• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.9
• /
• pp.950-956
• /
• 2014

In this paper, the real-time detection method of a DDP (Driving Direction Point) is proposed for an unmanned vehicle to safely follow the center of the road. Since the DDP is defined as a center point between two lanes, the lane is first detected using a web camera. For robust detection of the lane, the binary thresholding and the labeling methods are applied to the color camera image as image preprocessing. From the preprocessed image, the lane is detected, taking the intrinsic characteristics of the lane such as width into consideration. If both lanes are detected, the DDP can be directly obtained from the preprocessed image. However, if one lane is detected, the DDP is obtained from the inverse perspective image to guarantee reliability. To verify the proposed method, several experiments to detect the DDPs are carried out using a 4 wheeled vehicle ERP-42 with a web camera.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.33 no.3
• /
• pp.251-260
• /
• 2009

Hybrid locomotive UGV with actively articulated legs along with wheeled ends has high traversability to travel over rough terrain. The behavior control method was usually adapted for the controlling of the suspension configuration which determines the traversability of the UGV. In this study, we are proposing a method of configuration planning of the legs without any detail geometric data about the terrain. The terrain was estimated by the traces of each wheel and the leg configurations for the desired posture of the vehicle were set up against the constraints of the terrain. Also, an optimal leg configuration was calculated based on the quasi-static stability and power consumption, and plans for the leg behavior were made. Validity of the proposed method was checked by simulations using some off-the-shelf programs, and showed that the orientation control without geometric features of terrains and simplification of the behavior planning for obstacle negotiation were possible.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.13 no.2
• /
• pp.140-146
• /
• 2013

In this paper, we describe a vision sensor-based driving algorithm for indoor automatic guided vehicles (AGVs) that facilitates a path tracking task using two mono cameras for navigation. One camera is mounted on vehicle to observe the environment and to detect markers in front of the vehicle. The other camera is attached so the view is perpendicular to the floor, which compensates for the distance between the wheels and markers. The angle and distance from the center of the two wheels to the center of marker are also obtained using these two cameras. We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping. This driving algorithm based on two vision sensors gives greater flexibility to AGVs, including easy layout change, autonomy, and even economy. The algorithm was validated in an experiment using a two-wheeled mobile robot.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.21 no.1
• /
• pp.69-73
• /
• 2018

Korean-peacekeeper's transparent armors in Iraq showed delamination, cracking and clouding a decade ago. And there were also similar deterioration recurrences in KLTV during the operational test a few years ago. Also, the differences between operational capability & lab Bullet-proof test condition, and insufficiency of military protection spec resulted in incomplete bullet-proof results. Moreover, although so many ground weapon systems have been developed, there were not secure test & evaluation codes to verify transparent armoured glasses equal to advanced-overseas products. So in this study, first, environmental test codes were established that all tests should be carried out as the application of only one specimen with newly adopted thermal shock test instead of completing each test with different one. Second, protection standards were integrated through the analysis of global developed country's specifications and reinforced as adding to the real mock-up condition if vehicle's glasses are smaller than standard specimen. Hereby, by applying to test-codes which including actual operational & vehicular conditions, the gap between development test and operational environment was minimized.

• International Journal of Automotive Technology
• /
• v.7 no.1
• /
• pp.83-90
• /
• 2006

The purpose of this paper is to describe the design and implementation of an unmanned ground vehicle, called the TailGator at CIMAR (Center for Intelligent Machines and Robotics) of the University of Florida. The TailGator is a gas powered, four-wheeled vehicle that was designed for the AUVSI Intelligent Ground Vehicle Competition and has been tested in the contest for 2 years. The vehicle control model and design of the sensory systems are described. The competition is comprised of two events called the Autonomous Challenge and the Navigation Challenge: For the autonomous challenge, line following, obstacle avoidance, and detection are required. Line following is accomplished with a camera system. Obstacle avoidance and detection are accomplished with a laser scanner. For the navigation challenge, waypoint following and obstacle detection are required. The waypoint navigation is implemented with a global positioning system. The TailGator has provided an educational test bed for not only the contest requirements but also other studies in developing artificial intelligence algorithms such as adaptive control, creative control, automatic calibration, and internet-base control. The significance of this effort is in helping engineering and technology students understand the transition from theory to practice.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.2 no.1
• /
• pp.1-13
• /
• 2010

