고성능 한계 핸들링을 위한 인휠모터 토크벡터링 제어

학위논문(박사) -- 서울대학교대학원 : 공과대학 기계항공공학부, 2021.8. 이경수.지난 10년 동안 차량 자세 제어시스템(ESC)은 치명적인 충돌을 방지하기 위해 많은 상용 차량에서 비약적으로 발전되고 개발되고 있다. 특히, 차량 자세 제어 시스템은 악천후로 인한 미끄러운 도로와 같은 위험한 도로에서 불안정한 차량 주행 조건에서 사고를 피하는데 큰 역할을 한다. 그러나, 최근의 경우, 고성능 차량 또는 스포츠카 등의 경우 제동제어의 빈번한 개입은 운전의 즐거움을 감소시키는 불만도 존재한다. 최근 차량의 전동화와 함께, 자량 자세 제어시스템의 작동 영역인 한계 주행 핸들링 조건에서 각 휠의 독립적인 구동을 적용 할 수 있는 시스템 중 하나인 인휠 모터 시스템을 사용하여 차량의 종, 횡방향 특성을 제어 가능하게 하는 토크 벡터링 제어기술에 대한 연구가 활발하다. 따라서, 본 연구에서는 차량의 선회 한계 핸들링 조건에서 안정성과 주행 다이나믹 성능을 향상시킬 수 있는 토크 벡터링 제어기를 제안하고자 한다. 먼저, 차량의 비선형 주행 구간인 한계 핸들링 조건에 대한 자동 드리프트 제어 알고리즘을 제안한다. 이 알고리즘을 이용하여 토크벡터링제어에 차량의 다이나믹한 주행모드에 대한 통찰력을 제공하고 미끄러운 도로에서 차량의 높은 슬립 각도의 안정성 제어를 제공 할 수 있다. 또한, 인휠 모터 시스템을 차량의 전륜에 2개 모터로 사용하여 차량 고유의 특성인 차량 언더스티어 구배를 직접적 제어를 수행하여, 차량의 핸들링 성능을 향상시켰다. 제어기의 채터링 효과를 줄이고 빠른 응답을 얻기 위해 새로운 과도 매개 변수가 이용하여 수식화하여 구성하였으며, 차량의 정상 상태 및 과도 특성 향상을 검증하기 위하여 ISO 기반 시뮬레이션 및 차량 실험을 수행하였다. 마지막으로 요 제어기와 횡 슬립 각도 제어기로 구성된 MASMC (Multiple Adaptive Sliding Mode Control) 접근 방식을 사용하는 4륜 모터 시스템을 사용한 동적 토크벡터링 제어를 수행하였다. 높은 비선형 특성을 가진 차량의 전후륜 타이어의 코너링 강성은 적응제어기법을 이용하여 예측하였다. 따라서, 안전모드와 다이나믹 모드를 구성하여, 운전자로 하여금 원하는 주행의 조건에 맞게 선택할 수 있는 알고리즘을 구현하였다. 이 MASMC 알고리즘은 향후 전동화 차량에 주행안정성 향상과 다이나믹한 주행의 즐거움을 주는 기술로써, 전차량 시뮬레이션을 이용하여 검증하였다.In the last ten decades, vehicle stability control systems have been dramatically developed and adapted in many commercial vehicles to avoid fatal crashes. Significantly, ESC (Electric Stability Control) system can help escape the accident from unstable driving conditions with dangerous roads such as slippery roads due to inclement weather conditions. However, for the high performed vehicle, frequent intervention from ESC reduces the pleasure of fun-to-drive. Recently, the development of traction control technologies has been taking place with that of the electrification of vehicles. The IWMs (In-Wheel Motor system), which is one of the systems that can apply independent drive of each wheel, for the limit handling characteristics, which are the operation areas of the ESC, is introduced for the control that enables the lateral characteristics of the vehicle dynamics. Firstly, the automated drift control algorithm can be proposed for the nonlinear limit handling condition of vehicles. This approach can give an insight of fun-to-drive mode to TV (Torque Vector) control scheme, but also the stability control of high sideslip angle of the vehicle on slippery roads. Secondly, using IWMs system with front two motors, understeer gradient of vehicle, which is the unique characteristics of vehicle can be used for the proposed control strategy. A new transient parameter is formulated to be acquired rapid response of controller and reducing chattering effects. Simulation and vehicle tests are conducted for validation of TV control algorithm with steady-state and transient ISO-based tests. Finally, dynamic torque vectoring control with a four-wheel motor system with Multiple Adaptive Sliding Mode Control (MASMC) approach, which is composed of a yaw rate controller and sideslip angle controller, is introduced. Highly nonlinear characteristics, cornering stiffnesses of front and rear tires are estimated by adaptation law with measuring data. Consequently, there are two types of driving modes, the safety mode and the dynamic mode. MASMC algorithm can be found and validated by simulation in torque vectoring technology to improve the handling performance of fully electric vehicles.Chapter 1 Introduction 7 1.1. Background and Motivation 7 1.2. Literature review 11 1.3. Thesis Objectives 15 1.4. Thesis Outline 15 Chapter 2 Vehicle dynamic control at limit handling 17 2.1. Vehicle Model and Analysis 17 2.1.1. Lateral dynamics of vehicle 17 2.1.2. Longitudinal dynamics of vehicle 20 2.2. Tire Model 24 2.3. Analysis of vehicle drift for fun-to-drive 28 2.4. Designing A Controller for Automated Drift 34 2.4.1. Lateral controller 35 2.4.2. Longitudinal Controller 37 2.4.3. Stability Analysis 39 2.4.4. Validation with simulation and test 40 Chapter 3 Torque Vectoring Control with Front Two Motor In-Wheel Vehicles 47 3.1. Dynamic Torque Vectoring Control 48 3.1.1. In-wheel motor system (IWMs) 48 3.1.2. Dynamic system modeling 49 3.1.3. Designing controller 53 3.2. Validation with Simulation and Experiment 59 3.2.1. Simulation 59 3.2.2. Vehicle Experiment 64 Chapter 4 Dynamic handling control for Four-wheel Drive In-Wheel platform 75 4.1. Vehicle System Modeling 76 4.2. Motion Control based on MASMC 78 4.2.1. Yaw motion controller for the inner ASMC 80 4.2.2. Sideslip angle controller for the outer ASMC 84 4.3. Optimal Torque Distribution (OTD) 88 4.3.1. Constraints of dynamics 88 4.3.2. Optimal torque distribution law 90 4.4. Validation with Simulation 91 4.4.1. Simulation setup 91 4.4.2. Simulation results 92 Chapter 5 Conclusion and Future works 104 5.1 Conclusion 104 5.2 Future works 106 Bibliography 108 Abstract in Korean 114박

