• Journal of Auto-vehicle Safety Association
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• v.12 no.2
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• pp.27-32
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• 2020

This paper presents steering system requirements to ensure the stabilized lateral control of autonomous driving vehicles. The two main objectives of a lateral controller in autonomous vehicles are maintenance of vehicle stability and tracking of the desired path. Even if the desired steering angle is immediately determined by the upper level controller, the overall controller performance is greatly influenced by the specification of steering system actuators. Since one of the major inescapable traits that affects controller performance is the time delay of the steering actuator, our work is mainly focused on finding adequate parameters of high level control algorithm to compensate these response characteristics and guarantee vehicle stability. Actual vehicle steering angle response was obtained with Electric Power Steering (EPS) actuator test subject to various longitudinal velocity. Steering input and output response analysis was performed via MATLAB system identification toolbox. The use of system identification is advantageous since the transfer function of the system is conveniently obtained compared with methods that require actual mathematical modeling of the system. Simulation results of full vehicle model suggest that the obtained tuning parameter yields reduced oscillation and lateral error compared with other cases, thus enhancing path tracking performance.

• Parasites, Hosts and Diseases
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• v.54 no.3
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• pp.375-380
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• 2016

Angiostrongyliasis is difficult to be diagnosed for the reason that no ideal method can be used. Serologic tests require specific equipment and are not always available in poverty-stricken zone and are time-consuming. A lateral flow immunoassay (LFIA) may be useful for angiostrongyliasis control. We established a LFIA for the diagnosis of angiostrongyliasis based on 2 monoclonal antibodies (mAbs) against antigens of Angiostrongylus cantonensis adults. The sensitivity and specificity were 91.1% and 100% in LFIA, while those of commercial ELISA kit was 97.8% and 86.3%, respectively. Youden index was 0.91 in LFIA and 0.84 in commercial ELISA kit. LFIA showed detection limit of 1 ng/ml of A. cantonensis ES antigens. This LFIA was simple, rapid, highly sensitive and specific, which opened an alternative approach for the diagnosis of human angiostrongyliasis.

• Journal of Oral Medicine and Pain
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• v.12 no.1
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• pp.85-93
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• 1987

The author studied on the effect of TMJ sounds to the patterns and ranges of mandibular border movements in horizontal plane with Pantograph (Denar Corp.). For study, 19 patients with TMJ sounds only and 16 students with no TM disorder were selected and classified as experimental group and control group, respectively. The subject performed right lateral movement, left lateral movement, and forward movement. Each movement were performed 3 times and the movement trajectory obtained with mechanical pantograph were observed for accordance of centric relation position, reproducibility and/or restriction of lateral movement paths, deviation of protrusive path in anterior table, restriction of protrusive condylar movement path in posterior horizontal table, presence of Fisher angle in posterior vertical table. And pantographic reproducibility Index (PRI) were obtained with pantronic by the same movement method as in the mechanical pantograph record. The obtained results were as follows : 1. In experimental group, PRI scores in those who show accordance of centric relation position were 14.4, and were 26.53 in those who did not show accordance of centric relation position. However, the PRI scores of the two subgroups show no statistically significant difference in control group. Therefore, in experimental group, the capability of accordance of centric relation position affected largely the PRI scores than in control group. 2. Deviation of protrusive path was opposite to the affected side in experimental group, and was left side in control group. 3. Restriction side of condylar movement in protrusion was ipsilateral to the deviation side in experimental group, but in control group, restriction side was not related to the deviation side. 4. PRI scores in experimental group were 23.2 (moderate dysfunction category), and in control group, were 17.8 (slight dysfunction category). The PRI scores in control group, however, implies that the evaluation of temporomandibular disorders by the PRI scores only may be unreasonable.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.4
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• pp.180-189
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• 2009

Currently, most automobile companies are interested in research on intelligent autonomous vehicle. They are mainly focused on driver's intelligent assistant and driver replacement. In order to develop an autonomous vehicle, lateral and longitudinal control is necessary. This paper presents a lateral and longitudinal control system for autonomous vehicle that has only mono-vision camera. For lane detection, we present a new lane detection algorithm using clothoid parabolic road model. The proposed algorithm in compared with three other methods such as virtual line method, gradient method and hough transform method, in terms of lane detection ratio. For adaptive control, we apply a vanishing point estimation to fuzzy control. In order to improve handling and stability of the vehicle, the modeling errors between steering angle and predicted vanishing point are controlled to be minimized. So, we established a fuzzy rule of membership functions of inputs (vanishing point and differential vanishing point) and output (steering angle). For simulation, we developed 1/8 size robot (equipped with mono-vision system) of the actual vehicle and tested it in the athletics track of 400 meter. Through the test, we prove that our proposed method outperforms 98 % in terms of detection rate in normal condition. Compared with virtual line method, gradient method and hough transform method, our method also has good performance in the case of clear, fog and rain weather.

