• Journal of Auto-vehicle Safety Association
• /
• v.5 no.2
• /
• pp.17-23
• /
• 2013

This paper describes an algorithm for Advanced Emergency Braking(AEB) with tire-road friction coefficient estimation. The AEB is a system to avoid a collision or mitigate a collision impact by decelerating the car automatically when forward collision is imminent. Typical AEB system is operated by Time-to-collision(TTC), which considers only relative velocity and clearance from control vehicle to preceding vehicle. AEB operation by TTC has a limit that tire-road friction coefficient is not considered. In this paper, Tire-road friction coefficient is also considered to achieve more safe operation of AEB. Interacting Multiple Model method(IMM) is used for Tire-road friction coefficient estimation. The AEB algorithm consists of friction coefficient estimator and upper level controller and lower level controller. The numerical simulation has been conducted to demonstrate the control performance of the proposed AEB algorithm. The simulation study has been conducted with a closed-loop driver-controller-vehicle system using using MATLAB-Simulink software and CarSim Vehicle model.

• Proceedings of the KSRS Conference
• /
• 2002.10a
• /
• pp.235-240
• /
• 2002

This paper shows the desist concept of an ATS(Antenna Tracking Software) to control the movement of the MSC(Multi-Spectral Camera) antenna. The MSC has a two-axes directional X-band antenna for image transmission to KGS(KOMSAT2 Ground Station). The main objective of the ATS is to drive the APM(Antenna Pointing Mechanism) to the required elevation and the azimuth position according to an appropriate TPF(Tracking Parameter File). The ATS is implemented as one task of the SBC(Single Board Computer) software, which uses VxWorks as a real time OS. The ATS has several operational modes such as STANDBY mode, First EL mode, First AZ mode, Normal Operation mode, and so on. The ATS uses two PI controllers fur the velocity and the position loop respectively, to satisfy the requirements specification. In order to show the feasibility of the described design concept, the various simulations and the experiments are performed under specific test configuration.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.1
• /
• pp.146-153
• /
• 1996

A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.2
• /
• pp.151-157
• /
• 2013

This paper proposes an online adaptive fuzzy controller for a wind energy conversion system (WECS) that is intrinsically highly nonlinear plant. In real application, to obtain exact system parameters such as power coefficient, many measuring instruments and off-line implementations are required, which is very difficult to perform. This shortcoming can be avoided by introducing fuzzy system in the controller design in this paper. The proposed adaptive fuzzy control scheme using self-structuring algorithm requires no system parameters to meet control objectives. Even the structure of the fuzzy system is automatically grows on-line, which distinguishes our proposed algorithm over the previously proposed fuzzy control schemes. Combining derivative estimator for wind velocity, the whole closed-loop system is shown to be stable in the sense of Lyapunov.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.24 no.11
• /
• pp.1417-1423
• /
• 2020

This paper proposes a waypoint guidance algorithm for the Autonomous Underwater Vehicle(AUV). The proposed simplified guidance algorithm is presented, which is combined LOS guidance and cross-track guidance for path following. Cross-track error is calculated using the position of the AUV and reference path. LOS guidance and cross-track guidance are appropriately changed according to cross-track error. And the stability of the system has been improved using variable cross-track control gain by cross-track error. Also, in this paper, navigation hardware in-the loop simulation(HILS) is implemented to verify navigation algorithm of AUV that performs combined navigation using inertial navigation device and doppler velocity log(DVL). Finally, we design integrated system HILS (including navigation HILS) for performance verification of guidance algorithm of the autonomous underwater vehicle. By comparing the sea test result with HILS result, the proposed guidance algorithm and HILS configuration were confirmed be correct.

