• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.5
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• pp.128-133
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• 2008

In this paper, a new technique was suggested to estimate vehicle speed for the traffic accident reconstruction, and accident investigators can estimate initial vehicle speed based on this suggested technique. Turning tests with several vehicle speeds were executed and compared with the motion of the vehicle and the shape of the tire marks. A new method for estimating the coefficient of friction is suggested by using the longitudinal and lateral components of tire marks. And also, a speed calculation graph is suggested to estimate vehicle speed for traffic accident reconstruction.

• Journal of the Korean Geotechnical Society
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• v.19 no.3
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• pp.75-82
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• 2003

This paper presents the results of a study that was performed to evaluate fronds of shear strength parameters in stabilization of unbound soil-aggregate systems based on the theory of unsaturated soil mechanics. Two important shear strength parameters, effective cohesion and effective angle of internal friction were estimated by the proposed approach using the results from suction measurements and unconfined compressive strength test. In addition, the effect of different addition rates of stabilizing agent was compared. Due to the stabilization process, an increase in suction potential on engineering properties of geomaterials was observed by using dielectric constant measurements. In conclusion, the results from this study show that the proposed approach can be simply used for predicting shear strength parameters of the stabilized geomaterials.

• Journal of the Korean GEO-environmental Society
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• v.14 no.12
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• pp.23-30
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• 2013

Bearing capacity of pile is governed by only skin friction in frozen ground condition, while it is generally governed both by skin friction and end bearing capacity in typically unfrozen ground condition. Skin friction force, which arises from the interaction between pile and frozen soils, is defined as adfreeze bond strength, and adfreeze bond strength is one of the most important key parameters for design of pile in frozen soils. Many studies have been carried out in order to analyze adfreeze bond strength characteristics over the last fifty years. However, many studies for adfreeze bond strength have been conducted with limited circumstances, since adfreeze bond strength is sensitively affected by various influence factors such as intrinsic material properties, pile surface roughness, and externally imposed testing conditions. In this study, direct shear test is carried out inside of large-scaled freezing chamber in order to analyze the adfreeze bond strength characteristics with varying freezing temperature and normal stress. Also, the relationship between adfreeze bond strength and shear strength of the frozen soil obtained from previous study was analyzed. The coefficient of adfreeze bond strength was evaluated in order to predict adfreeze bond strength based on shear strength, and coefficients suggested from this and previous studies were compared.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.3
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• pp.214-219
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• 2003

This paper includes real-time tractive force estimation method using standard vehicle sensors such as wheel speed, brake pressure, throttle position, engine speed, and transmission carrier speed sensor. Engine map, torque converter lookup table, shaft torque observer, and brake gain adaptation method are used to estimate the tractive force. To verify this estimator, measurement which uses strain-based brake torque sensor and estimation results are presented. All results was performed using a real vehicle in a real-time.

• Journal of the Korean Society for Railway
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• v.9 no.6 s.37
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• pp.682-688
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• 2006

In this paper, a method which can deduce the traction farce or the braking force from the acceleration or the deceleration of the train, has been suggested. In the case of Korean high speed train (HSR-350x), the traction force and the braking forces have been obtained by using this method. It is proven that the proposed method is a very good tool in estimating the traction force or the braking force when the train starts or stops. Also, these forces on be used to calculate friction coefficients of mechanical brakes and the transmission efficiency of the traction system.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.722-728
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• 1998

In this paper real-time estimation methods for identifying the tire-road friction coefficient are presented. Taking advantage of the Magic Formula Tire Model, the similarity technique and the specific model for the vehicle dynamics, a reduced order observer/filtered-regressor-based method is proposed. The Proposed method is evaluated on simulations of a full-vehicle model with an eight state nonlinear vehicle/transmission model and nonlinear suspension model. It has been shown through simulations that it is possible to estimate the tire-road friction from measurements of engine rpm, transmission output speed and wheel speeds using the proposed identification method. The proposed method can be used as a useful option as a part of vehicle collision warning/avoidance systems and will be useful in the implementation of a warning algorithm since the tire-road friction can be estimated only using RPM sensors.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.2
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• pp.311-316
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• 2007

This paper proposes the algorithm which estimates moment of the inertia and friction coefficient of friction for high performance speed control of electric motor. The proposed algorithm finds the moment of inertia and friction coefficient of friction by observing the speed error signal generated by the speed observer and using Recursive Least-Mean-Square method(RLS). By feedbacking the estimated inertia and estimated coefficient of friction to speed controller and full order speed observer, then the errors of the inertia and coefficient of friction and speed due to the inaccurate initial value are decreased. Inertia and coefficient of friction converge to the actual value within several times of speed changing. Simulation and actual experiment results are given to demonstrate the effectiveness of the proposed parameter estimator.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.284-291
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• 2011

This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.174-181
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• 2018

For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.5
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• pp.174-179
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• 2007

The transient brake time or distance is one of very important factors to guess the vehicle speed to inspect an automobile accident. But, it is usual that the vehicle speed is estimated by using only skid mark without considering the transient brake distance. Deceleration and the friction coefficients of tire and road surface play an important role in calculating the brake distance. In this paper, a scheme is presented to estimate more accurate automobile speed. The scheme contains the effect of the transient brake distance on the speed. Experiment was carried out on the asphalt, unpacked road to get relationships between the speeds and the skid mark distances, and to get the transient brake time. The experimental results were utilized to construct the equation to approximate more realistic vehicle speeds.