• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.6
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• pp.285-292
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• 2021

Autonomous vehicles are divided into an upper controller that calculates control value through cognitive judgment and a lower controller that appropriately transmits its control value to an actuator. Here, the longitudinal control in a lower controller has a problem as the road slopes due to the property of the Acceleration sensor to output the acceleration as the slope of the device. Therefore, in this paper, a sigmoid function is proposed to determine the slope to compensate for this problem. Through the experiment, Checked performance by comparing the existing table model with the proposed model.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1300-1303
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• 1996

In this paper a typical problem is examined that a light, general aviation airplane, such as Cessna or Navion, in gliding turn flight shows helical-dive phenomenon when pilots try to stop the descent by using elevator only. It is known from pilot's experience that in a certain flight trim it is impossible to recover from helical-dive by using elevator only. From this study it is shown that helical-dive phenomenon is involved with longitudinal/lateral dynamics coupling to airplane's aerodynamics. Also this phenomenon consists of three parts of flight dynamics; first of all, fast longitudinal motion occurs, then is followed by a little slow lateral motion, and finally logitudinal/lateral coupled motion is fully developed.

• 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.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.5 no.3
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• pp.266-272
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• 2004

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters such as mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed in this paper is stable by the Lyapunov function candidate. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.14 no.2
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• pp.31-35
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• 2000

An nonlinear observer-based longitudinal control law for vehicles is presented in this paper. It is assumed that for vehicle i knows only the distance between vehicle i and the preceding vehicle, i-1. An nonlinear state observer for vehicle I is developed to estimate the velocity and acceleration of the preceding vehicle, i-1. The communication of the position, velocity, and acceleration information is not used in the proposed method. It will be shown by mathematical analysis that the longitudinal control of vehicle can be implemented without an communication of the informations. It will be proven that the observation errors of the nonlinear states converge to zero asymptotically. To show the effectiveness of the proposed method, the simulation results are presented for the longitudinal control of the vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.632-638
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• 2010

This paper presents an optimum tire force distribution method for 6WD/6WS(6-Wheel-Drive and 6-Wheel-Steering) electric vehicles. Using an independent steering and driving system, the performance of 6WD/6WS vehicles can be improved, as, for example, with respect to their maneuverability under low speed and their stability at high speed. Therefore, there should be a control strategy for finding the optimum tire forces that satisfy the driver's command and minimize energy consumption. From the driver's commands (steering angle and accelerator/brake pedal stroke), the desired yaw moment, the desired lateral force, and the desired longitudinal force were obtained. These three values were distributed to each wheel as the torque and the steering angle, based on the optimum tire force distribution method. The optimum tire force distribution method finds the longitudinal/lateral tire forces of each wheel that minimize the cost function, which is the sum of the normalized tire forces. Next, the longitudinal/lateral tire forces of each wheel are converted into the reference torque inputs and the steering wheel angle inputs. The proposed method was tested through a simulation, and its effectiveness was verified.

• Journal of Auto-vehicle Safety Association
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• v.5 no.1
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• pp.56-61
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• 2013

This paper presents a development of the Advanced Emergency Braking (AEB) Algorithm for passenger vehicles. The AEB is the system to slow the vehicle and mitigate the severity of an impact when a rear end collision probability is increased. To mitigate a rear end collision, the AEB comprises of a millimeter wave radar sensor, CCD camera and vehicle parameters of which are processed to judge the likelihood of a collision occurring. The main controller of the AEB algorithm is composed of the two control stage: upper and lower level controller. By using the collected obstacle information, the upper level controller of the main controller decides the control mode based not only on parametric division, but also on physical collision capability. The lower level controller determines warning level and braking level to maintain the longitudinal safety. To decide the braking level, Last Ponit To Brake and Steer (LPTB/LPTS) are compared with current driving statues. To demonstrate the control performance of the proposed AEBS algorithm's, closed-loop simulation of the AEBS was conducted by using the Matlab simlink and CarSim software.

• Journal of Auto-vehicle Safety Association
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• v.11 no.2
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• pp.11-16
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• 2019

This paper suggests an algorithm for detecting fault of longitudinal controller in autonomous vehicles. Guaranteeing safety in fault situation is essential because electronic devices in vehicle are dependent each other. Several methods like alarm to driver, ceding control to driver, and emergency stop are considered to cope with fault. This research investigates the fault monitoring process in fail-safe system, for controller which is responsible for accelerating and decelerating control in vehicle. Residual is computed using desired acceleration control command and actual acceleration, and detection of its abnormal increase leads to the decision that system has fault. Before computing residual for controller, health monitoring process of acceleration signal is performed using hardware and analytic redundancy. In fault monitoring process for controller, a process model which is fitted using driving data is considered to improve the performance. This algorithm is simulated via MATLAB tool to verify performance.

• Current Optics and Photonics
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• v.7 no.2
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• pp.127-135
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• 2023

Radially polarized beams with the ability to generate a sub-wavelength sized spot in a longitudinal field provides significant applications in microscopic imaging, optical tweezers, lithography and so on. However, this excellent property can also be achieved based on conventional circularly polarized beams. Here, we demonstrate its ability to create a strong longitudinal field by comparing the tight focusing characteristics of fractional-order vortex modulated radial polarized and left-handed circular polarized Bessel-Gauss beams. Additionally, the possibility of generating arbitrary fractional-order vortex modulated Bessel-Gauss beams with a strong longitudinal field is demonstrated. A special modulation method of left-handed circularly polarized Bessel-Gauss beams modulated by a fractional-order vortex is adopted creatively and a series of regulation laws are obtained. Specifically, the fractional-order phase modulation parameter n can accurately control the number of optical lobes. The ratio of the pupil radius to the incident beam waist β₁ can control the radius of the optical lobes. The first-order Bessel function amplitude modulation parameter β₂ can control the number of layers of optical lobes. This work not only adds a new modulation method for optical micromanipulation and optical communication, but also enriches the research on fractional vortex beams which has very important academic significance.

• Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
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• 2003.11a
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• pp.209-216
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• 2003

There are two kinds of controllers in a continuous process system. One is for tension control of a moving web and the other for lateral motion control. The inter-connection between tension and lateral behaivior of web has not yet been considered in the analysis of web dynamics and designing of control stragagies. But the effect of tension variation on the lateral motion of a moving web is observed in the most manufacturing systems. In this paper, experimental studies was carried out to find out the inter-correlation between tension and lateral motion of a web using a 3-span web transport system which consists of two displacement type guiders. As a result, it was found that there are typical operating conditions that tension and lateral motion are correlated each other.