• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.9
• /
• pp.803-811
• /
• 2002

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.531-536
• /
• 2003

In this paper, a redesigned guidance and control system for a lunar lander is presented. In past studies, the authors developed a trajectory and attitude control system which achieves the vertical soft landing on the lunar surface. It is confirmed that the system has a good tracking ability to a predefined profile and good robustness against a thruster failure mode where a partial failure of clustered engines was assumed. However, under the previous control laws, the landing point tends to be shifted, in response to the system parameter values, from a target point. Also, an unbalanced moment due to a thruster failure mode was not considered in the simulation. Therefore, in this study, the downrange control is added to the system to enable the vehicle to land at a pre-assigned target point accurately. Furthermore, inhibiting the effect of the unbalanced moment is attempted thorough redesigning the attitude control system. A numerical simulation was performed to confirm the ability of the proposed system with regard to the above problems. Moreover, in the past simulations, a low initial altitude was assumed as an initial condition: in this study, however, the performance of the proposed system is examined over the whole trajectory from an initial altitude of 10 [km] to the lunar surface.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.19 no.2
• /
• pp.139-148
• /
• 2014

State-of-charge (SOC) is one of the significant indicators to estimate the driving range of the electric vehicle and to control the alternator of the conventional engine vehicles as well. Therefore its precise estimation is crucial not only for utilizing the energy effectively but also preventing critical situations happening to the power train and lengthening the lifetime of the battery. However, lead-acid battery is time-variant, highly nonlinear, and the hysteresis phenomenon causes large errors in estimation SOC of the battery especially under the frequent discharge/charge. This paper proposes a novel estimation technique for the SOC of the Lead-Acid battery by using a well-known Extended Kalman Filter (EKF) and an electrical equivalent circuit model of the Lead-Acid battery considering diffusion and hysteresis characteristics. The diffusion is considered by the reconstruction of the open circuit voltage decay depending on the rest time and the hysteresis effect is modeled by calculating the normalized integration of the charge throughput during the partial cycle. The validity of the proposed algorithm is verified through the experiments.

• Smart Structures and Systems
• /
• v.21 no.5
• /
• pp.669-675
• /
• 2018

Under braking forces of a freight train, there are great longitudinal structural responses of a large freight railway cable-stayed bridge. To alleviate such adverse reactions, viscous dampers are required, whose parametric selection is one of important and arduous researches. Based on the longitudinal dynamics vehicle model, responses of a cable-stayed bridge are investigated under various cases. It shows that there is a notable effect of initial braking speeds and locations of a freight train on the structural responses. Under the most unfavorable braking condition, the parameter sensitivity analyses of viscous dampers are systematically performed. Meanwhile, a mixing method called BPNN-NSGA-II, combining the Back Propagation neural network (BPNN) and Non-Dominated Sorting Genetic Algorithm With Elitist Strategy (NSGA-II), is employed to optimize parameters of viscous dampers. The result shows that: 1. the relationships between the parameters of viscous dampers and the key longitudinal responses of the bridge are high nonlinear, which are completely different from each other; 2. the longitudinal displacement of the bridge main girder significantly decreases by the optimized viscous dampers.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1994.10a
• /
• pp.472-477
• /
• 1994

The lockup clutch is embeded on torque converter of automatic transmission to prevent the efficiency deterioration of torque converter in high speed. For improving fuel consumption rate, it is desirable to engage the lockup clutch earlier. But, it results in degrading shift quality, due to the transient torque. The transient clutch pressure which affects the shifting quality, should be controlled properly. In this study, to solve the problem, it is analysed the hydraulic circuit of lockup system including line pressure regulating circuit, established the nonlinear model, and designed the PID controller. The line pressure is supplied to the lockup clutch through the lockup control valve by switching the lockup solenoid valve on. In order to control the transient pressure actively, it is needed to control the lockup solenoid valve by closed loop control. The lockup solenoid valve is 2-way on-off valve, and is adequate for PWM control. To reduce the pressure chattering, the carrier frequency is increased. Target pressure profile is computed from optimized velocity difference profile throuth dynamic equation of vehicle system.

