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To analyze the driving behavior is important for design a comfortable automatic driving. So far, conventional PID models was widely used to steer the vehicle. It had been assumed that the driver looks at the constant point in conventional PID model. However, all drivers have experiences that the gazing distance changes according to the situations. The PID gain of the steering model are modified depending...
The purpose of this research is to offer constructive algorithm for estimator search in one network model under state and measurements attacks. The model is nonstationary descriptor system including difference equations for node state variables and algebraic equations for measurements. State variables and measurements are considered as random vectors. We use information cost criterion in order to...
In this paper, road roughness model for the right and the left tracks are constructed by utilizing two methods. In the first method, from time-domain measurements the empirical auto and cross-power spectral densities of the left and the right tracks are estimated by using the Welch method. Next, the road roughness is decomposed into three stochastically independent random processes and the linear-shape...
Recently, welfare vehicles are widely used by patients and elders indoors, and many welfare vehicles with free casters drive indoors. However, the vehicle with free casters may not be able to move well on gravel or dirty road as seen in rural yard. In order to expand driving area for welfare vehicles, it is necessary to apply a new mechanism on the rough road. To design compact welfare vehicles for...
Optical flow is referred to as velocity distribution of object image, and we have used spatio-temporal differentiation method to obtain optical flow. It is possible to obtain optical flow fast by the method, but the high velocity may induce large systematic errors. So, we introduced the compensation method for reducing the magnitude of velocity which is applied to spatio-temporal differentiation....
In this paper, a fuzzy compensation (FC) technique along with the on-line system identification of two actuator systems of a one-wheel robot. Recursive least square (RLS) algorithm is used to identify the system with FIR-typed moving average filters for both a gimbal and a body system. To compensate for uncertainties in the modeling process, a fuzzy compensator is designed. Experimental studies of...
This paper proposes mapping and path planning algorithms for an unknown environment using a communication graph of an unlocalized robotic swarm system. Unlike the previous efforts that used the absolute position information of all the robots, in the proposed algorithms, the unknown environment is described as the communication connectivity graph achieved via a distributed consensus algorithm. Thus,...
In 2015 an outbreak of Middle East Respiratory Syndrome (MERS) has occurred in South Korea, which has been known to be the second biggest outbreak of MERS so far. In this paper we study an estimation of the basic reproduction number of the coronavirus (CoV) of MERS based on the reported data from the MERS spread in South Korea. To this end we employ a mathematical model described by a set of ordinary...
An engagement dynamic model is set up for the miniature missile guidance solution under the constraints of field-of-view angle and terminal impact angle. The impact-angle constraint guidance law design is converted into an optimal control problem subjected to terminal constraints. Then a look angle guidance solution without line-of-sight rate is detailed to satisfy the requirement on field-of-view...
In this paper, we present road boundary estimation based on laser scanner by using histogram model. For raw laser scanner data, we apply histogram model, which means that the histogram of the number of laser point is applied from a center of ego-vehicle. After histogram is made, we estimate the boundary point and select point of road boundary. We estimate selected points to clothoid model and update...
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