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  • Title/Summary/Keyword: Driving Part

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A Study on Detection of Lane and Situation of Obstacle for AGV using Vision System (비전 시스템을 이용한 AGV의 차선인식 및 장애물 위치 검출에 관한 연구)

  • 이진우;이영진;이권순
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2000.11a
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    • pp.207-217
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    • 2000
  • In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are angle, distance error and real position of other vehicles, we should calculate the reference steering angle.

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Performance Assessment of a Lithium-Polymer Battery for HEV Utilizing Pack-Level Battery Hardware-in-the-Loop-Simulation System

  • Han, Sekyung;Lim, Jawhwan
    • Journal of Electrical Engineering and Technology
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    • v.8 no.6
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    • pp.1431-1438
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    • 2013
  • A pack-level battery hardware-in-the-loop simulation (B-HILS) platform is implemented. It consists of dynamic vehicle models using PSAT and multiple control interfaces including real-time 3D driving and GPS mode. In real-time 3D driving mode, user can drive a virtual vehicle using actual drive equipment such as steering wheel and accelerator to generate the cycle profile of the battery. In GPS mode, actual road traffic and terrain effects can be simulated using GPS data while the trajectory is displayed on Google map. In the latter part of the paper, several performance tests of an actual lithium-polymer battery pack are carried out utilizing the developed system. All experiments are conducted as parts of actual development process of a commercial battery pack adopting 2nd generation Prius as a target vehicle model. Through the experiments, the low temperature performance and fuel efficiency of the battery are quantitatively investigated in comparison with the original nickel-metal hydride (NiMH) pack of the Prius.

Simulator-Based Mental Workload Assessment of the In-Vehicle Navigation System Driver Using Revision of NASA-TLX (항법장치 simulator 기반의 RNASA-TLX 를 이용한 항법장치 운전자 mental workload 평가에 관한 연구)

  • Cha, Doo-Won;Park, Peom
    • IE interfaces
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    • v.10 no.1
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    • pp.145-154
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    • 1997
  • In developing the HMI(Human-Machine Interface) evaluation system for the IVNS(In-Vehicle Navigation System), design guidelines and evaluation methods are the most crucial problems for its use and efficiency. As the part of this system, focused on the final product of the database, subjective mental workload assessment is seriously considered to evaluate the driver's own driving task using the IVNS. This paper suggests the methodology for the ergonomic assessment of the IVNS that corresponds to the subjective measurement of the driver's mental workload by rating his or her own driving task. For this approach, Revision of NASA-Task Load Index(RNASA-TLX) was developed which translated and revised the version of NASA-TLX that is generally accepted an efficient and powerful method for evaluating the in-vehicle information systems. To verify the RNASA-TLX, an experiment was conducted in a real road situation, because the result of the laboratory approach is uncertain and has the differences from the real road test.

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SIMULATOR-BASED HUMAN FACTORS EVALUATION OF AUTOMATED HIGHWAY SYSTEM

  • Cha, D.W.;Park, P.
    • International Journal of Automotive Technology
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    • v.7 no.5
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    • pp.625-635
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    • 2006
  • From a viewpoint of human factors, automated highway systems(AHS) can be defined as one of the newly developing human-machine systems that consist of humans(drivers and operators), machines(vehicles and facilities), and environments(roads and roadside environments). AHS will require a changed vehicle control process and driver-vehicle interface(DVI) comparing with conventional driving. This study introduces a fixed-based AHS simulator and provides questionnaire-based human factors evaluation results after three kinds of automated driving speed experiences in terms of road configuration, operation policies, information devices, and overall AHS use. In the simulator, the "shared space-at-grade" concept-based road configuration was virtually implemented on a portion of the Kyungbu highway in Korea, and heads-up display(HUD), AHS information display, and variable message signs(VMS) were installed for appropriate AHS DVI implementation. As the results, the subjects expressed positive opinions on the implemented road configuration, operation policies, and the overall use of AHS. The results of this study would be helpful in developing the road configuration and DVI design guideline as the basic human factors research for the future implementation of AHS.

Parking Control for a Container Trailer Truck Using Fuzzy Theory (퍼지이론을 이용한 컨테이너 트레일러ㆍ트럭의 주차제어)

  • 박계각
    • Journal of the Korean Institute of Navigation
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    • v.23 no.2
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    • pp.1-9
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    • 1999
  • A trailer truck is a major equipment for transporting containers, and its driving is difficult due to two degrees of freedom which exist in the joint part between truck and trailer. Especially Backing a trailer truck to a parking home is a difficult exercise for all but the most skilled truck drivers. Normal driving instincts lead to erroneous movements. When watching a truck driver backing toward a parking home, one often observes the driver backing, going forward, backing again, going forward, etc., and finally backing to the desired position along the parking home. This paper discusses the design of the controller to control the steering of a trailer truck while only backing up to a parking home from an initial position. In this paper, we propose a backing up control system for a container trailer truck using fuzzy theory where the primitive fuzzy control rules are macroscopically designed using an expert's knowledge, and the control rules are regulated by LIBL(Linguistic Instruction Based Learning) to enable to back up successfully the trailer tuck to a parking home from arbitrary initial position. The validity of the proposed parking control system is shown by applying it to some initial positions on the simulator for container trailer truck.

