• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1145-1153
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• 2011

EMB (Electro-Mechanical Brake) systems can provide improved braking and stability functions such as ABS, EBD, TCS, ESC, BA, ACC, etc. For the implementation of the EMB systems, reliable and robust fault detection algorithm is required. In this study, a model-based fault detection algorithm is designed based on the analytical redundancy method in order to monitor current and force sensor faults in EMB systems. A state-space model for the EMB is derived including faulty signals. The fault diagnosis algorithm is constructed using the analytical redundancy method. Observer is designed for the EMB and the fault detectability condition is examined based on the residual analysis. The performance of the proposed model-based fault detection algorithm is verified in simulations. The effectiveness of the proposed algorithm is demonstrated in various faulty cases.

• International Journal of Automotive Technology
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• v.6 no.5
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• pp.475-481
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• 2005

This paper deals with the algorithm of estimating the longitudinal speed of a braking vehicle using measurements from an accelerometer and a standard wheel speed sensor. We evolve speed estimation algorithms of increasing complexity and accuracy on the basis of experimental tests. A final speed estimation algorithm based on a Kalman filtering is developed to reduce measurement noise of the wheel speed sensor, error of the tire radius, and accelerometer bias. This developed algorithm can give peak errors of less than 3 percent even when the accelerometer signal is significantly biased.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.6
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• pp.234-240
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• 2002

This paper treats the problem of estimating the longitudinal velocity of a braking vehicle using measurements from an accelerometer and wheel speed data from standard anti-lock braking wheel speed sensors. We develop and experimentally test three velocity estimation algorithms of increasing complexity. The algorithm that works the best gives peak errors of less than 3 percent even when the accelerometer signal is significantly biased.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1139-1145
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• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• Steel and Composite Structures
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• v.19 no.1
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• pp.75-92
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• 2015

In this paper, optimization of cylindrical shells under external pressure to minimize its weight has been studied. Buckling equations are based on standard of ABS underwater vehicles. Dimension and type of circumferential stiffeners, and its distance from each other are assumed as variables of optimization problem. Considering the extent of these variables, genetic algorithms have been used for optimization. To study the effect of hydrostatic pressure on the shell and its fabrication according to the existing standards, geometrical and construction as well as stress and buckling constraints have been used in optimization algorithm and also penalty functions are applied to eliminate weak model. Finally, the best model which has the minimum weight considering the applied pressure has been presented.

• The Korean Journal of Rheology
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• v.11 no.1
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• pp.18-27
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• 1999

Predicting the deformation behaviors of sheets in thermoforming processes has been a daunting challenge due to the strong nonlinearities arising from very large deformations, mold-polymer contact condition and hyperelasticity constitutive equations. Nonlinear numerical analysis is always required to face this challenge especially for realistic processing conditions. In this study a 3-D algorithm and the membrane approximation are developed for thermoforming processes. The constitutive equation is expressed in terms of the 2nd Piola-Kirchhoff stress tensor and the Cauchy-Green deformation tensor. The 2-term Mooney-Rivlin model is used for the material model equation. The algorithm is established by the finite element formulation employing the total Lagrangian coordinate. The deformation behavior and the stress distribution results of 3-D algorithm with various point boundary conditions are compared to those of the membrane approximation algorithm. Also, the slip boundary condition and the no-slip boundary condition are applied for the systems that have molds. Finally, the effect of sheet temperatures on the final thickness distribution is investigated for the ABS material.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.1
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• pp.14-19
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• 2012

On-line and real-time information of the longitudinal velocity is the essential factor for the Advanced Vehicle Control Systems such as ABS(Anti-lock Brake System), TCS(Traction Control System), ESC (Electronic Stability Control) etc. However, the longitudinal velocity cannot be easily measured or calculated during braking maneuvering. A new algorithm is presented for the estimation of the longitudinal velocity with the measurements of the vehicle longitudinal/lateral acceleration, steering angle and yaw rate. The algorithm is designed utilizing the Extended Kalman Filter based on the 3 degree of freedom vehicle model. In order to compensate for the biased sensor signal on the inclined road, the inclined angle is also estimated. The performance of the proposed estimation algorithm is evaluated in field tests.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.3 s.246
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• pp.295-301
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• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS systems. In order to achieve the superior braking performance through the wheel-slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a robust wheel slip controller is developed based on the adaptive sliding mode control method and an optimal target slip assignment algorithm. An adaptive law is formulated to estimate the longitudinal braking force in real-time. The wheel slip controller is designed using the Lyapunov stability theory and considering the error bounds in estimating the braking force and the brake disk-pad friction coefficient. The target slip assignment algorithm is developed for the maximum braking force and searches the optimal target slip value based on the estimated braking force. The performance of the proposed wheel-slip control system is verified In simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.3
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• pp.281-287
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• 2011

This paper explains the basic theory and a new development of for the residual strength prediction program of the asymmetrically damaged ships, being capable of searching moment-curvature relations considering neutral axis mobility. It is noted that moment plane and neutral axis plane should be separately defined for asymmetric sections. The validity of the new program is verified by comparing moment-curvature curves of 1/3 scaled frigate model where the results from new algorithm well coincide with experimental and nonlinear FEA results for intact condition and with nonlinear FEA results for damaged condition. Applicability of new algorithm is also verified by applying VLCC model to the newly developed program. It is proved that reduction of residual strengths is visually presented using the new algorithm when damage specifications of ABS, DNV and IMO are applied. It is concluded that the new algorithm shows very good performance to produce moment-curvature relations with neutral axis mobility on the asymmetrically damaged ships. It is expected that the new program based on the developed algorithm can largely reduce design period of FE modeling and increase user conveniences.

• 전자공학회논문지 IE
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• v.45 no.4
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• pp.33-41
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• 2008

Telematics system includes the "vehicle remote diagnosis technology", "driving pattern analysis technology" which are commercially attractive in the real life. To implement those technologies, we need vehicle signal interface, vehicle diagnosis interface, accelerometer/yaw-rate sensor interface, GPS data processing, driving pattern analysis, and CDMA data processing technique. Based on these technologies, we analyze the error existence by diagnosing the EMS(Engine Management System), TMS(Transmission Management System), ABS/TCS, A/BAG in real time. And we are checking about a driving pattern and management of the vehicle, which are sent to the information center through the wireless communication. These database results will make the efficient vehicle and driver management possible. We show the effectiveness of our results by field driving test after completing the H/W & S/W design and implementation for vehicle remote diagnosis and driving pattern analysis.