Optimal Control of Semi-Active Suspension for Agricultural Tractors Using Linear Quadratic Gaussian Control.

In this study, a semi-active suspension based on a hydro-pneumatic mechanism was designed to minimize the ride vibration using a suspension control algorithm. The performance of the algorithm was critical for controlling the characteristics of the target tractor. A linear-quadratic-Gaussian (LQG) optimal control algorithm was designed as a semi-active suspension control algorithm.

Development of a Sliding-Mode-Control-Based Path-Tracking Algorithm with Model-Free Adaptive Feedback Action for Autonomous Vehicles.

This paper presents a sliding mode control (SMC)-based path-tracking algorithm for autonomous vehicles by considering model-free adaptive feedback actions. In autonomous vehicles, safe path tracking requires adaptive and robust control algorithms because driving environment and vehicle conditions vary in real time. In this study, the SMC was adopted as a robust control method to adjust the switching gain, taking into account the sliding surface and unknown uncertainty to make the control error zero.

Design of Dust-Filtering Algorithms for LiDAR Sensors Using Intensity and Range Information in Off-Road Vehicles.

Although the LiDAR sensor provides high-resolution point cloud data, its performance degrades when exposed to dust environments, which may cause a failure in perception for robotics applications. To address this issue, our study designed an intensity-based filter that can remove dust particles from LiDAR data in two steps. In the first step, it identifies potential points that are likely to be dust by using intensity information.

Development of Integrative Methodologies for Effective Excavation Progress Monitoring.

Excavation is one of the primary projects in the construction industry. Introducing various technologies for full automation of the excavation can be a solution to improve sensing and productivity that are the ongoing issues in this area. This paper covers three aspects of effective excavation progress monitoring that include excavation volume estimation, occlusion area detection, and 5D mapping.