for four varying ground profiles are provided.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.1
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• pp.51-57
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• 2011

Information of the lateral velocity and the sideslip angle in a vehicle is very useful in many active vehicle safety applications such as yaw stability control and rollover prevention. Because cost-effective sensors to measure the lateral velocity and the sideslip angle are not available, reliable algorithms to estimation them are necessary. In this paper, a sliding mode observer is designed to estimate the lateral velocity. The side slip angle is estimated using the recursive least square with the disturbance observer and the pseudo integral. The estimated parameters from the combined estimation method are updated recursively to minimize the discrepancy between the model and the physical plant, and any possible effects caused by disturbances. The performance of the proposed monitoring system is evaluated through simulations and experiments.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.10
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• pp.1338-1346
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• 1995

In this paper, we suggest the implementation of a DGPS system using two low cost commercial C/A code GPS modules and modems and its efficient operational techniques to provide DGPS service which guarantees the position accuracy of better than 10 meters for more users. The proposed DGPS system can be implemented easil at low cost because it needs a GPS module and a modem for each reference station and user. The reference station makes plans of the receiving schedule from the satellite set at each period and then provides the correction data for various satellite sets in a period. The main contribution of this paper is that users can utilize the correction data continuously and efficiently through the recursive least squares lattice filtering method. Experimental results show the position accuracy of better than 10 meters using the suggested DGPS system in almost real time.

• Communications for Statistical Applications and Methods
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• v.22 no.6
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• pp.665-674
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• 2015

Lack of a general matrix formula hampers implementation of the semi-partial correlation, also known as part correlation, to the higher-order coefficient. This is because the higher-order semi-partial correlation calculation using a recursive formula requires an enormous number of recursive calculations to obtain the correlation coefficients. To resolve this difficulty, we derive a general matrix formula of the semi-partial correlation for fast computation. The semi-partial correlations are then implemented on an R package ppcor along with the partial correlation. Owing to the general matrix formulas, users can readily calculate the coefficients of both partial and semi-partial correlations without computational burden. The package ppcor further provides users with the level of the statistical significance with its test statistic.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.3
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• pp.11-17
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• 1998

In this study, a procedure is presented for the dynamic analysis of a multibody tracked vehicle system. the planner tracked vehicle model used in this investigation is assumed to consist of two kinematically decoupled subsystems, i.e., the chassis subsys- tem and track sub-system. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. The recursive kinematic and dynamic formulation module of the vehicle will be developed.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.374-377
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• 1991

In this paper, it is proposed to improve the robustness of the Fast Recursive Least Squares(FRLS) algolithms with the exponential weighting, which is an important class of algolithms for adaptive filtering. It is well known that the FRLS algolithm is numerically unstable with exponential weighting factor ${\lambda}<1$. However, introducing some gains into this algolithms, numerical errors can be reduced. An accurately choice of the gains then leads to a numerically stable FRLS algolithm with a complexity of 8m multiplications and we shown it by computer simulations.

• Journal of applied mathematics & informatics
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• v.27 no.1_2
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• pp.275-289
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• 2009

In this paper, we investigate the global behavior of the difference equation $x_{n+1}\;=\;\frac{a+bx_{n-1}}{A+Bx^k_n}$, n=0,1,..., where a,b,$B\;{\in}\;[0,\infty)$ and A, $k\;{\in}\;(0,\infty)$ with non-negative initial conditions.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.1 no.1
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• pp.123-132
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• 2002

In this study, the static and dynamic characteristics of endmilling process was modelled and the analytic realization of chatter mechanism was discussed. In this regard, We have discussed on the comparative assessment of recursive time series modeling algorithms that can represent the machining process and detect the abnormal machining behaviors in precision endmilling operation. In this study, simulation and experimental work were performed to show the malfunctional behaviors. For this purpose, new recursive least square method (RLSM) were adopted for the on-line system identification and monitoring of a machining process, we can apply these new algorithms in real process for detection of abnormal chatter. Also, The stability lobe of chatter was analysed by varying parameter of cutting dynamices in regenerative chatter mechanics.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.6 no.1
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• pp.34-44
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• 1997

This study presents the recursive constraint bounding(RCB) method to reduce the cycle time in internal cylindrical plunge grinding process. This method can cope with process noise as well as modeling bias. The main features of RCB method are its utilization of measurements at the end of each cycle and its use of monotonicity analysis for determining the extremes of bias and noise. This method is investigated in simulation and evaluated by experiment in internal cylindrical plunge grinding operation. The results from simulation and experiment show that it is effective in reducing cycle time in spite of modeling uncertainty in the forms of process noise and modeling bias.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.20 no.4
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• pp.1-6
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• 2012

The accurate information of mass properties is required for the precise control of the spacecraft. The mass properties, mass and inertia, are changeable by some reasons such as consumption of propellant, deployment of solar panel, sloshing, environmental effect, etc. The gyro-based attitude data including noise and bias reduces the control accuracy so it needs to be compensated for improvement. This paper introduces a real-time inertia estimation method for the attitude determination of STSAT-3, Korea Science Technology Satellite. In this method we first filter the gyro noise with the Extended Kalman Filter(EKF), and then estimate the moment of inertia by using the filtered data from the EKF based on the Recursive Least Square(RLS).