• 제어로봇시스템학회논문지
• /
• 제17권4호
• /
• pp.313-320
• /
• 2011

Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WS/6WD vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WS/6WD vehicles are favored for military use in off road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that using in-wheel motor can generate the independent wheel torque without other mechanical parts. Conventional vehicles, however, cannot generate an opposite driving force at each side wheel. Using an independent steering and driving system, six-wheel vehicles can show better performance than conventional vehicles. Using of independent steering and driving system, the 6 wheel vehicle can improve a performance better than conventional vehicle. This vehicle enhances the maneuverability under low speed and the stability at high speed. This paper describes an independent 6WS/6WD vehicle, consists of three parts; Vehicle Model, Control Algorithm for 6WS/6WD and Simulation. First, vehicle model is application of TruckSim software for 6WS and 6WD. Second, control algorithm describes the optimum tire force distribution method in view of energy saving. Last is simulation and verification.

• 제어로봇시스템학회논문지
• /
• 제18권8호
• /
• pp.787-793
• /
• 2012

This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 제36회 하계학술대회 논문집 C
• /
• pp.2019-2021
• /
• 2005

This paper describes the cut off time and the current characteristics of virgin RCDs and deteriorated ones in the seashore. The RCDs(Residual Current Protective Devices) are used for protecting the human body from electrical shock and for preventing facility accidents. According to the Korean standards, the RCDs are installed in panel boards. When RCDs are installed outside, they must be enclosed inside waterproof cases. In the case that RCOs are employed at temporary power sites and electrical facilities on the road, they are exposed to the external environment. As a result, the RCDs deteriorated in the seashore for 3 months showed high failure rate, while the virgin RCDs all complied with Korean Standard. Considering that the RCDs are used under exposed condition outside, the reliance of RCDs must be ensured by modifying the related regulations and codes and by developing Improved models advanced in their performance.

• 한국정보통신학회논문지
• /
• 제8권2호
• /
• pp.471-476
• /
• 2004

본 논문에서는 영상처리를 이용하여 온라인으로 교통표지판을 인식하는 비젼 시스템을 제안한다. 제안된 시스템은 넓은 두 개의 카메라, 즉 광각렌즈(wide-angle lends)와 망원렌즈(telephoto lends)를 장착하였고, 이미지처리 보드가 있는 PC로 구성되었다. 이 시스템은 색상, 자기, 형태 등과 같은 정보를 이용하여 광각이미지의 교통표지판을 추출한 다음, 보다 큰 이미지에서 정확한 표지판 후보영역을 추출하기 위해 망원렌즈에서 포착된 이미지를 이용하여 처리하였다. 실험결과로써 수동으로 촬영한 비디오 연속장면에서 포착한 영상을 시용하여 실험한 결과 속도표지판은 추출율 96.5%, 인식률 34.4% 그리고 안내표지판은 추출율 100%, 인식률 40%의 결과를 나타내었다. 또한 간단한 실행과정으로 빠른 인식률을 얻을 수 있었으며, 도로상에서의 실험으로 시스템의 효용성을 입증하였다.

• Journal of information and communication convergence engineering
• /
• 제11권2호
• /
• pp.95-102
• /
• 2013

This paper presents a stochastic driver behavior modeling framework which takes into account both individual and general driving characteristics as one aggregate model. Patterns of individual driving styles are modeled using a Dirichlet process mixture model, as a non-parametric Bayesian approach which automatically selects the optimal number of model components to fit sparse observations of each particular driver's behavior. In addition, general or background driving patterns are also captured with a Gaussian mixture model using a reasonably large amount of development data from several drivers. By combining both probability distributions, the aggregate driver-dependent model can better emphasize driving characteristics of each particular driver, while also backing off to exploit general driving behavior in cases of unseen/unmatched parameter spaces from individual training observations. The proposed driver behavior model was employed to anticipate pedal operation behavior during car-following maneuvers involving several drivers on the road. The experimental results showed advantages of the combined model over the model adaptation approach.

• Translational and Clinical Pharmacology
• /
• 제26권4호
• /
• pp.155-159
• /
• 2018

For regulatory approval of a new drug, the most preferred and reliable source of evidence would be randomized controlled trials (RCT). However, a great number of drugs, being developed as well as already marketed and being used, usually lack proper indications for children. It is imperative to develop properly evaluated drugs for children. And expanding the use of already approved drugs for other indications will benefit patients and the society. Nevertheless, to get an approval for expansion of indications, most often with off-label experiences, for drugs that have been approved or for the development of pediatric indications, either during or after completing the main drug development, conducting RCTs may not be the only, if not right, way to take. Extrapolation strategies and modelling & simulation for pediatric drug development are paving the road to the better approval scheme. Making the use of data sources other than RCT such as EHR and claims data in ways that improve the efficiency and validity of the results (e.g., randomized pragmatic trial and randomized registry trial) has been the topic of great interest all around the world. Regulatory authorities should adopt new methodologies for regulatory approval processes to adapt to the changes brought by increasing availability of big and real world data utilizing new tools of technological advancement.