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Dynamic Response of 50kW Turbo-Generator with Super Critical Rotor supported on a Squeeze Film Damper- Bearing (스퀴즈필름 댐퍼-베어링에 장착된 50kW 터보 제너레이터 초임계 로터의 동적응답)

  • 최상규;김영철;이동환
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2001.05a
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    • pp.521-527
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    • 2001
  • The dynamic performance analyses and tests for a 50kW turbo-generator (KIMM-TG50) were carried out. The operating concept of this machine is that it gets the initial driving force from the built-in motor-generator until it reaches its self-sustaining speed of 40,000 rpm, and then the driving mode is changed to self-operating mode by the combustor installed between the centrifugal compressor and the turbine. Due to winding mistake of motor-generator, the system could go only up to 22000 rpm by the motor so that high pressure air externally fed into the turbine was utilized to get the system to run up to 62,000 rpm thereafter. The vibration data collected during the tests revealed that the first bending critical speed is in near 5,600 rpm as predicted in the design stage of the rotor-bearing system, and that there were no other identifiable critical speeds up until 62,000 rpm due to high damping from the squeeze film damper-bearings supporting the rotor. This paper presented some of the experimental results along with dynamic performance predictions made in the design stage as a part of progress being made.

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Dynamic Modeling and Performance Improvement of a Unicycle Robot (외바퀴 로봇 다이나믹 모델과 성능 개선)

  • Kim, Sung-Ha;Lee, Jae-Oh;Hwang, Jong-Myung;Ahn, Bu-Hwan;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.11
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    • pp.1074-1081
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    • 2010
  • Today, the research related to the robot is achieved in various part. With the high interest in means of transport, various researches about autonomous mobile robot and next generation transport is continuing. The unicycle robot among these needs much control technique like balance control model and driving model. For autonomous driving of this unicycle robot, from the basic balance control to direction switching control and velocity control are needed. But the environment elements like a gradient and frictional force or unbalanced elements from the structural feature. The unicycle needs the real time balance control so more complex, harder to control. And when functional addition is made, the problem that fall entire reaction velocity or accuracy would be happen. This paper introduces entire dynamics modeling of the unicycle robot and reduced model. And propose the new balance control algorithm using fuzzy controller. Also the evaluation about performance would be made through the test.

Development of walking assistance robot for the blind (시각장애인을 위한 보행보조 로봇의 개발)

  • Kang, Jeong-Ho;Kim, Chang-Geol;Lee, Seung-Ha;Song, Byung-Seop
    • Journal of Sensor Science and Technology
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    • v.16 no.4
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    • pp.286-293
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    • 2007
  • For safe walking of the people who are blind, walking assistance robot which can detecting and avoiding the obstacle was investigated. The implemented prototype walking assistance robot consists of a obstacle detecting module, a user interface using acoustic signal and a driving module. The obstacle detecting module uses 6 ultrasonic sensors those located at the front part of the robot can perceive the obstacle which is in 3 meter distances and 180 degrees. It calculates the distance and degree from the obstacle using TOF (time of flight) method and decides the 3-dimensional location of the obstacle. The obstacle information is delivered to the user using acoustic alarm and guide sound. The robot is designed to avoid by itself when the obstacle is detecting and the user only follows it to safe walking. After the designed robot was implemented, driving and obstacle detecting experiments were carried out. The result showed that the designed walking assistance robot will help the people who are blind to walk around safe.

Analysis of the Cooling Fin for the Temperature Reduction of the Tire Sidewall (타이어 사이드월 온도 저감을 위한 Cooling Fin 해석)

  • Park, JaeHyen;Jung, SungPil;Chang, WonSun;Chun, ChulKyun
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2014.10a
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    • pp.862-867
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    • 2014
  • When the vehicle is traveling, the deformation caused by friction continued with the ground is made to occur because the tire is the composite material of a viscoelastic. Part of the deformation energy is converted into heat energy as Hysteresis and temperature inside the tire rises. The generated heat is shed to the outside through the convection and evangelism. Increase in the internal temperature of the tire is difficult to ensure the safety of vehicle by damage to the tire during driving. Recently, Even when the tire is damaged, it is designed to be possible to driving in case of run-flat tires but the fact is that the development of the technology for the synergistic effect of heat release inside the tire by the side reinforcement is necessary. In this study, by using the Finite Element Method (FEM), applying the cooling fins to the tire sidewall, it is intended to check the temperature distribution along the shape of the cooling fins and the temperature reduction effect.

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Design criteria of wind barriers for traffic -Part 1: wind barrier performance

  • Kwon, Soon-Duck;Kim, Dong Hyawn;Lee, Seung Ho;Song, Ho Sung
    • Wind and Structures
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    • v.14 no.1
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    • pp.55-70
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    • 2011
  • This study investigates the design criteria required for wind barriers to protect vehicles running on an expressway under a high side wind. At the first stage of this study, the lateral deviations of vehicles in crosswinds were computed from the commercial software, CarSim and TruckSim, and the critical wind speeds for a car accident were then evaluated from a predefined car accident index. The critical wind speeds for driving stability were found to be 35 m/s for a small passenger car, yet 30 m/s for a truck and a bus. From the wind tunnel tests, the minimum height of a wind barrier required to reduce the wind speed by 50% was found to be 12.5% of the road width. In the case of parallel bridges, the placement of two edge wind barriers plus one wind barrier at center was recommended for a separation distance larger than 20 m (four lanes) and 10 m (six lanes) respectively, otherwise two wind barriers were recommended.