Schwannoma Mimicking Laryngocele

A schwannoma of the larynx is a rare benign tumor that usually presents as a submucosal mass in the pyriform sinus and the aryepiglottic space, and this type of schwannoma constitutes a diagnostic and therapeutic challenge for otolaryngologists. We present here two cases of supraglottic schwannomas that were misdiagnosed as laryngoceles. Both were excised through a lateral thyrotomy approach without a tracheostomy, and the laryngeal function was successfully maintained. We discuss the clinical and imaging findings and the management of this rare neoplasm with focusing on the differential diagnosis of laryngeal schwannoma and laryngocele. We also review the relevant medical literature

Non-coding RNAs shuttled via exosomes reshape the hypoxic tumor microenvironment

Exosomes are small extracellular vesicles secreted by almost all the cells. Molecular cargos of exosomes can partially reflect the characteristics of originating cells. Exosome-mediated cell-to-cell interactions in the microenvironment are critical in cancer progression. Hypoxia, a key pro-cancerous feature of the tumor microenvironment, alters the releasing and contents of exosomes. A growing body of evidence shows that hypoxia induces more aggressive phenotypes in cancer. Of note, non-coding RNAs shuttled in hypoxic tumor-derived exosomes have been demonstrated as fundamental molecules in regulating cancer biology and remodeling tumor microenvironment. Furthermore, these hypoxic tumor-derived exosomal non-coding RNAs can be detected in the body fluids, serving as promising diagnostic and prognostic biomarkers. The current review discusses changes in cancer behaviors regulated by exosomes-secreted non-coding RNAs under hypoxic conditions.This work was supported by the grant from Samsung Research Funding Center of Samsung Electronics (project number: SPFC-MA1501-51). WW is a recipient of China Scholarship Council scholarship (CSC number: 201908260030)