• 자동차안전학회지
• /
• 제11권3호
• /
• pp.30-36
• /
• 2019

This paper suggests a car-following algorithm for urban environment, with multiple target candidates. Until now, advanced driver assistant systems (ADASs) and self-driving technologies have been researched to cope with diverse possible scenarios. Among them, car-following driving has been formed the groundwork of autonomous vehicle for its integrity and flexibility to other modes such as smart cruise system (SCC) and platooning. Although the field has a rich history, most researches has been focused on the shape of target trajectory, such as the order of interpolated polynomial, in simple single-lane situation. However, to introduce the car-following mode in urban environment, realistic situation should be reflected: multi-lane road, target's unstable driving tendency, obstacles. Therefore, the suggested car-following system includes both in-lane preceding vehicle and other factors such as side-lane targets. The algorithm is comprised of three parts: path candidate generation and optimal trajectory selection. In the first part, initial guesses of desired paths are calculated as polynomial function connecting host vehicle's state and vicinal vehicle's predicted future states. In the second part, final target trajectory is selected using quadratic cost function reflecting safeness, control input efficiency, and initial objective such as velocity. Finally, adjusted path and control input are calculated using model predictive control (MPC). The suggested algorithm's performance is verified using off-line simulation using Matlab; the results shows reasonable car-following motion planning.

• 한국군사과학기술학회지
• /
• 제24권3호
• /
• pp.293-301
• /
• 2021

LTV(Light Tactical Vehicle) operating in our military requires higher levels of performance and durability to withstand harsher conditions than general vehicles, as they must travel on both rough-train and off-road as well as on public roads. Recently, LTV development is demanded a variety of test evaluations in order to satisfy ROC (Required Operational Capability) by the military requirement. However, there is no informations of driving test course for satisfying the durability performance of Korean tactical vehicle. Therefore, this study aims to provide basic data to establish reliable drive test conditions by analyzing the main maneuvering test site at the domestic and foreign country in order to select the representative drive course. These studies will provide a more scientific and systematic evaluation solution for the development of tactical vehicles, and can be effectively used to establish a certified system for military vehicle test evaluation in the future

• 영미문화
• /
• 제13권1호
• /
• pp.1-28
• /
• 2013

Edward Abbey is regarded as one of the most influential ecological or nature writers. He celebrates the American Southwestern desert, argues for wilderness preservation, and advocates politically-oriented environmental activism to defend wilderness. He, however, does not classify himself as a nature writer, but rather places himself in the tradition of a kind of autography. His books show his fascination with the delicate harmony of the desert, and at the same time his personal journey over the desert. That is, eco-centered, he keeps his journey into the heart of the desert. He finds the desert harsh, brutal, fatal, and most of all, indifferent. The desert reveals simplicity and mystery, silence and revelation, and emptiness and fulfillment. This mythical and paradoxical essence of the desert draws him into the place and inspires redemptive humility and beauty, which, in turn, peel off his old ego or self. During his journey, Abbey tries to immerge himself with the desert yet remains intact and individual. The desert serves for him as the bedrock which sustains him and offers an opportunity to gain a new whole perspective. Like a pocket hunter in the desert whom he characterizes himself, he sticks to the desert to dig out ground for his existence and survival. Pulling the energy and force of the desert into his soul, Abbey is free, or compelled to contemplate what is beyond the human. His experience in and of the desert leads to a discovery of self and initiates selfhood.

• 드라이브 ㆍ 컨트롤
• /
• 제17권4호
• /
• pp.113-124
• /
• 2020

Most of the work of construction equipment and agricultural machinery is done in off-road conditions. Autonomous driving required in these conditions uses GPS sensors, and PID controllers to control their speed and position. The hydrostatic steering, which is composed of a PSU, hydraulic hoses, and cylinders, rather than a mechanical coupling is used in these equipments. The PSU plays a key role in hydrostatic steering. Precise control of the position under various conditions requires detailed behavioral analysis of the basic components and operation. Two Gerotor PSU is now a commonly used safer option. The components of the PSU can be divided into mechanical and hydraulic actuating elements by its behavior. Since the system is combined by mechanical and hydraulic elements, the modelings are performed using Amesim, which is one of the most effective for the multi-domain dynamic system analysis. To confirm the validity of the model, input torque and pressures are checked with varying steering speed. The opening and the steering speed of normal and newly designed control valve set is investigated with the effect of centering spring force and friction. Finally, simulation results with fully detailed model with two gerotors are analyzed and compared with simple model.