• International Journal of Highway Engineering
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• v.13 no.3
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• pp.185-193
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• 2011

As a Lift axle is an additional axle installed mostly in heavy freight truck, It"s introduced for the purpose of cost saving, such as logistics, fuel, tire wear and prevention of the pavement damage. However, the Effects of a lift axle are anecdotal and they have occurred often that a lift axle is used improperly by expectations of some drivers. For these reasons, this study conducts a field experiment in order to identifying the change rate of fuel consumption due to an a Lift axle using, develops the fuel consumption model of field data, and then compares the effects of a Lift axle using through application of the model. As a result, fuel consumption decreased in loading conditions that are both empty and full when not using a lift axle.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.8-15
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• 2020

This research is a case study of underwater object tracking based on real-time recurrent regression networks (Re³). Re³ has the concept of generic object tracking. Because of these characteristics, it is very effective to apply this model to unclear underwater sonar images. The model also an pursues object tracking method, thus it solves the problem of calculating load that may be limited when object detection models are used, unlike the tracking models. The model is also highly intuitive, so it has excellent continuity of tracking even if the object being tracked temporarily becomes partially occluded or faded. There are 4 types of the dataset using multi-beam sonar images: including (a) dummy object floated at the testbed; (b) dummy object settled at the bottom of the sea; (c) tire object settled at the bottom of the testbed; (d) multi-objects settled at the bottom of the testbed. For this study, the experiments were conducted to obtain underwater sonar images from the sea and underwater testbed, and the validity of using noisy underwater sonar images was tested to be able to track objects robustly.

• Journal of the Korea Convergence Society
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• v.3 no.4
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• pp.35-44
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• 2012

In this study, a simulation program 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 program 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.

• Journal of the Korea Convergence Society
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• v.10 no.11
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• pp.79-84
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• 2019

Video image based technology is being used in various fields with continuous development. The demand for vision system technology that analyzes and discriminates image objects acquired through cameras is rapidly increasing. Image processing is one of the core technologies of vision systems, and is used for defect inspection in the semiconductor manufacturing field, object recognition inspection such as the number of tire surfaces and symbols. In addition, research into license plate recognition is ongoing, and it is necessary to recognize objects quickly and accurately. In this paper, propose a recognition model through the rotational alignment of objects after checking the angle value of the tilt of the object in the input video image for the recognition of inclined objects such as numbers or symbols marked on the surface. The proposed model can perform object recognition of the rotationally sorted image after extracting the object region and calculating the angle of the object based on the contour algorithm. The proposed model extracts the object region based on the contour algorithm, calculates the angle of the object, and then performs object recognition on the rotationally aligned image. In future research, it is necessary to study template matching through machine learning.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• International Journal of Automotive Technology
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• v.3 no.4
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• pp.165-170
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• 2002

For a vehicle Anti-lock Braking System (ABS), the control target is to maintain friction coefficients within maximum range to ensure minimum stopping distance and vehicle stability. But in order to achieve a directionally stable maneuver, tire side forces must be considered along with the braking friction. Focusing on combined braking and turning operation conditions, this paper presents a new control scheme for an ABS controller design, which calculates optimal target wheel slip ratio on-line based on vehicle dynamic states and prevailing road condition. A fuzzy logic approach is applied to maintain the optimal target slip ratio so that the best compromise between braking deceleration, stopping distance and direction stability performances can be obtained for the vehicle. The scheme is implemented using an 8-DOF nonlinear vehicle model and simulation tests were carried out in different conditions. The simulation results show that the proposed scheme is robust and effective. Compared with a fixed-slip ratio scheme, the stopping distance can be decreased with satisfactory directional control performance meanwhile.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.4 s.142
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• pp.411-420
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• 2005

World leading company and research centers have invested much cost and effort into a PLM and digital manufacturing field to obtain their own competitiveness. We have been trying to apply a digital manufacturing, especially simulation to ship production process as a part of PLM implementation for a shipyard. A shipbuilding production system and processes have a complexity and a peculiarity different from other kinds of production systems. So, new analysis and modeling methodology is required to implement digital shipyard. which is a digital manufacturing system for a shipbuilding company. This paper suggests an analysis and simulation modeling methodologies for an implementation of a digital shipyard. New methodologies such as a database-merged simulation, a distributed simulation, a modular simulation with a model library and a 3-tire simulation framework are developed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.234-242
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• 2002

A shape optimal design of synthetic intervertebral disc prosthesis is performed using a three-dimensional finite element method. Geometric parameters are introduced to model the cross-sectional geometry of the intervertebral disc. It is assumed that the total strain energy in the intact intervertebral disc is minimized under the normal load conditions, as often cited in other references. To calculate the stain energy density, both the nonlinear material properties and the large deformations are taken into account. The design variables of the annulus fiber angle and the area ratio of the nucleus pulposus are calculated as 31°and 30%, respectively, which complies well with the intact disc. Thus, the same optimization procedure is applied to the design of the synthetic intervertebral disc prosthesis whose material properties are different from the intact disc. For the given synthetic material properties, the values of 67°and 24% for the fiber angle and the area ratio are obtained.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.3
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• pp.240-249
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• 2013

This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving, steering, vehicle stability, and fault tolerant control. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force. The fault tolerant control algorithm is applied to obtain the similar maneuverability to that of the non-faulty vehicle. The simulations using the Matlab/Simulink dynamics model and experiments using HIL simulator mounting the real controllers with the designed control algorithms prove the improved performances in terms of vehicle stability and maneuverability.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.10
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• pp.1924-1934
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• 2011

This paper is concerned with the robustness evaluations of the guidance controller for a bimodal tram which is being developed by the Korea Railroad Research Institute (KRRI). The bimodal tram is an all-wheel steered multiple-articulated vehicle as a new kind of transportation vehicle. This vehicle has to be equipped with an automatic guidance system. In [1], such a controller has been recently proposed. However, since the performance is affected by weight change of the vehicle due to number of the passenger, model parameter uncertainties depending on the state of friction and the elasticity of the tire, and a typhoon, the controller designed must be examined with these conditions. As expected, because the vehicle dynamics is highly nonlinear, for the sake of investigating the robustness of the controller we compose two simulation ways based on the vehicle models which are implemented by the ADAMS and the MATLAB/LabVIEW toolboxes. Different uncertainties and a typhoon disturbance have been considered for the simulation conditions. Simulation results are shown.