• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2020.11a
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• pp.155-156
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• 2020

해양수산부에서 추진 중인 "스마트 해상물류체계 구축전략"의 일환으로, 스마트 항만 도입 및 항만의 자동화를 위해서는 자율주행을 기반으로 하는 야드 트럭의 도입이 필수적이다. 항만의 야드 트럭 운영 환경은 무신호 교차로 주행, 낮은 GPS 정확도, 악천후 상황 주행, 컨테이너 이송을 위한 정차 등과 같이 일반 도로에서의 자율주행차량 운행 환경과는 달라 기존의 자율주행차량 기술을 바로 적용할 수 없어 항만 내 자율협력주행기반 이송장비 도입을 위한 별도의 방안 마련이 필요하다. 본 연구는 이송장비 도입을 위한 국내 컨테이너터미널 유형별 운영현황을 살펴보고, 이송장비의 투자가치 분석 및 민감도 분석을 통해 항만개발의 방향성을 제시하고자 한다.

• Journal of Korean Society of Transportation
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• v.30 no.1
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• pp.31-43
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• 2012

Domestic road type-and period-specific driving pattern measurement was required as Korea's participation in developing "Worldwide harmonized light-duty vehicle emission test procedure (WLTP/DHC)" studied by UN WP29. This study measured road driving data reflecting road and traffic conditions of Korea, and analyzed seven types of representative road type-and period-specific driving patterns with driving pattern standardization methodology proposed by WP29. PAMS (Portable Activity Monitoring Systems) equipment was used to collect enormous (35,410km) road driving data. There are significant difference among seven derived driving patterns.

• Korean Journal of Remote Sensing
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• v.37 no.5_1
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• pp.1095-1109
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• 2021

The technology used to recognize the location and surroundings of autonomous vehicles is called SLAM. SLAM standsfor Simultaneously Localization and Mapping and hasrecently been actively utilized in research on autonomous vehicles,starting with robotic research. Expensive GPS, INS, LiDAR, RADAR, and Wheel Odometry allow precise magnetic positioning and mapping in centimeters. However, if it can secure similar accuracy as using cheaper Cameras and GPS data, it will contribute to advancing the era of autonomous driving. In this paper, we present a method for converging monocular camera with RTK-enabled GPS data to perform RMSE 33.7 cm localization and mapping on the urban road.

• 기계와재료
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• v.22 no.3
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• pp.88-95
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• 2010

국내외 대형 플랜트사업이 활발해지면서 여기에 소요되는 건설기계의 수요가 급증하고 특히 초 대형화가 요구되고 있다. 그러나 국내 건설기계는 장비중량이 40ton 이하인 것을 주로 생산하고 있었으나, 최근 이것에 2배가 넘는 85ton급 초대형을 생산하고 있다. 주행모터(track motor)는 굴삭기의 전진 및 후진 주행을 하는 핵심 부품으로서 유압카운터 밸런스 밸브, 양방향작동 릴리프밸브, 주차 브레이크 장치, 2속 제어장치, 유압모터와 고 강성 유성기어감속기가 매우 콤팩트한 구조로 구성된다. 우리나라에서는 두산모트롤, 제일유압, 선진정공 등에서 40ton 이하의 중소형 건설기계용 주행모터를 생산하고 있으나, 70ton 이상 초대형 급은 일본 Kayaba사, Kawasaki사, 독일 Rexroth사 및 이태리 Trasmital사 들로부터 전량수입에 의존하고 있다. 본고에서는 건설기계의 핵심부품인 주행모터의 국내외 수요시장 동향을 분석하여 국산화 개발필요성을 강조하였고, 특히 초대형 주행모터의 성능특성을 분석하여 국산화 개발에 반영 할 수 있도록 하였다.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3039-3041
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• 1999

