• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.11
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• pp.1311-1318
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• 2012

Vehicle systems are frequently exposed to parameter uncertainties such as vehicle speed and height of center of gravity. If a controller is designed to be robust against these parameter uncertainties, the rollover prevention capability can be considerably enhanced. In this study, robust controllers $H_2$ and $H_{\infty}$ are designed by using LMI for vehicle rollover prevention control in the discrete time domain. Some simulations using CarSim, a reliable simulation tool, are performed to validate the proposed controllers.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1132-1137
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• 2007

This paper describes a Unified Chassis Control (UCC) strategy to prevent vehicle rollover by integrating individual modular chassis control systems such as Electronic Stability Control (ESC) and Continuous Damping Control (CDC). The UCC threshold is determined from a rollover index computed by estimated roll angle, roll rate and measured lateral acceleration. A direct yaw moment control method is used to design the ESC based on a 2-D bicycle model. Similarly, the CDC is designed based on a 2-D roll model using a direct roll moment control method. The performance of the proposed UCC scheme is investigated and compared to that of modular chassis controllers through computer simulations using a validated vehicle simulator. It is shown that the proposed the UCC can lead to improvements in vehicle stability and efficient actuation of chassis control systems.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.11
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• pp.1429-1436
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• 2013

This study presents an approach for designing a vehicle rollover prevention controller using differential game theory and multi-level programming. The rollover prevention problem can be modeled as a non-cooperative zero-sum two-player differential game. A controller as an equilibrium solution of the differential game guarantees the worst-case performance against every possible steering input. To obtain an equilibrium solution to the differential game with a small amount of computational effort, a multi-level programming approach with a relaxation procedure is used. To cope with the loss of maneuverability caused by the active suspension, an electronic stability program (ESP) is adopted. Through simulations, the proposed method is shown to be effective in obtaining an equilibrium solution of the differential game.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.06a
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• pp.31-32
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• 2022

In Early vessels did not provide an exact equation for preventig the capsizing vessels. On land, many vehicle rollover prevention technologies using the steady-state Conrning Equations were developed, which showed better performance than the exiting method at sea. For better performance, It is proposed to improve safety mangement when turning vessel using the Ackerman geometic model-based Cornering Equations in this paper.

• Magazine of the Korean Society of Hazard Mitigation
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• v.10 no.2
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• pp.35-41
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• 2010

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.1
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• pp.20-28
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• 2014

This paper presents static output feedback LQ and $H_{\infty}$ controllers for rollover prevention. Linear quadratic static output feedback controllers have been proposed for rollover prevention in such a way to minimize the lateral acceleration and the roll angle. Rollover prevention capability can be enhanced if $H_{\infty}$ controller is designed. To avoid full-state measurement for feedback requirement or sensitiveness of an observer to nonlinear model error, static output feedback is adopted. To design static output feedback controllers, Kosut's method is adopted because it is simple to calculate. Differential braking and active anti-roll bar are adopted as actuators that generate yaw and roll moments, respectively. The proposed method is shown to be effective in preventing rollover through the simulations on nonlinear multi-body dynamic simulation software, CarSim.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.965-973
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• 2011

Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.

• Journal of Auto-vehicle Safety Association
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• v.5 no.1
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• pp.50-55
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• 2013

When it comes to commercial vehicles, their unique characteristics - center of gravity, size, weight distribution - make them particularly vulnerable to rollover. On top of that, conventional heavy vehicle brake exhibits longer actuation delays caused in part by long air lines from brake pedal to tires. This paper describes rollover prevention algorithm that copes with the characteristics of commercial vehicles. In regard of compensating for high actuating delay, predicted rollover index with short preview time has been designed. Moreover, predicted rollover index with longer preview time has been calculated by using road curvature information based on environment information. When rollover index becomes larger than specific threshold value, desired braking force is calculated in order to decrease the index. At the same time, braking force is distributed to each tire to make yaw rate track desired value.

• Journal of fish pathology
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• v.11 no.1
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• pp.35-41
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• 1998

We investigated the optimal concentration of lidocaine and MS-222 (tricaine methanesulfonate) for the exfoliation and recovery of abalone, Haliotis discus hannai in different shell lengths, for the purpose of preventing the damage of shell and muscle. However, most anaesthetics applied at present have a strong toxic effect on abalone. MS-222 is the only anaesthetic which is approved for use in food fish by FDA, and lidocaine belongs to a group of anaesthetic which are used in human medicine. These chemicals were evaluated as anaesthetic for different shell size of abalone. The response varied for different shell size groups (shell length 1, 2 and 3 cm). In this study, we suggested the result that the exfoliation and recovery time by lidocaine and MS-222 in shell length 1 cm group were more shorter than in 3 cm group. In shell length 1 cm group, the optimal concentrations of lidocaine and MS-222 for anaesthetic were 200 ppm and 100 ppm, respectively. Lidocaine and MS-222 are preferable to other conventional abalone anaesthetics since these are cheap, safe and convenient to use.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.551-555
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• 2012

최근 10년간 해양사고를 분석한 결과 어선은 전체 해양사고의 70퍼센트를 차지하고 있으며, 상선의 경우 충돌 및 좌초 등 운항과실에 의한 발생빈도가 높은 반면에 어선은 조업 중 및 기관구역 사고의 발생빈도가 높다. 또한 해양사고의 총톤수별 분석 결과 총톤수 100톤 미만의 소형선박이 72퍼센트를 차지하였다. 이에 이 글은 다음 7가지를 고려한 어선의 해양사고 방지방안을 제시하고자 한다. 1)충돌사고, 2)어선의 구조 및 설비에 따른 사고, 3) 어선의 전복사고, 4)어선의 기관, 화재, 폭발사고, 5)혼승선박의 비상대응능력, 6)어선의 출항통제기준, 7)동해안의 특성.