• Aerospace Engineering and Technology
• /
• v.7 no.1
• /
• pp.151-160
• /
• 2008

In this paper, the analysis results of synthetic resonance characteristics are described for the electrohydraulic thrust vector control actuation system. The synthetic resonance is induced by integration of position servo actuation system on the flexible launch vehicle mounting structure. The new resonance mode is synthesized due to composition of hydraulic resonance for electrohydraulic position servo system with inertia load condition and structural resonance for flexible mounting structure. This synthetic resonance can make stability of control system worse by feedback and amplification of control system. The exact nonlinear analysis model of this phenomenon is developed to predict and design a control algorithm for improvement characteristics. The DPF (Dynamic Pressure Feedback) control algorithm has been designed and has excellent resonance suppression capability.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.26 no.2
• /
• pp.157-164
• /
• 2016

The paper studies a comparison analysis of semi-active control strategies for a Macpherson strut type suspension system consisting of MR(magneto-rheological) damper. As a first step, in order to formulate governing, a dynamic full model of a Macpherson strut is developed considering the kinematics. The nonlinear equation of motion of the strut is then linearized around the equilibrium point. A new adaptive moving sliding model controller is developed for fast response of the system. A newly proposed adaptive moving sliding mode control strategy is then compared with conventional sliding mode controller and skyhook controller. The comparison is made for two different types of road inputs; bump and random road profiles showing superior vibration control performance in time and frequency domains.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.38 no.12
• /
• pp.1217-1222
• /
• 2010

This paper describes the Model-Based Development(MBD) process behind the flight control software of a close-range unmanned aerial vehicle(KUS-9). An integrated development environment was created using a commercial tool(MATLAB $Simulink^{(R)}$), which was utilized to design models for linear/nonlinear simulation, flight control law, operational logic and HILS(Hardware In the Loop Simulation) system. Software requirements were validated through flight simulations and peer reviews during the design process, whereas the models were verified through the application of a DO-178B verification tool. The integrity of automatically generated C code was verified by using a separate S/W testing tool. The finished software product was embedded on two different types of hardware and real-time operating system(uC/OS-II, VxWorks) to perform HILS and flight tests. The key findings of this study are that MBD Technology enables the development of a reusable and an extensible software product and auto-code generation technology allows the production of a highly reliable flight control software under a compressed time schedule.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.21 no.11
• /
• pp.843-850
• /
• 2020

The purpose of this study is to evaluate the structural risk and weakness of a railway tank car through nonlinear collision analysis according to overseas collision safety standards. The goal is to propose a crash safety design guideline for railway tank cars for transporting dangerous goods in Korea. We analyzed the buffer impact test procedure of railway freight cars prescribed in EN 12663-2 and the tank puncture test criteria prescribed in 49CFR179. A nonlinear finite element model according to each standard was modeled using LS-DYNA, a commercial finite element analysis solver. As a result of the buffing impact test simulation, it was predicted that plastic deformation would not occur at a collision speed of 6 km/h or less. However, plastic deformation was detected at the rear of the center sill and at the tank center supporting the structure at a collision speed of 8 km/h or more. As a result of a head-on test simulation of tank puncture, the outer tank shell was destroyed at the corner of the tank head when 4% of the kinetic energy of the impacter was absorbed. The tank shell was destroyed in the area of contact with the impacter in the test mode analysis of tank shell puncture when the kinetic energy of the moving vehicle was reduced by 30%. Therefore, the simulation results of the puncture test show that fracture at the tank shell and leakage of the internal material is expected. Consequently, protection and structural design reinforcement are required on railway tank cars in Korea.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.14 no.2
• /
• pp.317-324
• /
• 1994

The circulation of Lake Paldang is analysed numerically as an ultimate goal to develop a vehicle predicting the dispersion and concentration of pollutants and sediment flowed into the lake. In finite difference formulation of 2-D depth averaged governing equations. Abbott's 3-time level scheme is employed and for nonlinear terms time centering iteration technique in time and space is used. Model parameters for shear stresses and eddy diffusivities are determined through measured data in and near the lake. Predicted velocities for steady flow are shown to be close to the measured velocities and further improved by taking into account of wind effect. This indicates that the wind effect is needed for proper circulation analysis and it calls for the inclusion of the wind effect. Simulated results of unsteady flow caused by flood inflows and release through Paldang dam are found to characterize the flow features quite well as expected. This implies that the developed model can be used as a tool to analysing the circulation in the lake.