• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1550-1554
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• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• 한국기계가공학회지
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• 제10권6호
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• pp.159-164
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• 2011

This paper is about the frame for an all terrain vehicle(ATV). An all terrain vehicle, also known as an ATV, has a seat designed to comfortably accommodate a rider over a wide variety of rugged terrain. This study developed and evaluated a buffer system to drive safely and reduce impact force on the load. The Frame includes a main frame portion which has one or more support frames. The buffer system with a double cushion system, one or more of the interaction of the shock absorber is constructed. The 3D modeling of ATV frame is built up with the software CATIA. According to the designing requirement, we analyzed the stress and the deformation of the frame.

• 자동차안전학회지
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• 제14권2호
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• pp.83-89
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• 2022

Recently, the use of ATV (All-Terrain Vehicle) has increased due to increase in leisure activities, and the awareness of safety and traffic accidents has improved, but it still insignificant compared to other transportation. Therefore, in this study, the current status and characteristics of traffic accidents related to ATVs were investigated, and actual ATV accident was analyzed. As a result, it was confirmed that the condition of the braking system directly connected to the safety of the ATV was not well maintained. For driver safety in the future, it is considered that it is necessary to strengthen safety regulations related to experience centers and rental companies handling AVTs and to conduct regular inspections in accordance with the Motor Vehicle Management Act.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.257-260
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• 2006

West coast of Korea belongs to the five largest tidal-flat zones in the world. Aiming at the efficient management and preservation of the eco-system and the enhancement of the bio-productivity of the tidal-flat zones, development of a environment-friendly vehicle for tidal-flat area is being attempted. This paper deals with the description of the characteristics of the tidal-flat zones of west coast of Korea, the technology assessment of the related products in the ATV(All-Terrain Vehicle) market, the demand assessment for the resident people.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.983-990
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• 2008

This paper presents the fault detection and diagnosis(FDD) algorithm to enhance reliability of a longitudinal controller for an autonomous All-Terrain Vehicle(ATV). The FDD is designed to monitor and identify faults which may occur in distributed hardware used for longitudinal control, e.g., DSPs, CAN, sensors, and actuators. The proposed FDD is an integrated approach of decentralized and centralized FDD. While the former is processed in a DSP and suitable to detect faults in a single hardware, it is sensitive to noise and disturbance. On the other hand, the latter is performed via communication and it detects and diagnoses faults through analyzing concurrent performances of multiple hardware modules, but it is limited to isolate faults specifically in terms of components in the single hardware. To compensate for disadvantages of each FDD approach, two layered structure including both decentralized and centralized FDD is proposed and it allows us to make more robust fault detection and more specific fault isolation. The effectiveness of the proposed method will be validated experimentally.

• 한국항공우주학회지
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• 제33권10호
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• pp.104-110
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• 2005

본 논문에서는 보다 빠른 속도의 무인주행과 이를 가능케하는 안전한 항법구현에 주력하여 시스템을 개발하고 알고리즘을 적용한 결과를 보이고 있다. 또한 본 논문에서는 9개의 초음파 센서를 사용하여 가상역장 알고리즘을 적용한 험로주행용 차량의 무인주행에 적용한 시스템의 구성과 적용방법을 기술하고 실차실험을 통한 시스템의 성능과 향후 연구방향을 제시하였다.

• 제어로봇시스템학회논문지
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• 제19권8호
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• pp.682-687
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• 2013

Navigation is a crucial capability for all types of manned or unmanned vehicles. However, vehicle navigation in underwater environments still remains a challenging problem since GPS signals for position fixes are not available in the water. Terrain-referenced underwater navigation is an alternative navigation technique that utilizes geometric information of the subsea terrain to correct drift errors due to dead-reckoning or inertial navigation. Terrain-referenced navigation requires the description of an undulating terrain surface as a mathematical function or table, which often leads to a highly nonlinear estimation problem. Recently, PFs (Particle Filters), which do not require any restrictive assumptions about the system dynamics and uncertainty distributions, have been widely used for nonlinear filtering applications. However, PF has considerable computational requirements which used to limit its applicability to problems of relatively low state dimensions. This study proposes the use of a Rao-Blackwellized particle filter that is computationally more efficient than the standard PF for terrain-referenced underwater navigation involving a moderate number of states, and its performance is compared with that of the extended Kalman filter algorithm. The validity and feasibility of the proposed algorithm is demonstrated through numerical simulations.

• 한국기계가공학회지
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• 제10권1호
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• pp.8-15
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• 2011

ATV(All Terrain Vehicle) has been developed to be used for agricultural fields on unpaved roads but now it is mostly used to transport a short distance and play leisure sports at mountains. Recently, main concerns on the automobile industry is developing not only a car safe, high fuel efficient and friendly related with environment but also two-wheeled vehicles. In order to maintain high fuel efficiency and safety of two-wheeled vehicle, it is essential that ATV should be set up differential gear. But we worried for ATV which had been set up differential gear not to run on unpaved roads. Therefore, it is necessary to develop LSD(Limited Slip Differential) that maintains existing advantages of ATV and ensures ATV to travel safely on roads. Now LSD equipped cars have a complicated structure, so setting up on ATV is unsuitable. Therefore, in this study, we have developed simple, small and well operating LSD.

• 공학교육연구
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• 제13권2호
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• pp.38-42
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• 2010

It is necessary for lower grade students to study the correct usage of tools as a base of the technical education for dismantling and assembling various machines. However, enough understanding has not been obtained though the usage of these tools when training first grade students. So, we started to develop a teaching text and materials within the students' practice curriculum based on the dismantling and assembly of all-terrain vehicle [ATV]'s, which is a very motivating for lower grade students. This practice makes the student learn both how to use the tools and the steering mechanism of cars through the dismantling and assembling of the ATV. It is possible to not only have the student learn about the knowledge obtained through the practice, but also they also acquire wider and deeper knowledge through making the text and teaching materials for the practice. The textbook and secondary educational materials of this practice curriculum were created in cooperation with a fifth grade student as part of their graduation research. As a result, an effective teaching and learning text and secondary educational material regarding manufacturing practice could be developed from the student's point of view. Making a teaching text and materials is effective for promoting the study and experience of engineering.

• 한국자동차공학회논문집
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• 제25권2호
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• pp.227-235
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• 2017

In this paper, a systematic 5-mode(road steering, all-wheel steering, crab steering, reduced swing out mode and independent steering) steering algorithm design process for an all-terrain mobile crane with 5 axles and all steerable wheels is proposed. Steering angles for each steering mode are designed based not only on basic theory but also on vehicle specification, design limitation and requirements. A multi-body dynamic analysis is carried out to investigate the feasibility of the steering algorithm. According to the results, the proposed steering algorithm meets the objective of each steering mode.