• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2008.06a
• /
• pp.1007-1008
• /
• 2008

• Proceedings of the KIEE Conference
• /
• 1999.11c
• /
• pp.683-686
• /
• 1999

이동로봇은 주행성을 가지며 설정된 이동 경로에 따라 목적지까지 자율적으로 이동하기 위해서는 이동로봇의 실제 위치에 대한 정확한 정보가 확보되어야 한다. 정보확보를 위해서 보통 엔코더, 자이로센서, 비젼센서, 레이저 거리등의 센서를 주로 사용한다. 본 연구에서 주행중인 이동로봇의 위치는 상대센서인 엔코더를 통해 측정된 운동변화량과 출발점에서 이동로봇의 위치로부터 자기유도 주행방법에 의해 계산된다. 이들 상대센서는 이동로봇의 실제 이동에 따라 주행거리 및 주행 방향 변화를 항상 측정할 수 있으므로, 전체 주행구간에 걸쳐 이동로봇의 위치를 연속적으로 측정할 수 있다는 장점이 있으나, 상대센서 측정값에 발생된 오차가 위치 평가값이 연속적으로 누적되므로 실제 위치에 대한 오차가 발생하는 단점이 있다. 즉, 바닥의 미끄럼, 요철, 로봇의 요동(Vibration)등 큰 오차의 요인이 된다. 본 연구에서는 위치를 직접 추정하지 않고 엔코드에서 나온 위치오차, Heading 오차, 자체 엔코드오차 그리고, 자이로 오차와 지자기 센서 오차를 Extended Kalman Filter를 통해 추정하여 이 오차를 다시 위치 계산과 Heading에 되돌려 줌으로서 오차를 보정하는 방법을 제시한다.

• Journal of the Korean Society for Railway
• /
• v.12 no.2
• /
• pp.230-235
• /
• 2009

We have conducted an experimental study to analyze characteristics of the wheel profile wear and an influence of the wheel flange wear on the vehicle's vibration characteristics. In experiment with EMU, wheel profile wear is severe at the beginning of the commercial operation. In this stage, the variations of the wheel dimension parameters and equivalent conicity is changed rapidly. Along with a mileage of the test vehicle, the wear of the wheel flange is increased and also the vibration level of the car-body is increased. The peak-peak mean value of the body vibration is estimated as good level, but the level is approached at the limit of the good level as mileage increases. Especially, the peak-peak maximum value of the body vibration shows the distinct increase of vibration level.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2019.01a
• /
• pp.443-444
• /
• 2019

공유경제 시대의 다양한 전기구동플랫폼 운용에 유효한 새로운 유지보수 가이드라인을 도출하고자, 본 연구는 하이브리드자동차와 전기자동차의 특성을 모두 갖는 PHEV의 장기간 주행 데이터를 분석하여, 주요 부품의 상태 변화를 파악하였다. PHEV의 모터, 인버터, 2차전지 등 주요 부품의 주행 데이터 변화를 관찰하여 마일리지 누적에 따른 상태변화가 큰 부품을 파악하였다. 분석결과 1만Km 이상 주행 시 보조 배터리의 온도와 5만Km 이상 주행 시 2차전지의 온도 변화가 유의미하게 발생함을 확인하였다.

• Journal of ILASS-Korea
• /
• v.23 no.4
• /
• pp.227-233
• /
• 2018

An automobile is composed of a combination of a lot of parts, and it is difficult to maintain the same performance from a new car until it's scrapped. Greenhouse gases included in automobile emissions are typically carbon dioxide and methane. It is expected that this greenhouse gas will change depending on the aging (cumulative mileage) of the automobile However, the greenhouse gas characteristics by cumulative mileage lack of actual data due to time and economic difficulties. Therefore, in this paper, we selected automobile with high sales by displacement in korea and carbon dioxide and methane were measured by using method of the related law. The cumulative mileage is as follows; within 160 km (Statutory mileage by 2010), 6500 km (current statutory mileage), 15000 km (approximately 1-year average mileage of Non-business passenger vehicle). As a result of the test, the emission of carbon dioxide and methane was the smallest at 6,500 km, and increased in order of 15000 km, within 160 km. Also, it was confirmed that the $CO_2$ emission change of a large displacement automobile is more smaller at each mileage. Although the greenhouse gas tends to increase as the mileage of the vehicle, it is thought that additional confirmation is required of since 15,000 km as well, because it can occur deviations due to taming process or mechanical friction of the automobile.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.20 no.2
• /
• pp.34-39
• /
• 2016

