• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.500-502
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• 1999

This thesis deals with study and implementation of a cross-coupling controller which can enhance the path-tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV in this thesis is differential drive type and has front-side and rear-side optical sensors, which can identify the guiding path. When AGV from the path due to the inevitable error and the deviation must be corrected. It has been shown that compensation only the first term can lead to undesirable oscillatory results and even instability but compensating only the second term leads to a steady state offset error. Cross-coupling control directly minimizes the error by coordinating the motion of the two drive wheels. The cross-coupling controller is analyzed to evaluate its performance. The cross-coupling controller enhances transient performance of the controller is demonstrated by simulation and is compared with that of individual loop controller.

• Ocean and Polar Research
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• v.32 no.4
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• pp.361-367
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• 2010

The principal objective of this paper was to evaluate the steering characteristics of a tandem tracked vehicle, each side of which features two tandem tracks, when crawling on extremely cohesive soft soil. The tandem tracked vehicle is assumed to be a rigid-body with 6-dof. The dynamic analysis program of the tandem tracked vehicle was developed via Newmark's method and the incremental-iterative method. A terra-mechanics model of extremely cohesive soft soil was implemented according to the relationships of normal pressure to sinkage, of shear resistance to shear displacement, and of dynamic sinkage to shear displacement. In order to simplify the characteristics of contact interaction between track segments and cohesive soft soil, the characteristics of soil are equated to the properties of intact soil. In an effort to evaluate the steering characteristics of a tandem tracked vehicle crawling on extremely cohesive soft soil, a series of dynamic simulations were conducted for a tandem tracked vehicle model with respect to the front and rear steering angle, the steering ratio, and the initial velocity.

• Journal of Auto-vehicle Safety Association
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• v.10 no.4
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• pp.7-12
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• 2018

Injury mechanisms of lower extremity injuries in motor vehicle accidents are focused on fractures, sprains, and contusions. The purpose of this study is to evaluate the analysis of lower extremity injury mechanism in occupant motor vehicle accident by using Hospital Information System (HIS) and reconstruction program, based on the materials related to motor vehicle accidents. Among patients who visited the emergency department of Wonju Severance Christian Hospital due to motor vehicle accidents from August 2012 to February 2014, we collected data on patients with agreement for taking the damaged vehicle's photos. After obtaining the verbal consent from the patient, we asked about the cause of the accident, information on vehicle involved in the accident, and the location of car repair shop. The photos of the damaged vehicle were taken on the basis of front, rear, left side and right side. Damage to the vehicle was presented using the CDC code by analytical study of photo-images of the damaged vehicle, and a trauma score was used for medical examination of the severity of the patient's injury. Among the 1,699 patients due to motor vehicle crashes, 88 (5.2%) received a diagnosis of lower extremity fracture and 141 (8.3%) were the severe who had ISS over 15. Nevertheless during 19 months for research, it was difficult to build up in-depth database about motor vehicle crashes. It has a limitation on collecting data because not only the system for constructing database about motor vehicle crash is not organized but also the process for demanding materials is not available due to prevention of personal information. For accurate analysis of the relationship between occupant injury and vehicle damage in motor vehicle crashes, build-up of an in-depth database through carrying out various policies for motor vehicle crashes is necessary for sure.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.3
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• pp.52-59
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• 2008

Most accident reconstruction or analysis depend on the coefficient of friction to estimate the vehicle speeds. Skid mark and coefficient of friction are usually utilized to calculate the velocity and behavior of vehicles. For a critical case such as traffic accident reconstruction, however, the initial velocity of the car should be calculated precisely. In this paper, emergency brake tests on ABS and Non-ABS brake system are conducted on the dry pavement asphalt road on speed 40, 60, 80 and 100 km/h respectively. The SWIFT sensor was established in the front wheel and rear wheel at driver side to measure the forces, moments and speeds of revolution of the tires. These tests results can be available to brake tests and accident reconstruction.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.472-479
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• 2000

A persimmon harvesting vehicle that can be operated in hilly orchards as well as a manipulator that can be used to harvest persimmons located in remote positions in the trees were designed and developed. The vehicle could be operated with keeping balanced position in an inclined field and its working platform could be moved up and down easy to approach fruits in a remote region with the aids of a hydraulic and a electrical and electronics systems. The weight of the vehicle was 927 kg and the center of gravity was located at 427 mm to the inner side from the center of a right driving caterpillar, 607 mm to a rear axle from the center of a front axle, and 562 mm to upward from ground. The automatic level control sensor for leveling the working platform was activated within 14.5 ∼ 16.5 degrees of slope variation. The total length of the manipulator was 1.39 m and weight is 975 g. It was powered by a 12 V geared motor to detach persimmon fruits with a rotational force. The gripper was made of plastic and rubber to increase a frictional force. In a performance evaluation test, static tipping angle, dynamic tipping angle toward front side when the vehicle was moving downward, climbing angle, driving speed of the vehicle were measured or calculated. In persimmon harvesting tests 24.9% of yield was increased by hand picking with the aid of the vehicle and additional 7% of yield were increased when the manipulator was used. Therefore, 99010 of total possible yield was achievable when both of the vehicle and the manipulator were used for the manual persimmon harvesting. Increase in 22.5% of total yield was achieved with the manipulator only.