• Nuclear Engineering and Technology
• /
• v.37 no.4
• /
• pp.375-384
• /
• 2005

To investigate the flow-accelerated corrosion (FAC) dependency of carbon steel (A106 Gr. B) and low-alloy steels (1Cr-1/2Mo, 21/4Cr-1Mo) on pH, orifice distance, and material, experiments were carried out. These experiments were performed using a flow velocity of 4 m/sec (partly 9 m/sec) at pH $8.0\~10.0$ in an oxygen-free aqueous solution re-circulated in an Erosion-Corrosion Test Loop at $130^{\circ}\;{\ldots}$ for 500 hours. The weight loss of the carbon steel specimens appeared to be positively dependent on the flow velocity. That of the carbon and low-alloy steel specimens also showed to be distinguishably dependent on the pH. At pH levels of $8.0\~9.5$ it decreased, but increased from 9.5 to 10.0. Utility water chemistry personnel should carefully consider this kind of pH dependency to control the water system pH to mitigate FAC of the piping system material. The weight loss of the specimens located further from the orifice in the distance range of $6.8\~27.2$ mm was shown to be greater, except for 21/4Cr-1Mo, which showed no orifice distance dependency. Low alloy steel specimens exhibited a factor of two times better resistance to FAC than that of the carbon steel. Based on this kind of FAC dependency of the carbon and low-alloy steels on the orifice distance and material, we conclude that it is necessary to alternate the composition of the secondary piping system material of NPPs, using low-alloy steels, such as 21/4Cr-1Mo, particularly when the system piping has to be replaced.

• 유체기계공업학회:학술대회논문집
• /
• 2006.08a
• /
• pp.191-194
• /
• 2006

In this paper, we present a detailed mechanism of drag reduction by dimples and roughness on a sphere by measuring the streamwise velocity above the dimpled and roughened surfaces, respectively. Dimples cause local flow separation and trigger the shear layer instability along the separating shear layer, resulting in generation of large turbulence intensity. With this increased turbulence, the flow reattaches to the sphere surface with high momentum near the wall and overcomes strong adverse pressure gradient formed in the rear sphere surface. As a result, dimples delay main separation and reduce drag significantly. The present study suggests that generation of a separation bubble, i.e. a closed-loop streamline consisting of separation and reattachment, on a body surface is an important flow-control strategy for drag reduction on a bluff body such as the sphere and cylinder. In the case of roughened sphere, the boundary layer flow is directly triggered by roughness and changes to a turbulent flow. Due to this change, the drag significantly decreases. As the Reynolds number further increases, transition to turbulence occurs earlier on the sphere surface. Because of faster growth of turbulent boundary layer by roughness, earlier transition thickens the boundary layer, resulting in earlier separation and drag increase with increasing Reynolds number

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.52 no.4
• /
• pp.189-197
• /
• 2003

The problem of designing a parallel feedforward compensator (PFC) is considered for a class of non-square linear systems such that the closed-loop system is strictly passive. If a given square system has (vector) relative degree one and is weakly minimum phase, the system can be rendered passive by a state feedback. However, when the system states are not always measurable and the given output is considered, passivation (i.e. rendering passive) of a non-minimum phase system or a system with high relative degree cannot be achieved by any other methodologies except by using a PFC. To passivate a non-square system we first determine a squaring gain matrix and design a PFC such that the composite system has relative degree one and is minimum phase. Then the system is rendered strictly passvie by a static output feedback law. Necessary and sufficient conditions for the existence of the PFC and the squaring gain matrix are given by the static output feedback formulation, which enables to utilize linear matrix inequality (LMI). As an application of the scheme, an alternative way of replacing the role of velocity measurements is provided for the PD-control law of a convey-crane system.

• Journal of Advanced Navigation Technology
• /
• v.15 no.1
• /
• pp.32-38
• /
• 2011

In this paper, code and carrier tracking error which resulted from spoofing signal was analyzed by simulation. For a start, the types of spoofing signals and methods were classified. For the simulation, search spoofing method is assumed because a perfect position and velocity are not generally informed to spoofing device. In most cases, the tracking error is increased but a complete deception does not happen because of the inherent anti-spoofing characteristics of the GPS signal.

• Journal of the Korean Institute of Gas
• /
• v.5 no.1
• /
• pp.7-14
• /
• 2001

In this work, the chemical composition of the exhaust gas from domestic gas boiler has been analysed in the point of thermodynamics and CO sensor has been characterized. We proposed that the combustion condition can be estimated by the exhaust gas composition, i.e., the excess air ratio and combustion temperature can be calculated simply by the measurement of the $O_{2}$ fraction and $H_{2}/CO$ in the exhaust gas. By analyse the on site situation domestic boiler, the excess air ratio is about $55\~110\%$. Therefore, the CO may be produced in domestic gas boiler by luminous(yellow) flames rapidly lose heat by radiation, turbulent flames may be partially quenched by the action of steep velocity gradients, and flames burning very close to a cold wall may be partial1y quenched by heat conductivity to the wall. The output voltage of CO sensor is lineally depend on the CO and $H_{2}$concentration. And the exhaust CO from boiler can be reduced by closed loop control with CO sensor