Structural behaviour of PSC box bridge, on which KTX train runs, is analysed up to 500 km/h speed considering 12 stages track irregularity and interaction between bridge and vehicle. To evaluate wheel forces and rotations of vehicle, lateral wheel forces, derail factor and offload factor calculated on the track combining the bridge and 170 m normal track are compared with existing allowed limits. Maximum longitudinal displacement and accumulated sliding distance of the brige bearings for simply supported and 2 span continuous PSC bridges are presented by each running speeds. Long-term friction tests based on EN-1337-2 are conducted between PTFE and DP-mate plates. Finally, the long-term friction tests are proposed to consider the increasing speed of next generation high-speed train.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.6
• /
• pp.814-819
• /
• 2010

This paper is presented to study the error minimization of angular velocity for AGV(autonomous ground vehicle). The error minimization of angular velocity is related to localization technique which is the most important technique for autonomous vehicle. Accelerometer, yaw gyro and electronic compass have been used to measure angular velocity. And methods for error minimization of angular velocity have been actively studied through probabilistic methods and sensor fusion for AGVs. However, those sensors still occure accumulated error by mathematical error, system characters of each sensor, and computational cost are increased greatly when several sensor are used to correct accumulated error. Therefore, this paper studies about error minimization of angular velocity that just uses encoder and gyro. To experiment, we use autonomous vehicle which is made by ourselves. In experimental result, we verified that the localization error of proposed method has even less than the localization errors which we just used encoder and gyro respectively.

• Journal of Advanced Navigation Technology
• /
• v.18 no.2
• /
• pp.134-141
• /
• 2014

Mobile robots use various sensors for navigation such as wheel encoder, vision sensor, sonar, and laser sensors. Dead reckoning is used with wheel encoder, resulting in the accumulation of positioning errors. For that reason wheel encoder can not be used alone. Too much information of vision sensors leads to an increase in the number of features and complexity of perception scheme. Also Sonar sensor is not suitable for positioning because of its poor accuracy. On the other hand, laser sensor provides accurate distance information relatively. In this paper we propose to extract the angular information from the distance information of laser range finder and use the Kalman filter that match the heading and distance of the laser range finder and those of wheel encoder. For laser scanner with one feature point error may increase much when the feature point is variant or jumping to a new feature point. To solve the problem, we propose to use two feature points and show that the positioning error can be reduced much.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.10 no.4
• /
• pp.36-43
• /
• 2011

The forward collision of vehicles in high speed can cause a chain collisions and high fatality rate. Most of the forward collisions are caused by insufficient braking distance due to detection time of driver and safe distance. Also, accumulated detection time of driver is cause of chain collisions after the forward collision. The FVCWS prevents the forward collision by maintaining the safety distance inter-vehicle and reducing detection time of driver. However the FVCWS can cause chain collisions because the system that interacts only forward vehicle has accumulated detection time of driver. In this paper, we analyze forward and chain collisions of normal vehicles and FVCWS vehicles on static traveling scenario. And then, we analyze and compare V2V based FVCWS with them after explaining the system. The V2V FVCWS reduces detection time of driver alike FVCWS as well as remove accumulated detection time of driver by broadcasting emergence message to backward vehicles at the same time. Therefore, the system decrease possibility of forward and chain collisions. All backward normal vehicles and 3~4 backward FVCWS vehicles have possibility of forward and chain collisions in result of analysis. However V2V FVCWS vehicles almost do not chain collisions in the result.

• Journal of Energy Engineering
• /
• v.10 no.3
• /
• pp.177-182
• /
• 2001

This paper aims at evaluating HSDI diesel passenger cars introduction. The result of economic analysis after accounting for the life cycle cost per car shows a saving of 13,836 thousand won in fuel cost per diesel car assuming a life of 10 years and the annual travel distance of 20,000km. Assuming an average travel distance of 20,000km and a 10% increase in sales of diesel passenger car, the social benefit starts to accrue from the year 2002 and, in 2010, is estimated to be 154.1 billion won relative to the gasoline passenger car. The cumulative social benefit up to 2010 under the same assumptions is expected to reach 636.8 billion won.