• Journal of Auto-vehicle Safety Association
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• v.8 no.1
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• pp.31-37
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• 2016

The Child Occupant Safety Assessment was first introduced and carried out by Euro NCAP in 2003, with the goal of ensuring manufacturers to develop safe vehicles for passengers of all ages; the objective was to evaluate the safety and protection offered by different Child Restraint Systems (CRS) in the event of a crash. In 2013, the formerly used P child dummy series was replaced by newer and more biofidelic Q1.5 and Q3 child dummies, representing 1.5 and 3 year old children respectively. The frontal and side impact dynamic performances of the Q1.5 and Q3 were tested within all classes of vehicles assessed by Euro NCAP at the time. As an extension to that initiative, Q6 and Q10 child dummies were later developed representing children of 6 and 10 years old. Since the protection of larger children during vehicle crashes relies greatly on the interaction of vehicle restraint systems such as seat belt and the CRS, instrumented Q6 and Q10 dummies will be used to assess the protection offered in the event of front and side impact crashes. In this paper, we focused on injury criteria of Q6 and Q10 child dummies at 64 kph 40% offset frontal crash test. The whole procedure was designed with DFSS analysis. The full vehicle sled test results of both dummies were conducted with different restraint systems settled through previous sled test. It showed that several injury criteria and image data were collected as the result of the full vehicle sled test. Based on the results of these investigations, this paper describes which factor is most important and combination shows the best performance when evaluating rear seat occupant protection for Q6 and Q10 child dummies.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.1
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• pp.122-130
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• 2012

In this paper, we propose a broadband vehicle antenna that can operate at the WiBro band(2.3~2.4 GHz) for a wireless internet service. The feeding of the proposed antenna consists of two T-matching networks on both side of the polyarcylate substrate, and the two T-matching networks are connected through via holes. The designed antenna was built and installed on a rear window of a commercial sedan, and the antenna performances, such as the reflection coefficients and the radiation gain are measured in the open-sight area. The received signal strength of the designed antenna was also tested in a strong field area as well as in a weak field area. The measurement results show the matching bandwidth($S_{11}$ <10 dB) of about 300 MHz in the WiBro band and the average gain of about -5.13 dBi along the azimuth direction.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.20 no.6
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• pp.47-54
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• 2021

The number of freeway traffic accidents in Korea is about 4,000 as of 2020, and deaths per traffic accident is about 3.7 times higher than other roads due to non-recurring congestion and high driving speed. Most of the accident types on freeways are side and rear-end collisions, and one of the main factors is hazard traffic flow caused by merge, diverge and accidents. Therefore, the hazard traffic flow, which appears in a continuous flow such as a freeway, can be said to be important information for the driver to prevent accidents. This study tried to classify hazard traffic flows, such as the speed change point and the section where the speed difference by lane, using individual vehicle information. The homogeneous segment of speed was classified using spatial separation based on geohash and space mean speed that can indicate the speed difference of individual vehicles within the same section and the speed deviation between vehicles. As a result, I could extract the diverging influence segment and the hazard traffic flow segment that can provide dangerous segments information of freeways.

• Journal of Biosystems Engineering
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• v.38 no.4
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• pp.240-247
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• 2013

Purpose: This study was conducted to develop a rubber-crawler type vehicle as a traveling device for harvesting water-dropwort cultivated in water contained paddy rice field in winter season. Methods: A commercial rubber-crawler type vehicle was used to investigate application of rubber crawler to the paddy rice field as preliminary test. As the result of the preliminary test, a both prototype traveling device with rubber crawlers for a water-dropwort harvest was designed with inclination of $45^{\circ}$ at the front-end and rear-end of crawler under the basic water depth of 0.6 m in the paddy rice field. The device was fabricated and attached to the experimental harvesting test devices on the front of the prototype vehicle. The size of the prototype crawler vehicle with a harvesting part is $2,800{\times}1,460{\times}1,040 $ (mm) ($L{\times}W{\times}H$) with weight of 9.21 kN (maximum). Sizes of the crawler of prototype vehicle are ground contact length of 900 mm, width of 180 mm, height of 1,070 mm and distance between center to center of crawlers of 720 mm. The side-overturn angle of the prototype was $26.4^{\circ}$. Results: Driving performance of the prototype vehicle in water contained paddy field were good at both forward and reverse (backward) directions as weights were applied. The drawbar pull and the maximum sinking depth of the prototype vehicle were 3.5 kN and 0.13 m respectively at water depth of 0.5 m, when the weight and bearing capacity of the prototype rubber crawler in the paddy field were 8.51 kN and 26.3 $kN/m^2$, respectively. Conclusions: Results of the driving test performance of the prototype crawler in paddy rice field at the water depth of 0.5 m were satisfactory. The prototype had enough drawbar pull and driving ability in the deep water contained paddy field.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.18 no.2
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• pp.217-226
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• 2018

Since the sides of a vehicle are designed asymmetrically unlike its front or rear, the degree of deformation of the car body greatly differs depending on the site of collision if a broadside collision takes place. When elastic deformation and plastic deformation occur in the car body occur due to a collision, the kinetic energy is absorbed into the body, and the momentum decreases. Generally, an analysis of traffic accidents analyzes the vehicle's behavior after a collision by the law of momentum conservation and corrects the error of the amount of energy absorption due to the deformation of the car body, applying a restitution coefficient. This study interpreted a finite element vehicle model applying the structure of the car body and the material properties of each part with LS-DYNA, analyzed the result and drew the restitution coefficient and the depth of penetration according to the contact area of the vehicle in a broadside collision between an SUV and a passenger car. When the finally calculated restitution coefficient and depth of penetration were applied to the examples of the actual traffic accidents, there was an effect on the improvement of the error in the result. It was found that when the initial input value, drawn using the finite element analysis model, it had a higher reliability of the interpretation than that of the existing analysis techniques.