• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.16-20
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• 2022

Accurate state estimation is important for autonomous driving. However, the estimation error increases in situations that a lot of longitudinal slip occurs. Therefore, this paper presents a vehicle state estimation method using an Extended Kalman Filter. The filter estimates the states of the host vehicle robust to wheel slip. It utilizes the measurements of the four-wheel rotational speeds, longitudinal acceleration, yaw-rate, and steering wheel angle. Nonlinear measurement model is represented by Ackermann Model. The main advantage of this approach is the accurate estimation of yaw rate due to the measurement of the steering wheel angle. The proposed algorithm is verified in scenarios of autonomous emergency braking (AEB), lane change (LC), lane keeping (LK) using an automated vehicle. The results show that the proposed algorithm guarantees accurate estimation in such scenarios.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.9
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• pp.598-605
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• 2014

In this paper, we suggest a modified slotted ALOHA algorithm for fast tag collection in active RFID system and implement the reader and tag operation using CC2530 chip of Texas Instruments Co. to prove the performance of the proposed algorithm. In the present international standard related with active RFID including ISO/IEC 18000-7 the reader sends sleep command to each tag after successful obtaining tag's information. Meanwhile, in this paper, the tags decide to sleep after checking the second command from the reader resulting in enormously decreased tag collection time. We tested the proposed algorithm with 30 tags over the range of 0-3m and the results showed that the tag collection process was completed in 400msec at average. And 30 tags are collected in one second with 99.7% and the collection rate is 100% in 2m distance between reader and tag. The collection rates are 99.94% and 99.7% for distance 2.5m and 3m, respectively. The average collection rate is 99.91% over all range and it is concluded that the proposed algorithm is enough to apply to real fields.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.6B
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• pp.342-349
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• 2007

Clustering protocol of Wireless sensor networks(WSNs) not only reducing the volume of inter-node communication by the nodes's data aggreation but also extending the nodes's sleep times by cluster head's TDMA-schedule coordination. In order to extend network lifetime of WSNs, we propose ECS algorithm to select cluster-head using three variables. It consists of initial and current energy of nodes, round information and total numbers which have been selected as cluster head until current round.

• Journal of Digital Convergence
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• v.11 no.12
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• pp.447-452
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• 2013

Berkley Media Access Control (B-MAC) protocol is one of the well-known MAC protocols, which uses adaptive preamble sampling scheme and is designed for wireless sensor networks (WSN). In this paper, we are reviewed about security vulnerability in B-MAC, and analyzed the power which is consumed at each stage of B-MAC protocol according to vulnerability of denial of sleep(DoS) and replay problem. From our analytical results, it can be considered the need of power efficient authentication scheme which provides the reliability, efficiency, and security for a general B-MAC communication. This is the case study of possible DoS vulnerability and its power consumption in B-MAC.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.3
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• pp.233-240
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• 2005

In this paper, AC electric vehicle propulsion system(Converter/Inverter) using high power semiconductor, IPM is proposed. 2-Parallel operation of two PWM converter is adopted for increasing capacity of system and the harmonic content is eliminated by the phase shaft between two PWM converters switching phase. VVVF inverter control is used a mixed control algorithm, where the vector control strategy at low speed region and slip-frequency control strategy at high speed region. The proposed propulsion system is verified by experimental results with a 1,350kW converter and 1,100kVA inverter with four 210kW traction motors.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.5
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• pp.15-21
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• 2008

It is generally known that the PRAT(Plysteer Residual Aligning Torque) is one of indicating a performance factors of a tire for assessing the vehicle pull, also tire pattern shape, which means lateral groove angle, is very important tire design factor in relation to the PRAT. Lateral grooves of tire pattern are widely divided into center and shoulder parts. So, this paper has studied the correlation between the PRAT and their lateral groove angles using FEM. Especially, the steady state rolling analysis among tire rolling analysis methods has been used for the PRAT performance study. Firstly, analysis result data have been compared with the experimental data to validate FE analysis for PRAT. Next, the PRAT due to the lateral groove angle about PCR(Passenger Car Radial) tire and SUV tire has been analyzed. The tendency of the PRAT due to the lateral groove angles can be used as a guide line for the tire design in relation to vehicle pull.

• Elastomers and Composites
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• v.49 no.3
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• pp.191-198
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• 2014

We synthesized thermoplastic polyurethane elastomer(TPU) with acid group and nano zinc oxide, and characterized their mechanical properties, thermal properties, contact angle and grip property. The effects of the zinc oxide content and size on the physical property of TPU were investigated. When the nano zinc oxide was introduced in TPU with acid group, it had excellent mechanical properties and grip by formation of hydrogen and ionic bonding. The wet slip of TPU with zinc oxide was increased continuously as ionization rate increased due to increase of hydrophilicity and ionic interaction, and mechanical properties were increased with increasing ionization rate up to 50%.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.184-191
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• 2009

The common requirements of rough terrain mobile robots are long-term operation and high mobility in rough terrain to perform difficult tasks. In rough terrain, excessive wheel slip could cause an increase in the amount of dissipated energy at the contact point between the wheel and ground or, even more seriously, the robot could lose all mobility and become trapped. This paper proposes a traction control algorithm that can be independently implemented to each wheel without requiring extra sensors and devices compared with standard velocity control methods. The proposed traction algorithm is analogous to the stick-slip friction mechanism. The algorithm estimates the slippage of wheels by angular acceleration change, and controls the increase or decrease state of torque applied to wheels Simulations are performed to validate the algorithm. The proposed traction control algorithm yielded a 65.4% reduction of total slip distance and 70.6% reduction of power consumption compared with the standard velocity control method.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2011.04a
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• pp.215-218
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• 2011

An air data acquisition algorithm has been developed for the supersonic flow at the preliminary design stage with pressure data acquisition device composed of major three total pressure sensors and two static pressure sensors. Through this algorithm, Mach number, angle of attack and sideslip angle can be very easily derived with simple interpolation algorithm and predefined data tables. In this preliminary design stage, to verify the developed algorithm, the data tables are constructed with data driven by Taylor Maccoll equation. Furthermore, these data are compared and modified with computational results based on CFD analysis. The present algorithm would be useful to get supersonic air data for the various aerial vehicles and their flight tests.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.103-111
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• 2016

This paper presents an adaptive variable weights tuning system for an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) for lateral stability enhancement. After calculating the control yaw moment needed to stabilize a vehicle with a controller design method, it is distributed into the tire forces generated by ESC and AFS using weighted pseudo-inverse-based control allocation (WPCA). On a low friction road, lateral stability can deteriorate due to high vehicle speed. To cope with the problem, adaptive tuning rules on variable weights of the WPCA are proposed. To check the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, CarSim.