• Journal of the Institute of Convergence Signal Processing
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• v.4 no.2
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• pp.53-60
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• 2003

For the high center of gravity vehicles the roll stiffness of their suspensions is arranged to be very high because such vehicles are in some danger of tipping over in cornering. In some cases, the effective roll stiffness is determined significantly by the compliance of the tires because of the very stiff anti-roll members incorporated in the suspension. In such cases, it is clear that the shock absorbers which may be effective in damping heave oscillations have little effect on roll oscillations. Therefore, wind gusts and roadway unevenness may cause large swaying oscillations. In this paper, to improve the stability for the high center of gravity vehicles a control scheme to augment the damping of the roll mode is proposed. As the feedback signals needed to provide damping of the roll motion, the front or rear steer angles or both are chosen because they are very related to roll motion. The scheme is effective from moderate to high speeds and stabilizes the roll mode without introducing disturbance moments from roadway unevenness as shock absorbers do. The validity on the proposed method is verified through the computer simulation.

• Journal of Biosystems Engineering
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• v.20 no.3
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• pp.226-235
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• 1995

An unmanned speed sprayer was developed using a remote control and an inductive cable guidance systems to protect operators and environment from hazardous pesticides. The sprayer consists of a remote control system, an induction system, obstacle detectors, control actuators and an one-chip microcomputer. The sprayer can be operated by the induction guidance and/or remote control. The following summarize characteristics of the developed speed sprayer. 1) Both the remote control and the induction guidance operation were possible with the developed speed sprayer. 2) Sixteen functions of the forwarding, backing, halting, steering, 3-way valve for nozzles and fan operating etc. were utilized on the remote control system. 3) It was concluded that the DTMF method, having less transmitting error, performed better than the FSK method for an agricultural remote controller. A radio station may be necessary. 4) The digital inductive guidance system, consisting of five low-impedance detection coils and a window comparator circuit, performed better than the analog detecting system, guiding route using inductive voltage differential from tow detection coils.

• Current Research on Agriculture and Life Sciences
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• v.9
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• pp.11-20
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• 1991

This study was performed to avoid the chemical spraying environment condition during spraying operation for operator's safety through the development of a remote controlled speed sprayer. The summerized results of this study are as followings. 1. The developed VHF electric wave remote controlling system which could operate sixteen type of operation conditions with the circuit channels of 234 was highly adaptable to speed sprayer for the remote control. 2. The commerical wireless telephones adapted the DTMF type electric wave remote control system need not the tranceiver. 3. The wireless electric wave remote control system combined with one-chip microcomputer, which are low cost with compact in size, could be adaptable to the remote control of the speed sprayer for the wheel steering and speed control system, and to the remote control chemical application system.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.199-209
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• 2015

This paper presents a model predictive control (MPC) approach to control the steering angle in an autonomous vehicle. In designing a highly automated driving control algorithm, one of the research issues is to cope with probable risky situations for enhancement of safety. While human drivers maneuver the vehicle, they determine the appropriate steering angle and acceleration based on the predictable trajectories of surrounding vehicles. Likewise, it is required that the automated driving control algorithm should determine the desired steering angle and acceleration with the consideration of not only the current states of surrounding vehicles but also their predictable behaviors. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, we define a safe driving envelope with the consideration of probable risky behaviors among the predicted probable behaviors of surrounding vehicles over a finite prediction horizon. For the control of the vehicle while satisfying the safe driving envelope and system constraints over a finite prediction horizon, a MPC approach is used in this research. At each time step, MPC based controller computes the desired steering angle to keep the subject vehicle in the safe driving envelope over a finite prediction horizon. Simulation and experimental tests show the effectiveness of the proposed algorithm.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2025-2027
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• 2003

미끄럼방지 제동장치는 차량의 급제동 시 바퀴의 장김을 방지하여, 바퀴의 슬립을 최적으로 유지 시킴으로써 제동거리를 단축시키고, 운전자가 차량 조향성을 유지할 수 있게 만드는 차량 안정장치이다. 이 장치는 비행기의 착륙거리를 줄이기 위해 개발된 이래로, 철도 및 차량 등에도 널리 적용되고 있으며, 국내에서도 이미 승용차를 위주로 양산되고 있는 추세이다. 이러한 미끄럼방지 제동 장치는 공압 브레이크 장치를 사용하는 대형차량 분야에서는 아직 국내에서 적용된 사례가 없었으나, 지난 3 년간의 연구개발의 성과로 대형 버스에 적용 가능한 미끄럼방지 제동장치의 전자제어기가 개발 완료되었으며, 국제 규격을 바탕으로 국내 현실에 적합한 미끄럼방지 제동장치 장착 대형차량의 시험 규격을 정하여 이 규격에 의거 제동시험을 실시하고 개발 제어기의 성능을 평가하였다. 각 제동 시험은 $\mu$-Jump 제동시험 및 Split-$\mu$ 제동시험 등의 직진 주행 중 급제동시험, 급제동 중 차선변경 시험, 장애물 회피 제동시험 등을 포괄하며 국제적인 규격을 기준으로 정한 독자 규격을 만족하였다. 본 논문에서는 공압 브레이크를 장착한 대형차량의 미끄럼방지 제동장치의 제동성능평가 시험방법을 소개하고, 이 방법에 의해 성능평가 시스템 및 측정 시스템을 구성하여, 개발 전자제어기의 우수성을 확인하였으며, 그 측정결과의 일부를 제시하였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.8
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• pp.1611-1618
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• 2017