Benserazide, the first allosteric inhibitor of Coxsackievirus B3 3C protease

AbstractCoxsackievirus B3 is the main cause of human viral myocarditis and cardiomyopathy. Virally encoded Coxsackievirus 3C protease (3Cpro) plays an essential role in viral proliferation. Here, benserazide was discovered as a novel inhibitor from a drug library screen targeting Coxsackievirus 3Cpro using a FRET-based enzyme assay. Benserazide, whose chemical structure has no electrophilic functional groups, was characterized as a non-competitive inhibitor by enzyme kinetic studies. A molecular docking study with benserazide and its analogs indicated that a novel putative allosteric binding site was involved. Specifically, a 2,3,4-trihydroxybenzyl moiety was determined to be a key pharmacophore for the enzyme’s inhibitory activity. We suggest that the putative allosteric binding site may be a novel target for future therapeutic strategies

HERMES: Efficient Ring Packing using MLWE Ciphertexts and Application to Transciphering

Most of the current fully homomorphic encryption (FHE) schemes are based on either the learning-with-errors (LWE) problem or on its ring variant (RLWE) for storing plaintexts. During the homomorphic computation of FHE schemes, RLWE formats provide high throughput when considering several messages, and LWE formats provide a low latency when there are only a few messages. Efficient conversion can bridge the advantages of each format. However, converting LWE formats into RLWE format, which is called ring packing, has been a challenging problem. We propose an efficient solution for ring packing for FHE. The main improvement of this work is twofold. First, we accelerate the existing ring packing methods by using bootstrapping and ring switching techniques, achieving practical runtimes. Second, we propose a new method for efficient ring packing, HERMES, by using ciphertexts in Module-LWE (MLWE) formats, to also reduce the memory. To this end, we generalize the tools of LWE and RLWE formats for MLWE formats. On a single-thread implementation, HERMES consumes $10.2$s for the ring packing of $2^{15}$ LWE-format ciphertexts into an RLWE-format ciphertext. This gives $41$x higher throughput compared to the state-of-the-art ring packing for FHE, PEGASUS [S&P\u2721], which takes $51.7$s for packing $2^{12}$ LWE ciphertexts with similar homomorphic capacity. We also illustrate the efficiency of HERMES by using it for transciphering from LWE symmetric encryption to CKKS fully homomorphic encryption, significantly outperforming the recent proposals HERA [Asiacrypt\u2721] and Rubato [Eurocrypt\u2722]

Gastric Choristoma of the Oropharynx

Heterotopic gastric mucosa tissue is also called gastric choristoma, and this type of lesion can be found anywhere in the alimentary tract. However, gastric choristoma in the pharynx is very rare; only 10 cases of pharyngeal gastric choristoma have been reported in the English medical literature. A 32-yr-old woman was referred to our institution for the evaluation of a large mass that originated from the posterior wall of the oropharynx. The mass did not cause any symptoms except for the occasional sensation of a foreign body. Gadolinium-enhanced T1 weighted imaging showed a 5 cm-sized mass with central enhancement and hypointense portions, yet the radiological diagnosis was not clear. Transoral mass excision was performed with using electrocautery for making the diagnosis and for treating the mass. The microscopic analysis revealed gastric choristoma

Automatic consultation system for patients with cardiac implantable electronic devices undergoing magnetic resonance imaging