• International Journal of Aeronautical and Space Sciences
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• v.2 no.2
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• pp.95-107
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• 2001

This paper is devoted to the parameter optimization of unmanned aerial vehicle's (UAV) flight control laws. Optimization procedure is based on the ideas of mixed $H_2/H_{\infty}$ control of multi-model plants. By using this approach, some partial $H_2$-terms defining the performance of nominal and parametrically perturbed Flight Control System (FCS) responses to deterministic command signals in stochastic atmosphere as well as $H_{\infty}$-terms defining robustness of the FCS can be incorporated in the composite cost function. Special penalty function imposed on the location of closed-loop system's poles keeps the speed of response and oscillatory properties for both nominal and perturbed FCS in reasonable limits. That is the reason why this procedure may provide reasonable trade-off between the performance and robustness of FCS that are very important especially for UAV. Its practical importance is illustrated by case studies of lateral and longitudinal control of small UAV.

• Proceedings of the Korea Concrete Institute Conference
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• 1998.04b
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• pp.525-530
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• 1998

The objective of this experiment is to observe the elastic and inelastic behaviors of high-rise reinforced concrete frames with nonseimic details. To do this, a building frame designed according to Korean seismic code and detailed in the Korean conventional manner was selected. An 1:12 scale plane frame model was manufactured according law. Reversed lateral load tests and monotonic push-over test were performed under the displacement control. To simulate the earthquake effect, the lateral force distribution was maintained to be an inversed triangular by using whiffle tree. From the tests, story displacements, lateral story forces, local plastic rotations and the relations between inter-story drift versus story shear are obtained. Based on the test results, conclusions on the characteristics of the elastic and behaviors of a high-rise reinforced concrete frame with nonseismic details are drawn.

• Journal of Auto-vehicle Safety Association
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• v.12 no.3
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• pp.13-19
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• 2020

This paper presents steering controller for unintended lane departure avoidance under crosswind using vehicle lateral disturbance estimation. Vehicles exposed to crosswind are more likely to deviate from lane, which can lead to accidents. To prevent this, a lateral disturbance estimator and steering controller for compensating disturbance have been proposed. The disturbance affecting lateral motion of the vehicle is estimated using Kalman filter, which is on the basis of the 2-DOF bicycle model and Electric Power Steering (EPS) module. A sliding mode controller is designed to avoid unintended the lane departure using the estimated disturbance. The controller is based on the 2-DOF bicycle model and the vision-based error dynamic model. A torque controller is used to provide appropriate assist torque to driver. The performance of proposed estimator and controller is evaluated via computer simulation using Matlab/Simulink.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.8
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• pp.1-5
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• 2014

Conoscopic holography, which consists of two circular polarizers and an uniaxial crystal, is incoherent holographic technology for three-dimensional display and non-contact diagnosis. In this paper, we derive the longitudinal and lateral intensities from point-source hologram made by conoscopic holography. Also, the longitudinal and lateral resolutions of conoscopic holography will be obtained from the longitudinal and lateral intensities, respectively, according to Rayleigh criterion.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.10 s.253
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• pp.1276-1283
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• 2006

This study proposes two ESP systems which are designed to enhance the lateral stability of a vehicle. A BESP uses an inner rear wheel braking pressure controller, while a EBESP employs an inner rear wheel and front outer wheel braking pressure controller. The performances of the BESP and EBESP are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability and stability of the vehicle. However EBESP enhances the lateral stability and comfort. A driver model is also developed to control the steer angle input. It shows good performances because the vehicle tracks the desired lane very well.

• Proceedings of the Korean Geotechical Society Conference
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• 2008.10a
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• pp.1157-1166
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• 2008

Critical surcharge value of silt ground polluted with garbage leachate to the dyes $q_{cr}=3.73c_u$ and ultimate bearing capacity value $q_{ult}=8.60c_u$. Lateral flow pressure at polluted silt ground was about $P_{max}$/3 and depth of maximum lateral flow pressure was found at that of H/3 of soft layer thickness(H). Expression of polluted silt ground of fracture baseline at stability control charge by Matsuo Kawamura is $S_v=3.56\exp\{0.51(Y_m/S_v)\}$.