Recently, the development for USV-related technologies are actively growing up in military domain. The USV (unmanned surface vehicle) conducts various missions for national defense at maritime environment. For succeed the missions, the USV essentially needs an automatic and remote control platform which includes propulsion system, steering system, control system, power system and so on. In this paper, we developed an integrated control system for the platform equipments and verified effectiveness of the developed system. To do this, we designed a system architecture and implemented a main control system that processes and controls platform equipments by received command. Also we developed components of designed architecture such as engine control device, water-jet control device and power control device. For test and verify the developed system, we designed and made a test-bed of engine and water-jet with related parts, and proceeded a basin test for verifying the developed system based on the test-bed.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.29 no.6
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• pp.449-456
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• 2018

Herein, several multibeam forming methods that can be applied to microwave wireless power transmission are presented. Because the conventional multibeam forming methods do not consider an active element pattern(AEP), an intended beam shape will contain a steering angle error when applied to an actual system. To solve this problem, a method of considering the average of the AEP and a method of considering all the AEPs by the modified Fourier series method have been proposed. We confirmed that the proposed method reduces the error with the intended beam shape in the multibeam formation. In addition, for the side lobe level(SLL) and null control, a method of multibeam forming by applying the superposition principle to the Dolph-Tschebyscheff method is proposed. We also confirmed that SLL control can be simultaneously achieved with the multibeam formation.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.28 no.7
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• pp.571-575
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• 2017

This paper presents a C-band bi-directional T/R chipset in $0.13{\mu}m$ TSMC CMOS technology for phased array antenna. The T/R chipset, which is a key component of phased array antenna, consists of a 6 bit phase shifter, a 6 bit step attenuator, and three bi-directional gain amplifiers. The phase shifter is controlled up to $354^{\circ}$ with $5.625^{\circ}$ phase step for precise beam steering. The step attenuator is also controlled up to 31.5 dB with 0.5 dB attenuation step for the side lobe level rejection. The LDO(Low Drop Output) regulator for stable 1.2 V DC power and the SPI(Serial Peripheral Interface) for digital control are integrated in the chipset. The chip size is $2.5{\times}1.5mm^2$ including pads.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.4
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• pp.68-80
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• 2016

This study proposes the traffic prediction and optimal traffic control system based on cell transmission model and genetic algorithm in cloud environment. The proposed prediction and control system consists of four parts. 1) Data preprocessing module detects and imputes the corrupted data and missing data points. 2) Data-driven traffic prediction module predicts the future traffic state using Multi-level K-Nearest Neighbor (MK-NN) Algorithm with stored historical data in SQL database. 3) Online traffic simulation module simulates the future traffic state in various situations including accident, road work, and extreme weather condition with predicted traffic data by MK-NN. 4) Optimal road control module produces the control strategy for large road network with cell transmission model and genetic algorithm. The results show that proposed system can effectively reduce the Vehicle Hours Traveled upto 60%.

• Journal of Drive and Control
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• v.14 no.2
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• pp.16-22
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• 2017

This paper presents the algorithm of an adaptive model-free-control-based steering control for multi-axle all-terrain cranes for which the recursive least squares with forgetting are applied. To optimally control the actual system in the real world, the linear or nonlinear mathematical model of the system should be given for the determination of the optimal control inputs; however, it is difficult to derive the mathematical model due to the actual system's complexity and nonlinearity. To address this problem, the proposed adaptive model-free controller is used to control the steering angle of a multi-axle crane. The proposed model-free control algorithm uses only the input and output signals of the system to determine the optimal inputs. The recursive least-squares algorithm identifies first-order systems. The uncertainty between the identified system and the actual system was estimated based on the disturbance observer. The proposed control algorithm was used for the steering control of a multi-axle crane, where only the steering input and the desired yaw rate were employed, to track the reference path. The controller and performance evaluations were constructed and conducted in the Matlab/Simulink environment. The evaluation results show that the proposed adaptive model-free-control-based steering-control algorithm produces a sound path-tracking performance.