• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.11
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• pp.1634-1640
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• 2012

This paper develops the high-efficiency drive system of the small-size electric vehicles (EVs) driven by the brushed dc motors. A power circuit for driving the dc motor is designed with the H-bridge circuit and buck converter by considering both the efficiency and cost. In order to change smoothly the rotating direction of dc motor driven by the proposed power circuit, an operating sequence for both the field current and the armature voltage according to an accelerator pedal angle is suggested. Through the simulation studies and experimental results with the low-cost 8-bit AVR, the performances of the proposed methods are verified.

• Proceedings of the KAIS Fall Conference
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• 2006.05a
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• pp.281-283
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• 2006

본 논문에서는 32비트 RISC 프로세서인 PXA255 임베디드 시스템에 리눅스와 HTTP(Hypertext Transfer Protocol) 웹 서버인 GoAhead를 포팅해 웹 서버를 구축하고, 웹 서버를 기반으로 자동차의 실시간 위치 추적시스템을 구현하였다. 운행중인 자동차의 위치 파악은 임베디드 시스템에 GPS 수신기를 장착하여 위성으로부터 전송받은 위치 데이터를 CGI나 자바프로그램을 이용해 프로그램 하였으며, 웹 브라우저를 통해 현재 자동차의 위치를 추적할 수 있는 있도록 하여, PC나 핸드폰, PDA와 같은 개인용 단말기로 장소에 구애받지 않고 쉽게 위치를 파악하도록 하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.207-214
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• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• International Journal of Railway
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• v.6 no.1
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• pp.1-6
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• 2013

Electric railway system driving the electric cars using power from catenary has been secured by performance of stable tracking between pantograph and catenary. The performance of the power collecting of pantograph is the one of the most important skills for high-speed train speed. The first Korea high-speed train(KTX) is 20 cars in one train set. In the meantime, collecting capability of single pantograph collector at one train set was confirmed through evaluation of the performance and the stability test. However, more research is needed to build for a stable collecting capability of coupled Korea's KTX-II High-speed system which is developed in Korea. In this study, actual vehicle test of coupled KTXSanchon was made to analyzing the data presented by the dynamic nature of catenary and pantograph, and the interface characteristics.

• Journal of the Korean Society of Mechanical Technology
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• v.13 no.2
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• pp.71-78
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• 2011

A kart is a vehicle without the suspension system and the differential gear. The kart frame as an elastic body plays the role of a spring. By the cornering of a kart, rolling, pitching and twisting motions are induced in the kart frame. Also the slip or noncontact of the wheel and a permanent deformation of the kart frame can be induced. In order to examine closely this phenomenon, measurement on height-displacements with various sensors and tracking system and analysis on the kart frame twisting characteristics with the rolling and pitching angle are needed. According to the measurement result, while driving in a curve at high speed the kart frame is quite twisted. Analysis on the measurement results shows that a kart used primarily in high speed requires a frame with low torsional stiffness and a frame material with high tensile strength and large elongation.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1179-1184
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• 2007

An unmaned surveillance robot consists of rifle, laser receiver, thermal imager, color CCD camera, and laser illuminator. A human guard can be replaced with such a robot to take care dangerous surveillance tasks. Currently most of surveillance robots are mounded at a fixed post to take care of surveillance tasks. In order to watch blind areas, it is necessary to modify such a surveillance robot to become a mobile robot. In this paper, simulation based design procedure of mobile surveillance robot has been introduced. 3D CAD geometry model has been produced using Pro-Engineer. Required pen and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to stabilize the system from the motion of the vehicle which experiences the rough terrain. ADAMS-Matlab co-simulation has been also carried out to validate the proposed target tracking and stabilization algorithm.

