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자율주행 버스의 종방향 제어를 위한 질량 및 종 경사 추정기 개발
조아라,정용환,임형호,이경수,Jo, Ara,Jeong, Yonghwan,Lim, Hyungho,Yi, Kyongsu 한국자동차안전학회 2020 자동차안전학회지 Vol.12 No.2
This paper presents a vehicle mass and road grade estimator for developing an automated bus. To consider the dynamic characteristics of a bus varying with the number of passengers, the longitudinal controller needs the estimation of the vehicle's mass and road grade in real-time and utilizes the information to adjust the control gains. Discrete Kalman filter is applied to estimate the time-varying road grade, and the recursive least squares algorithm is adopted to account for the constant mass estimation. After being implemented in MATLAB/Simulink, the estimators are evaluated with the dynamic model and experimental data of the target bus. The proposed estimators will be applied to complement the algorithm of the longitudinal controller and proceed with algorithm verification.
자율주행 버스를 위한 모델 독립식 종 방향 가속도 제어기의 동특성 연구
조아라(Ara Jo),임형호(Hyungho Lim),정용환(Yonghwan Jeong),채흥석(Heongseok Chae),이경수(Kyongsu Yi) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
This paper presents a longitudinal acceleration controller using a model-free control scheme, so-called model-free cruise controller(MFCC), for the automated bus. The MFCC could control throttle and brake without vehicle information by estimating the vehicle parameters using an adaptation algorithm. The adaptation algorithm of the vehicle parameters was modified to consider the driving condition and dynamic characteristics. Adaptation gain for the algorithm was adjusted in order to improve the acceleration tracking performance. Dynamic analysis model of the bus was developed using Carsim, and then the proposed algorithm was evaluated using Carsim and MATLAB/Simulink. The performance of the MFCC controller and the dynamic characteristics of the bus model were investigated. The results will be utilized to complement the adaptation algorithm and the switching algorithm of the controller.
지중배전케이블의 허용전류용량 증대를 위한 적정 회선배치 및 관로 이격거리 분석
조아라(Ara Jo),문원식(Won-Sik Moon),이승재(Seung-Jae Lee),김재철(Jae-Chul Kim) 한국조명·전기설비학회 2016 조명·전기설비학회논문지 Vol.30 No.2
Power demand has continuously increased with technological and economical development. The load density is also growing in the center of downtown area. In particular, underground facilities have been increased on the purpose of the prevention of urban disasters and pedestrian environment improvement. Based on this situation, the underground space in urban surroundings has gradually decreased because of the limited space. The ampacity of buried cables is affected by various factors such as cable size, soil thermal resistance, burial depth and filling material. The thermal capacity of the facilities is determined by the absorb heat surrounding the cable and the soil. The maximum operating temperature of cable is the highest temperature when the insulator of cable is not damaged in the case of high enough temperature. In this paper, the most effective cabling configuration is suggested using the duct array adjustment. It was also considered to increase the number of cable line. This underground distribution system was simulated by using ETAP(Electrical Transient Analysis Program).
백화점내 리테일 엔터테인먼트가 의류쇼핑가치에 미치는 영향
조아라(Ara Jo),이미리(Miri Lee),김은영(Eun Young Kim) 충북대학교 생활과학연구소 2010 생활과학연구논총 Vol.14 No.2
This study is to examine the effect of retail entertainment on shopping value for apparel by focusing on coffee shop and restaurant at the department stores. A self-administered questionnaire was developed based on literature review. A total of 387 usable questionnaires were obtained from consumers who are aged 18 to 40. Retail entertainments consisted of four factors: Service, Store atmosphere, Promotion, and Merchandise assortment. There were significant differences in the four factors of retail entertainments between coffee shop and restaurant. Specifically, promotion had positive effect on utilitarian shopping value, while store atmosphere and merchandise assortment had positive effect on hedonic shopping value for apparel at the department stores with coffee shops. Also, promotion and merchandise assortment had positive effect on utilitarian and hedonic shopping values for apparel at the department stores with restaurants. A managerial implication was discussed for developing entertainment retailing strategy.