• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.7-13
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• 2022

This paper presents a yaw moment control based on estimated mass for manual-shift commercial vehicles. In yaw moment controller, parameter uncertantiy of vehicle mass is important because the desired yaw moment depends on vehicle parameter. However, in the case of commercial vehicle, the weight of the loaded vehicle is more than twice as much as compared to the unloaded vehicle. The proposed algorithm estimates the vehicle mass by using the longitudinal dynamic and gear shifting characteristics. The estimated mass is used to adaptively modify the vehicle parameters. In addition, this paper estimates the chamber pressure of a pneumatic brake and generates the target yaw moment through on/off valve control. MATLAB/Simulink and Trucksim were performed under sine with dwell test. The results demonstrate that the proposed algorithm improves the lateral and rollover stability.

• The Bulletin of The Korean Astronomical Society
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• v.36 no.1
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• pp.51.1-51.1
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• 2011

Red dusty Active Galactic Nuclei (AGNs) are suspected to mid-stage between ULIRG and AGN phase. As well as, red AGNs are suspected that they have more than 50% of whole AGN population. In order to understand the character of red AGNs, Black Hole (BH) mass of red AGN is a key property and can not measured by existing method such as reverberation mapping and single epoch method. Thus we still don't know their character and properties in clearly. To estimate properties of red AGNs without the effect of dust-obscuration, we have obtained Near InfraRed (NIR) spectra of 31 reverberation mapped AGNs and 49 Palomar-Green(PG) Quasi-Stellar Object (QSO) by using the infrared camera (IRC) for AKARI with unique wavelength range $2.5-5.0{\mu}m$. From this spectra, we measured the FWHM and luminosity of brackett ${\alpha}$ and ${\beta}$ at 4.0, 2.6 micron meter for deriving new BH mass estimators based on the properties of Brackett line emission.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.4
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• pp.730-738
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• 2007

As well known when the linear machine is operated between two points repeatedly under positioning control, there are various positioning error at the moment of zero speed owing to the non-linear disturbance like as unpredictable friction force. To remove this positioning error, a simple least order disturbance observer is introduced and is actually implemented in this study. Due to this simple algorithm the over-all machine system can be modified to simple arbitrary given one-mass load without any disturbance. So, the total construction process for positioning control system is much easier than old one. Moreover, to generate a proper effective position profile with the limited actual machine force, a very powerful on-line mass identification algorithm using the load force estimator is presented. In the proposed mass identification algorithm, the exact load mass can be calculated during only one moving stage under a normally generated position profile. All presented algorithm is verified with experimental result with commercial linear servo machine system.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.648-651
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• 1996

Samsung Electronics has developed high performance velocity and position controller for induction motors, and succeeded in mass production for the first time in Korea. Dynamic performance and final control accuracy of the controller are equivalent to those of AC servo motor controller. At present, we adopted the controller as spindle motor drive for Samsung CNC systems, and expect its wide use in industry as general purpose velocity and position controller for induction motor.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.10a
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• pp.11-14
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• 1996

Samsung Electronics has developed high performance velocity and position controller for induction motors and succeeded in mass production for first time in Lorea. Dynamic performance and final control accuracy of the controller are equivalent to those of AC servo motor controller. At present we adopted the controller as spindle motor drive for Samsung CNC systems and expect its wide use in industry as general purpose velocity and position controller for induction motor.

• Journal of KSNVE
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• v.5 no.3
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• pp.385-394
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• 1995

Recently, since robot manipulator becomes faster and lighter, its link is no longer regarded as rigid body, and robot controller which only controls robot position cannot reduce vibration of the flexible link. Therefore vibration control is needed in robot manipulator control in addition to position control. In the case that tip mass changes when robot manipulator in working, it is clear that the efficiency of the vibration/position controller designed for the fixed system goes down. In this paper, the system with time varying parameters, adaptive control theory is adopted which estimates parameters changed by the variation of the tip mass and re-calculates the gain of the controller. Validify of the proposed adaptive controller and capability of the estimator are evaluated by computer simulations and experiments. Comparison results of the optimal controller for the fixed system and proposed adaptive controller and carried out.

• Journal of Digital Contents Society
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• v.19 no.4
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• pp.815-819
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• 2018

In this study, we investigate balance of a biped robot applying Foot Placement Estimator (FPE) in simulation. FPE method is used to determine a stable foot location for balancing the biped robot when an initial orientation of the robot body is statically unstable. In this case, the 6-DOF biped robot with point foot is modelled considering contact and friction between foot and the ground. For simulation, the mass of the robot is 1 kg assuming the center of robot mass (COM) is located at the center of the robot body. The height from the ground to the COM is 1 m. Robot balance is achieved applying stable foot locations calculated from FPE method using linear and angular velocities, and the height of the COM. The initially unstable angular postures, $5^{\circ}$ and $-5^{\circ}$, of the robot body are simulated. Simulation results confirm that the FPE method provides stable balance of the robot for all given unstable initial conditions.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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• pp.944-957
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstopping control method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.6
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• pp.673-679
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• 2012

Vehicle rollover is a serious kind of accident, particularly for sport utility vehicles, and its occurrence can be minimized by utilizing active rollover prevention systems. The performance of these protection systems is very sensitive to vehicle inertial parameters such as the vehicle's mass and center of mass. These parameters vary with the number of passengers and in different load situations. In this paper, a unified method for vehicle mass estimation is proposed that takes into account the available driving conditions. Three estimation algorithms are developed based on longitudinal, lateral, and vertical vehicle motion, respectively. Then, the three algorithms are combined to extract information on the vehicle's mass during arbitrary vehicle maneuvering. The performance of the proposed vehicle mass estimation method is demonstrated through real-time experiments.

• Journal of The Korean Astronomical Society
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• v.55 no.2
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• pp.37-57
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• 2022

Using I-band images of 35 nearby (z < 0.1) type 1 active galactic nuclei (AGNs) obtained with Hubble Space Telescope, selected from the 70-month Swift-BAT X-ray source catalog, we investigate the photometric properties of the host galaxies. With a careful treatment of the point-spread function (PSF) model and imaging decomposition, we robustly measure the I-band brightness and the effective radius of bulges in our sample. Along with black hole (BH) mass estimates from single-epoch spectroscopic data, we present the relation between BH mass and I-band bulge luminosity (M_BH-M_I,bul relation) of our sample AGNs. We find that our sample lies offset from the M_BH-M_I,bul relation of inactive galaxies by 0.4 dex, i.e., at a given bulge luminosity, the BH mass of our sample is systematically smaller than that of inactive galaxies. We also demonstrate that the zero point offset in the M_BH-M_I,bul relation with respect to inactive galaxies is correlated with the Eddington ratio. Based on the Kormendy relation, we find that the mean surface brightness of ellipticals and classical bulges in our sample is comparable to that of normal galaxies, revealing that bulge brightness is not enhanced in our sample. As a result, we conclude that the deviation in the M_BH-M_I,bul relation from inactive galaxies is possibly because the scaling factor in the virial BH mass estimator depends on the Eddington ratio.