• The Journal of Korean Institute for Practical Engineering Education
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• v.2 no.1
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• pp.84-88
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• 2010

Recently, it is essential to have the system which can track down and identity the random object in the space in which security is a high priority. Due to the fact that we mentioned above, in this paper. We suggest the intelligent video surveillance system effective image-process-education in this paper. The experiment was conducted to check and track down the entering vehicle. And, Pan-Tilt-Zoom camera was used to obtain the enlarged image of the object while a vehicle was making stop in target area. As a result, the experiment has shown the data as following. When the object is in motion, success rate is 97.4%, while success rate is 91% when the object is motionless. By using the suggested system, effective image-process-education is should be achieved because the students who participate in the class can have simultaneous access to the system for real time image data and camera control.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.199-206
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• 1999

본 연구에서는 웹기반의 화물차량위치추적시스템의 개발과 관련된 문제를 다루고 있다. 화물위치추적 시스템이란 이동하는 화물차량으로부터 위치데이터 및 관련 정보를 수신하여 중앙관제센터에서 이 정보를 데이터베이스에 저장하여 두고 화물위치 정보를 지도 위에 표시하는 시스템으로 화주, 운송회사 등 육상물류관련 기관에서 화물위치추적, 공동수배송, 화물차량 통제 등 다양한 목적으로 사용될 수 있다. 화물차량위치추적시스템은 AVLS(Automatic Vehicle Location System)라 불리우면서 산업계에서 활용되고 있으며 위치획득 방법의 종류에 따라 다양한 유형의 AVLS모델이 등장하고 있다. 예를 들면 전통적인 GPS(Global Positioning System) 위성 수신, DGPS(Differential GPS) 기지국, PCS(Personal Communication System) Cell, 도로기반 시설에 포함되는 비콘 등의 방법에 의해 AVLS는 구현되고 있다. AVLS는 정보통신 요소 기술과 정보통신 기반 시설로 구성되는데, 정보통신 요소기술로는 위치획측의 매개체인 AVL단말기와 관제시스템 S/W. 그리고 GIS(Geographic Information System)가 있고, 정보통신 기반 시설로는 차량의 단말기와 관제시스템 사이의 데이터 중계를 담당하는 네트워크가 있다. 화물차량위치추적시스템을 구성하기 위한 구비요건으로 중계망의 안정성과 신뢰성, 획득한 위치데이터의 정확성, 관제시스템의 완성도와 AVL단말기의 사용자 인터페이스, GIS S/W개발을 위한 Map API(Application Program Interface)등을 들 수 있다. 본 연구에서는 PCS Cell 방식에 의한 위치결정방식을 채택하였는데, 이것은 PCS망을 기반으로 데이터를 주고받이며 인터넷 단말기로 확장 가능한 PCS 단말기를 사용해서 위치추적을 하는 시스템이다. 이러한 시스템을 선정하게된 배경은 단말기아 망 이용료의 가격이 저렴하여 현실적으로 트럭이 쉽게 부착할 수 있다는 장점이 있으며 나아가 인터넷 단말기를 활용하여 차량과 관제센터사이에 메시지 전송 등 부가적인 서비스가 가능하기 때문이다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.3
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• pp.280-287
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• 2010

The first Korean satellite launch vehicle, KSLV-I(Korea Space Launch Vehicle-I), was launched for its first flight test on Aug. 25, 2009 from Naro Space Center located in south Jolla province. Because launch vehicles usually fly long range with large amount of propellants aboard, preparation of countermeasures against potential malfunctions during flight is essential in launch operation. In this paper, the flight safety operation, prepared to guarantee flight safety during launch operation of KSLV-I, is presented. Prior to flight test, flight safety analysis is performed to estimate associated risk levels quantitatively, and during flight, flight safety systems are operated to cope with any risky situations. Real-time flight monitoring including computation of instantaneous impact point using tracking data is executed normally and the flight test is completed without activation of flight termination system.

• Journal of Korea Society of Industrial Information Systems
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• v.25 no.2
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• pp.39-47
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• 2020

This paper introduces a novel system-level framework that derives energy efficient electric vehicle (EV) driving speed profile to extend EV driving range without additional cost. This paper first implements an EV power train model considering forces acting on a driving vehicle and motor efficiency. Then, it derivate the minimum-energy driving speed profile for a given driving mission defined by the route. This framework first formulates an optimization problem and uses the dynamic programming algorithm with a weighting factor to derive a speed profile minimizing both of energy consumption and driving time. This paper introduces various weighting factor tracking methods to satisfy the driving time constraint. Simulation results show that runtime of the proposed scaling algorithm is 34% and 50% smaller than those of the binary search algorithm and greedy algorithm, respectively.