In this paper, we investigate the trend of injector waveform change due to failure of air flow sensor and intake air temperature sensor of CRDI engine. Changes in the injector opening time can be detected by the failure of the associated sensor, and the extension of the reaction time is closely related to fuel consumption. Thus, the proper maintenance time of the vehicle will affect the fuel economy and reduce the exhaust gas.

This study introduces the accurate correction method of bearing position error of mobile robots using Stargazer sensor. The mobile robots require some vital functions including map building, localization, path planning, obstacle avoidance for autonomous navigation. In most cases, the localization of angular pose of a robot is essential because its result has a great effect on the performance of the other functions. We demonstrated the validity of the proposed method with the results of real experiments and applied it to the photographer robot for correct bearing position error at the moment of taking a picture.