• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.33 no.4
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• pp.290-297
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• 1997

Underwater robotic vehicles(URVs) are used for various work assignments such as pipe-lining, inspection, data collection, drill support, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc. As the use of such vehicles increases the development of vehicles having greater autonomy becomes highly desirable. The vehicle control system is one of the most critic vehicle subsystems to increase autonomy of the vehicle. The vehicle dynamics is nonlinear and time-varying. Hydrodynamic coefficients are often difficult to accurately estimate. It was also observed by experiments that the effect of electrically powered thruster dynamics on the vehicle become significant at low speed or stationkeeping. The conventional linear controller with fixed gains based on the simplified vehicle dynamics, such as PID, may not be able to handle these properties and result in poor performance. Therefore, it is desirable to have a control system with the capability of learning and adapting to the changes in the vehicle dynamics and operating parameters and providing desired performance. This paper presents an adaptive and learning control system which estimates a new set of parameters defined as combinations of unknown bounded constants of system parameter matrices, rather than system parameters. The control system is described with the proof of stability and the effect of unmodeled thruster dynamics on a single thruster vehicle system is also investigated.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.24 no.7
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• pp.554-558
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• 2011

Piezoelectric energy harvester (PEH) as a box type was fabricated in order to harvest mechanical energy imparted to roadways from passing vehicles and convert it into electricity. The PEH was composed of 72 piezoelectric cantilevers with 9 springs with elasticity stick to a bottom of the PEH. For the single piezoelectric cantilever, when a single push with approximately 5 mm displacement was incident to it, power of 0.355 mW was produced at $100\;k{\Omega}$. It is found that the power from the single piezoelectric cantilever increases when spring constant is high. We investigated power of PEH when the moving vehicle passes in it. Power was increased with increasing vehicle speed. When vehicle speed is 30 km/h, power is 20.6 mW.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.566-572
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• 2011

In recent semiconductor and FPD (Flat Panel Display) manufacturing processes, high clean-class delivery operation is required more and more for short working time and better product quality. Traditionally SLIM (Single-sided Linear Induction Motor) is widely used in the liner drive applications because of its simplicity in the rail structure. A magnetically levitated (Maglev) unmanned vehicle with SLIM traction, which is powered by a CPS (Contactless Power Supply) can be a high precision delivery solution for this industry. In this paper unmanned FPD-carrying vehicle, which can levitate without contacting the rail structure, is suggested for high clean-class FPD delivery applications. It can be more acceptable for the complex facilities composed with many processes which require longer rails, because of simple rail structure. The test setup consists of a test vehicle and a rounded rail, in which the vehicle can load and unload products at arbitrary position commanded through wireless communications of host computer. The experimental results show that the suggested vehicle and rail have reasonable traction servo and robust electromagnetic suspensions without any contact. The resolution of point servo errors in the SLIM traction system is accomplished under 1mm. The maximum gap error is ${\pm}0.25mm$ with nominal air gap length of 4.0mm in the electromagnetic suspensions. This type of automated delivery vehicle is expected to have significant role in the clean delivery like FPD glass delivery.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.696-701
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• 2004

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion, have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.450-451
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• 2008

The Bimodal tram is developed in KRRI (Korea Railroad Research Institute). This vehicle will be used in the public transportation system. The Bimodal tram has the advantages of both bus and train. Bus system has the advantages of flexibility of the routes delivering passengers to the destination and easy accessibility. Train is to meet the scheduled arrival and massive public transportations. The vehicle is the rubber tired tram and is all wheel steered single articulation. The vehicle can be automatically operated by navigation control system (NCS). For the automatic driving, the vehicle lanes will be marked with permanent magnets that are buried in the road. The control algorithm developed for navigation control has to be verified before being applied in the vehicle. In this purpose, we design the simulator for controller test of the bimodal tram.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1998.04a
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• pp.102-107
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• 1998

UTM-01 is the first fall sized maglev test vehicle which is being developed by KIMM and Hyundai Precision and Industrial Co., since 1995. The vehicle employs normal conducting magnets for levitation and single sided linear induction motor for propulsion. The test vehicle has been under tests to assure its required performance since last May 1997. This paper reports various system level test results compared with simple 2 degree of freedom dynamic calculations. Test results include performance of the levitation and guidance system, propulsions system, and the dynamic behavior of the elevated guideway under the passage of the maglev vehicle.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.10
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• pp.80-85
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• 2013

Recently it is becoming more common to apply vehicle electronics(Vetronics) based on information technology to improve the operability of the combat vehicles. Although the vehicle electronics system has been gradually developed, it is hard not only to design the reliable system which is a built-in multi-function but also to analyze the fault failure in the state of on-vehicle when failures occur. Therefore, It is required the data logging system like a aircraft's black box for the combat vehicles to enhance the reliability. In this paper, we developed the multi data acquisition and analysis device which is acquiring real-time data such as communication data, video data and voice data available for checking operational status of system and managing history. The performance of device has been proved on the vehicle.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1695-1696
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• 2008

KRRI (Korea Railroad Research Institute) is developing a bimodal tram since the 2003s. The vehicle will be used in the public transportation system. The bimodal tram has the advantages of both bus and train. Bus system has the advantages of flexibility of the routes delivering passengers to the destination and easy accessibility. Train is to meet the scheduled arrival and massive public transportations. The vehicle is the rubber tired tram and is all wheel steered single articulation. The propulsion system is configured by CNG hybrid system. The length of the vehicle is 18m. The vehicle lanes will be marked with permanent magnets that are buried in the road. The vehicle can be automatically operated by navigation control system (NCS). In this paper, we introduce the driving system of the bimodal tram which is developed by KRRI.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.3
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• pp.16-22
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• 2011

This paper presents the potential of in-vehicle data recorder system for monitoring aggressive driving patterns and providing feedback to drivers on their on road behaviour. This system can detect 10 risky types of drivers' driving patterns such as aggressive lane change, sudden brakes and turns with acceleration etc. Vehicle dynamics simulation and vehicle road test have been performed in order to develop driving pattern recognition algorithms. Recorder systems are installed to 50 buses in a single company. Drivers' driving behaviour are monitored for 1 month. The drivers' risky driving data collected by the system are analyzed. Aggressive lane change in 50km/h below is a cause in overwhelming majority of risky driving pattern.

• Smart Structures and Systems
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• v.2 no.3
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• pp.275-293
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• 2006

For health monitoring purpose usually the structure is instrumented with a large scale and multichannel measurement system. In case of highway bridges, operating vehicle could be utilized to reduce the number of measuring devices. First this paper presents a static damage detection algorithm of using operating vehicle load. The technique has been validated by finite element simulation and simple laboratory test. Next the paper presents an approach of using this technique to field application. Here operating vehicle load data has been used by instrumenting the bridge at single location. This approach gives an upper hand to other sophisticated global damage detection methods since it has the potential of reducing the measuring points and devices. It also avoids the application of artificial loading and interruption of any traffic flow.