• Proceedings of the Korea Society for Simulation Conference
• /
• 2002.11a
• /
• pp.163-170
• /
• 2002

Terrain surfaces have to be modeled in very detail and wheel-surface contacting geometry must be well defined in order to obtain proper ground-reaction and friction forces for realistic simulation of off-road vehicles. Delaunay triangulation is one of the most widely used methods in modeling 3-dimensional terrain surfaces, and T-search is a relevant algorithm for searching resulting triangular polygons. The T-search method searches polygons in successive order and may not allow real-time computation of off-road vehicle dynamics if the terrain is modeled with many polygons, depending on the computer performance used in the simulation. In order to accelerate the searching speed of T-search, a terrain database of triangular polygons is modeled in multi-levels by adopting the LOD (Level of Detail) method used in realtime computer graphics. Simulation results show that the new LOD search is effective in shortening the required computing time. The LOD search can be even further accelerated by introducing an NN (Neural Network) algorithm, in the cases where a appropriate range of moving paths can be predicted by cultual information of the simulated terrain, such as lakes, houses, etc.. Numerical tests show that LOD-NN search almost double the speed of the original T-search.

• The Journal of Korea Robotics Society
• /
• v.5 no.3
• /
• pp.270-277
• /
• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.5 no.6
• /
• pp.155-166
• /
• 1997

In this study, a simulation tool is developed in order to investigate non steady-state cornering performance of 6WD/6WS special-purpose vehicles. 6WD vehicles are believed to have good performance on off-the-road maneuvering and to have fail-safe capabilities. But the cornering performances of 6WS vehicles are not well understood in the related literature. In this paper, 6WD/6WS vehicles are modeled as a 18 DOF system which includes non-linear vehicle dynamics, tire models, and kinematic effects. Then the vehicle model is constructed into a simulation tool using the MATLAB /SIMULINK so that input/output and vehicle parameters can be changed easily with the modulated approach. Cornering performance of the 6WS vehicle is analyzed for brake steering and pivoting, respectively. Simulation results show that cornering performance depends on the middle-wheel steering as well as front/rear wheel steering. In addition, a new 6WS control law is proposed in order to minimize the sideslip angle. Lane change simulation results demonstrate the advantage of 6WS vehicles with the proposed control law.

• International Journal of Highway Engineering
• /
• v.9 no.4
• /
• pp.185-192
• /
• 2007

Newly constructed road is a requisite to be able to carry out BMPs (Best Management Practices) under TMDL(Total Maximum Daily Load) program of the Ministry of Environment. BMPs require pollutant source control during road construction and wash off reduction plan as well as maintenance practices subsequent to construction on the purpose of discharging the minimum wash off non-point source pollutants. The objective of this study is to provide supportive discharged data in evaluating the discharged non-point pollutant load from a highway toll gate area. It can be applied to manage non-point source pollutants on roads. The results validate the first flush phenomenon that it is known to be one of the wash off characteristics in paved area. In addition, the load per unit area and load per unit rainfall duration applying EMC are calculated. The mean load per unit rainfall duration is assessed to be $533.7mg/m^2-hr$ for TSS, $396.2mg/m^2-hr$ for COD, $17.0mg/m^2-hr$ for TN, and $4.8mg/m^2-hr$ for TP. These results show the unitload taken from monitoring are higher than the unit load suggested in the TMDL. It is important to adopt real pollutant unit for road to be able to perform BMP successfully.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.6
• /
• pp.526-531
• /
• 2012

This paper, we describe the vector control of surface mounted PMSM (Permanent Magnet Synchronous Motor) using the fuzzy controller which is suggested algorithm. In these days, when vehicle is operated or not, whether the road is covered or not, the sensitivity of the steering column is not stable. To make up for it, the PI gain of a steering column controller is adjusted by experience. It becomes the price because it need a lot of sensor. Also it is difficult to implement robust control because we need a lot of parameters for variable road conditions which are the off road, the on road, a low battery voltage, a high battery voltage, a vehicle speed. In this paper, we propose fuzzy controller using the suggested algorithm which suitable for steering system. We test the fuzzy controller with the various condition. We get the good performance of fuzzy controller even if it is nonlinear system. We check a robust the fuzzy controller using the suggested algorithm.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.14 no.5
• /
• pp.145-154
• /
• 2006

Each part of drum brake system is loaded by continual mechanical force and thermal force every time of braking, so enough strength and stability are required. Thermal characteristic is one of the important factors in drum brake systems design. This paper presents the thermal performance such as temperature distribution and thermal contact stress of drum brake system considering several braking patterns; 80th heat braking test mode, heat fade braking test mode, general road mode, steep slope road mode and off road mode. Transient heat transfer analysis and Thermo elastic contact analysis is executed to obtain the temperature distribution, and to evaluate thermal stress of drum brake by using ABAQUS/Standard code. This procedure of analysis can effectively be used to improve the quality problem of brake system and to get design guideline of the new product.

