• 자동차안전학회지
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• 제11권1호
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• pp.17-22
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• 2019

Nowadays many two-wheeled motorcycles are used in leisure and express delivery industries. But studies of the electromagentic compatibility on motorcycles have seldom been performed and published. This paper has studied the electromagnetic safety of motorcycles considering international and domestic regulations and standards. Also, a series of experiments have been performed to evaluate the level of electromagnetic compatibility of commercially available motorcycles. As a result, detailed experimental procedures are proposed to secure the electromagnetic safety and can be used to confirm or revise the Korea Motor Vehicle Safety Standards.

• 디지털산업정보학회논문지
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• 제19권4호
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• pp.127-136
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• 2023

Many research results on the traffic enforcement of illegal driving of twowheeled motor vehicles using license plate recognition are introduced. Deep learning convolutional neural networks can be used for character and word recognition of license plates because of better generalization capability compared to traditional Backpropagation neural networks. In the plates of twowheeled motor vehicles, the interdependent government and city words are included. If we implement the mutually independent word recognizers using error correction rules for two word recognition results, efficient license plate recognition results can be derived. The CPU based convolutional neural network without library under real time processing has an advantage of low cost real application compared to GPU based convolutional neural network with library. In this paper twowheeled motor vehicle license plate recognition algorithm is introduced using CPU based deep-learning convolutional neural network. The experimental results show that the proposed plate recognizer has 96.2% success rate for outdoor twowheeled motor vehicle images in real time.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2007년도 추계학술발표대회
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• pp.66-69
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• 2007

차량의 종류(차종)에 관한 정보는 ITS(지능형 교통시스템) 및 각종 교통 관련 분야에서 각종 교통 분석 및 지표로 활용될 수 있는 기초 정보이며 교통제어나 차량에 연관된 범죄 등에서 자동차의 인식에 관한 연구의 중요성 때문에 이에 관련된 연구는 오래 전부터 수행되어왔다. 본 논문에서는 차량의 크기를 바탕의 이륜, 소형, 중형, 대형 등 4종으로 차량을 분류 하였다. 차량영역 획득 과정에서 발생하는 잡음 및 조명변화 등 환경적 요인을 극복하고자 윤곽선정보와 배경차분법을 이용해 획득된 차영상 정보의 합영상을 획득하였다. 실험영상으로는 실제 교통관제 시스템에서 획득된 영상을 사용하였으며 실험결과 90%이상의 인식률을 보였다.

• 한국지능시스템학회논문지
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• 제25권3호
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• pp.266-271
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• 2015

본 논문은 오락과 운송의 목적으로 만들어진 로봇 차량의 주행과 바운싱 제어에 관해 소개한다. 로봇 차량은 2 바퀴로 균형을 유지하며 2명의 탑승자를 태울 수 있도록 만들어 졌다. 즐거움을 극대화하기 위해 균형제어 뿐만 아니라 바운싱 제어까지 구현하였다. 탑승자는 주행모드, 균형모드, 그리고 바운싱 모드를 선택할 수 있다. 균형제어와 바운싱 제어 그리고 주행제어를 실험하여 그 가능성을 확인하였다.

• 한국정밀공학회지
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• 제22권9호
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• pp.107-114
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• 2005

With the recent progress in flexible manufacturing systems (FMS) in industry, increasing attention has been given to Automatic Guided Vehicle (AGV) systems. An AGV is a self-powered unit for transporting materials between stations without needing to be controlled by an operator. Such a system has several sensors to recognize the external state, and it is designed to travel between stations automatically without external assistance. To manage each device automatically in real time it requires a distributed controller with a main computer as the host, as well as a number of micro-controllers. In this study, an AGV system with dual motor drive was constructed. A Pentium 4 personal computer was set up as the main host for the distributed control, and this communicated with other micro-controllers in the management of the motor. The speed of each motor was also controlled by a micro-controller.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.786-791
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• 2003

This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and their values can be estimated simply by using update laws proposed in an adaptive control scheme of this research. The simulation results are provided to show the effectiveness of the accurate tracking capability of the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.

• 자동차안전학회지
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• 제10권1호
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• pp.45-51
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• 2018

There are some ambiguities of the information on the fuel economy provided to the consumers because the standard and the detailed regulations for the fuel economy of the two-wheeled vehicle have not been established in Korea. Since Korea has been a signatory of World Forum for Harmonization of Vehicle Regulations since 1998, it is possible to remove the ambiguities by adopting the WMTC (Worldwide-harmonized Motorcycle Test Cycle) measurement method for the fuel economy of the two-wheel vehicle. As a preliminary study on the WMTC mode fuel economy, road loads measured by coast down method and table method were compared for the two types of two-wheeled motorcycles on sales in domestic market. In the same model, it was confirmed that the deviation of WMTC mode fuel efficiency was below -5% between products. On the other hand, the difference of WMTC fuel economy exceeded 5% between the coast down method and table method.

• 제어로봇시스템학회논문지
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• 제20권1호
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• pp.87-93
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• 2014

Conventional two-wheeled balancing robots are limited in terms of turning speed because they lack the lateral motion to compensate for the centrifugal force needed to stop rollover. In order to improve lateral stability, this paper suggests a two-wheeled balancing mobile platform equipped with a tilting mechanism to generate roll motions. In terms of static force analysis, it is shown that the two-body sliding type tilting method is more suitable for small-size mobile robots than the single-body type. For the mathematical modeling, the tilting-balancing platform is assumed as a 3D inverted pendulum and the four-degrees-of-freedom equation of motion is derived. In the velocity/posture control loop, the desired tilting angle is naturally determined according to the changes of forward velocity and steering yaw rate. The efficiency of the developed tilting type balancing mobile platform is validated through experimental results.

• 로봇학회논문지
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• 제6권2호
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• 대한기계학회논문집A
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• 제37권11호
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• pp.1371-1377
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• 2013

본 연구에서는 다물체 동역학 모델을 이용한 철도차량의 임계속도 계산 방법을 제시하였다. 휠과 레일의 접촉 구속조건과 접촉력을 휠셋 단위에서 수식화하였다. 이를 대차모델에 합하여 구속조건을 가진 다물체 동역학 운동방정식으로 철도차량의 동적모델을 표현하였다. 철도차량의 다물체 동역학 모델에 대한 비선형 구속조건식과 운동방정식은 QR 분해법을 이용하여 독립좌표만으로 이루어진 선형방정식으로 유도하였다. 유도된 선형방정식으로부터 휠셋 및 이륜 대차에 대한 고유치 해석결과를 통해 임계속도를 구하였다. 임계속도에 영향을 미치는 차량 파라미터의 영향에 대한 결과를 제시하였다.