Background Safety evaluation for patients with cardiac implantable electronic devices (CIEDs) undergoing magnetic resonance imaging (MRI) scanning is often overlooked. We developed an automatic consultation system (ACS) to improve the screening rate in these patients. Methods ACS was developed by the Hospital Information System Development Department of Seoul National University Bundang Hospital. It was designed to automatically request pre-MRI cardiac evaluation in patients with CIED when MRI orders are issued. The proportion of the patients without pre-MRI cardiologic evaluation was evaluated before and after the ACS application. Results From January 2016 to June 2018, a total of 157 patients with CIEDs [pacemaker 136 (86.6%), ICD or CRT-D 21 (13.4%), MR-conditional 117 (74.5%)] visited the MRI facility. Before the ACS application, 23 out of 84 patients (27.4%) did not have adequate pre-MRI cardiologic evaluation. Despite urgent request for pre-MRI cardiac evaluation, MRI examination was postponed or cancelled in 14 (60.8%) cases. After the ACS application, all 73 patients underwent proper cardiologic evaluation before their MRI examinations (P < 0.001). The proportion of immediate request for pre-MRI evaluation at the moment of MRI order also improved with the ACS application (before ACS 57.1%, after ACS 100%, P < 0.001). Conclusions The newly developed ACS helped the patients with CIED receive MRI scan safely on the schedule, improving the quality of care in this population

C-Kit Binding Properties of Hesperidin (a Major Component of KMP6) as a Potential Anti-Allergic Agent

Accumulation of mast cells can be causally related to several allergic inflammations. Stem cell factor (SCF) as a mast cell chemotaxin induces mast cell migration. To clarify a new effect of Pyeongwee-San extract (KMP6, a drug for indigestion) for the treatment of allergy, we investigated the effects of KMP6 on SCF-induced migration of rat peritoneal mast cells (RPMCs). A molecular docking simulation showed that hesperidin, a major component of KMP6, controls the SCF and c-kit binding by interaction with the active site of the c-kit. KMP6 and hesperidin significantly inhibited SCF-induced migration of RPMCs (P<0.05). The ability of the SCF to enhance morphological alteration and F-actin formation was also abolished by treatment with KMP6 or hesperidin. KMP6 and hesperidin inhibited SCF-induced p38 MAPK activation. In addition, SCF-induced inflammatory cytokine production was significantly inhibited by treatment with KMP6 or hesperidin (P<0.05). Our results show for the first time that KMP6 potently regulates SCF-induced migration, p38 MAPK activation and inflammatory cytokines production through hindrance of SCF and c-kit binding in RPMCs. Such modulation may have functional consequences during KMP6 treatment, especially mast cell-mediated allergic inflammation disorders

Rosmarinic Acid, Active Component of Dansam-Eum Attenuates Ototoxicity of Cochlear Hair Cells through Blockage of Caspase-1 Activity

Cisplatin causes auditory impairment due to the apoptosis of auditory hair cells. There is no strategy to regulate ototoxicity by cisplatin thus far. Dansam-Eum (DSE) has been used for treating the central nerve system injury including hearing loss in Korea. However, disease-related scientific investigation by DSE has not been elucidated. Here, we demonstrated that DSE and its component rosmarinic acid (RA) were shown to inhibit apoptosis of the primary organ of Corti explants as well as the auditory cells. Administration of DSE and RA reduced the thresholds of the auditory brainstem response in cisplatin-injected mice. A molecular docking simulation and a kinetic assay show that RA controls the activity of caspase-1 by interaction with the active site of caspase-1. Pretreatment of RA inhibited caspase-1 downstream signal pathway, such as the activation of caspase-3 and 9, release of cytochrome c, translocation of apoptosis-inducing factor, up-regulation of Bax, down-regulation of Bcl-2, generation of reactive oxygen species, and activation of nuclear factor-κB. Anticancer activity by cisplatin was not affected by treatment with RA in SNU668, A549, HCT116, and HeLa cells but not B16F10 cells. These findings show that blocking a critical step by RA in apoptosis may be useful strategy to prevent harmful side effects of ototoxicity in patients with having to undergo chemotherapy