• Journal of architectural history
• /
• v.30 no.5
• /
• pp.29-42
• /
• 2021

The Don-am district is a residential area that was supplied in 1936 as a land readjustment project(Tojiguhoekjeongri). The Don-am district was newly supplied with residential areas and urban hanoks were built in large numbers. The Don-am district was influenced by urban planning and legislation at that time. These affected in the layout and plan of urban hanok. Residential block in the Don-am district were developed sequentially from the late 1930s to the 1960s. Residential block were divided by modern construction company and sold by individual lots. The blocks supplied to the Don-am district made uniformly the corner out-off(Ga gak) for creating a vehicle-centered road. So urban hanoks located in the corner plot was transformed in response to the road. Residential blocks in Don-am district was divided into three to four rows. Therefore, alleys were created inside the block. Newly made alleys consist of a privately owned road(Sa-do), a public road(Gong-Do), and open space in the site. And the alleys were used as an entry space for sharing with neighboring. Urban hanoks of Don-am district have had changed and adapted to the formation of these alleys.

• International Journal of Highway Engineering
• /
• v.9 no.2 s.32
• /
• pp.77-87
• /
• 2007

Traffic accidents on freeway are occurred by various factors, and driver inattention is one of the most important factors causing traffic accidents. To warn drivers about unexpected dangerous events and diminish driver inattention problems, traffic safety facilities including warning and regulatory traffic signs; delineators; rumble strips are installed. In this study, the traffic safety effect of shoulder rumble sips were investigated using "Comparison Croup (C-G)" method developed by Hauer. Through the analyses, it was found that numbers of run-off-the road crashes were reduced as 2.43 crashes per year after the installation of shoulder rumble strips on the freeway. Based on the analysis results in this study, it was concluded that shoulder rumble strips on the freeway contribute to reduce traffic accidents, especially run-off-the road crashes.

• Journal of the Institute of Convergence Signal Processing
• /
• v.6 no.1
• /
• pp.1-7
• /
• 2005

This paper describes the system for detecting vehicles in the rear and rear-side that access between sidewalk and bus stopped to city road at day by computer vision-based method. This system informs appearance of vehicles to bus driver and passenger for the safety of a bus passenger getting off. The camera mounted on the top portion of the bus exit door gets the rear and rear-side image of the bus whenever a bus stops at the stop. The system sets search area between bus and sidewalk from this image and detects a vehicle by using change of image and sobel filtering in this area. From a central point of the vehicle detected, we can find out the distance, speed and direction by its location, width and length. It alarms the driver and passengers when it's judged that dangerous situation for the passenger getting off happens. This experiment results in a detection rate more than 87% in driving by bus on the road.

• Smart Structures and Systems
• /
• v.13 no.3
• /
• pp.419-434
• /
• 2014

In this paper, the electromagnetic damper (EMD), which is composed of a permanent-magnet rotary DC motor, a ball screw and a nut, is considered to be analyzed as a semi-active damper. The main objective pursued in the paper is to study the two degrees of freedom (DOF) model of the semi-active electromagnetic suspension system (SAEMSS) performance and energy regeneration controlled by on-off and continuous damping control strategies. The nonlinear equations of the SAEMSS must therefore be extracted. The effects of the EMD characteristics on ride comfort, handling performance and road holding for the passive electromagnetic suspension system (PEMSS) are first analyzed and damping control strategies effects on the SAEMSS performance and energy regeneration are investigated next. The results obtained from the simulation show that the SAEMSS provides better performance and more energy regeneration than the PEMSS. Moreover, the results reveal that the on-off hybrid control strategy leads to better performance in comparison with the continuous skyhook control strategy, however, the energy regeneration of the continuous skyhook control strategy is more than that of the on-off hybrid control strategy (except for on-off skyhook control strategy).