본 연구에서는 과수원에서 사용되는 농약살포용 스피드 스프레이어기(SS기)의 자율주행을 위한 시스템을 개발하였다. 과거의 SS기의 자율주행을 실현한 시스템은 대부분 고가의 장비를 사용하거나 실용성이 결여된 점에 비추어 본 연구에서는 실용가능성에 역점을 두어서 저가의 실용 가능한 시스템을 구성하고자 하였다. 개발된 자율주행 시스템의 특징으로는 1) 하드웨어 시스템을 고성능 프로세서를 이용하여 중앙집중식으로 개발 하였으며 2) 초음파센서의 보정 및 보강을 통해서 오차를 최소화하는 알고리즘을 개발하였으며 3) 현장에서 사용시 진동등의 noise에 강한 robust 시스템을 구성하였으며 4) 자율주행을 제어하기 위해서 퍼지알고리즘을 도입한 지능제어를 실현하였다.

• Journal of Navigation and Port Research
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• v.28 no.10 s.96
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• pp.891-897
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• 2004

This paper provided a simulation model for transport vehicles that carry container from the ship to yard block and vice versa at automated container terminal with a perpendicular yard layout. Usually, the efficiency of container terminal is evaluated by the productivity of container cranes at apron, and the stevedoring system for transport vehicles and yard cranes should be supported enough to improve productivity of container cranes. Especially, transport vehicle is very important factor in the productivity of container cranes and the performance of transport vehicles are changed according to the number and traveling type of vehicles. For these reason, a method that can estimate productivity of transport vehicle is required Finally, we developed the simulation model to analyze the productivity of transport vehicle and presented the productivity of container cranes for a varying operation of transport vehicles.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2007.11a
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• pp.929-933
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• 2007

Concrete Pavement Cutting Operation have Labor-intensive features. And Cutting Operation quality and productivity is influenced by operator's experience. Moreover Workers have risk of safety concerns. Therefore we need Concrete Pavement Cutting Operation automation system and system support software development on the economics. First of all we have to develop driving Path Planning for Concrete Pavement Cutting automation system. If result of Path Planning connect with automation system, Weak points is a complement to the existing Path Planning and we can obtain effective automation system. Consequently this paper suggest method of Autonomous Driving Path Planning for Concrete Pavement Cutting Operation And the Path Planning system application.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.10
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• pp.681-687
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• 2017

We investigated the potential for wind-power generation using the wind produced by express trains. We built equipment to detect the wind velocity, including wind meters and a data analyzer. We considered various conditions that might change the wind. First, we measured the velocity and duration of the wind at three locations distinguished by the presence of a tunnel and a valley landscape. We analyzed the changes in the wind according to the geometric conditions. Also, we analyzed the changes in the wind according to three different heights relative to the train. We also compared the wind produced by a KTX train and an SRT train. Finally, we used the results to derive the wind power energy harvested from the wind and discuss the expected utility.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.10a
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• pp.424-429
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• 2013

The trolley carrying the pod moves along by the airfield runway. The pod through the trolley are subjected to vibration arising from the ground state, the precision optical components in the pod can have a significant impact. The road tests were conducted by using the measurement pod to remove the risk for the project. The measurement pod was composed with the ACRA, sensors, battery. The accelerometers were attached to get the acceleration through the road condition. The PSD envelop was calculated by FFT from the acceleration. The driving safety was proven through comparing the measurement data and MIL-STD-810G specification.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.8
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• pp.905-912
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• 2011

In order to protect equipment such as controllers, it is important to improve the driving stability of $6{\times}6$ skidsteering vehicles driven on rough roads. The estimation and improvement of the driving stability should be based on the vertical acceleration, roll acceleration, and pitch acceleration. These variables will be used to achieve multivariable control and increase the vehicle driving stability. In this study, to improve vehicle stability by reducing the vertical acceleration, roll angular acceleration, and pitch angular acceleration, the skyhook control method is employed to control MR(Magnetorheological) dampers equipped with the vehicle. The proposed control system is tested in multibody dynamic simulation.