A comparative study between a computation and an experiment has been conducted to predict the performance of a Pod type waterjet for cm amphibious wheeled vehicle. The Pod type waterjet has been chosen on the basis of the required specific speed of more than 2500. As the Pod type waterjet is an extreme type of axial flow type waterjet, theoretical as well as experimental works about Pod type waterjets are very rare. The main purpose of the present study is to validate and compare to the experimental results of the Pod type waterjet with the developed CFD in-house code based on the RANS equations. The developed code has been validated by comparing with the experimental results of the well-known turbine problem. The validation also extended to the flush type waterjet where the pressures along the duct surface and also velocities at nozzle area have been compared with experimental results. The Pod type waterjet has been designed and the performance of the designed waterjet system including duct, impeller and stator was analyzed by the previously mentioned m-house CFD Code. The pressure distributions and limiting streamlines on the blade surfaces were computed to confirm the performance of the designed waterjets. In addition, the torque and momentum were computed to find the entire efficiency and these were compared with the model test results. Measurements were taken of the flow rate at the nozzle exit, static pressure at the various sections along the duct and also the nozzle, revolution of the impeller, torque, thrust and towing forces at various advance speed's for the prediction of performance as well as for comparison with the computations. Based on these measurements, the performance was analyzed according to the ITTC96 standard analysis method. The full-scale effective and the delivered power of the wheeled vehicle were estimated for the prediction of the service speed. This paper emphasizes the confirmation of the ITTC96 analysis method and the developed analysis code for the design and analysis of the Pod type waterjet system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2003.05a
• /
• pp.309-312
• /
• 2003

Though a legged robot has high terrain adaptability as compared with a wheeled vehicle, its moving speed is considerably low in general. For attaining a high moving speed with a legged robot, a dynamically stable walking, such as running for a biped robot and a trot gait or a bound gait for a quadruped robot, is a promising solution. However, energy efficiency of a dynamically stable walking is generally lower than the efficiency of a stable gait such as a crawl gait. In this paper, we present an experimental study on the energy efficiency of a quadruped walking vehicle. Energy consumption of two walking patterns for a trot gait is investigated though experiments using a TITAN-VIII.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.21 no.9
• /
• pp.71-77
• /
• 2022

In times of war or emergencies, weapon systems, such as radars, must receive stable power. This can be achieved using improved onboard portable power systems made of steel containers. However, a breakdown can occur in the event of random vibration during transportation via a vehicle or train. Electrical-power shortages or restrictions pose a significant threat to security. In this study, Composite Wheeled Vehicle(CWV) data and rail cargo data with Acceleration Spectral Density(ASD), specified in MIL-STD-810H METHOD 514.8, were interpreted as input data of the three-axis random vibration method using ANSYS 19.2. Modal analysis was performed up to 500 Hz, and deformations in modes 1 to 117 were calculated to utilize all ASD data. The maximum equivalent stress in the three-axis direction was obtained using a random vibration analysis. Similarly, the margin of safety was calculated using the derived equivalent stress and material properties. Overall, the analysis verified that the portable container designed for the power supply system satisfied the required vibration demands.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.2
• /
• pp.153-159
• /
• 2016

In this paper, a mechanism of an omni-directional personal mobility which can drive diagonally is proposed. Mobility is a prerequisite involved in basic human life and activities. Personal mobility vehicle is a new mobility method which overcome the limits of automobiles. However, personal mobilities with four wheeled structure still have limitations. The proposed personal mobility vehicle can overcome the limitations of mobility because its rear wheels can be steered omni-directionally. In addition, the handicapped can drive it through a narrow road such as an alleyway or corridor and avoid obstacles on the traveling route. The proposed mechanism of personal mobility and the steering performance are tested by experiments, and the feasibility of diagonal driving is verified.

• KOREAN JOURNAL OF PACKAGING SCIENCE & TECHNOLOGY
• /
• v.29 no.3
• /
• pp.175-179
• /
• 2023

This paper analyzes the vibration characteristics within the cargo compartment of a three-wheeled cargo bike when used on both regular roads and dedicated bicycle lanes. When cargo is loaded into the cargo compartment of a cargo bike and driven on the road, the shocks and vibrations transmitted from the ground can potentially affect the transported goods and even lead to product damage. As the vibration characteristics applied to the cargo compartment may vary depending on the condition of the road, vibration sensors were attached to the cargo bike's cargo compartment for data collection during operation on different road types. According to KS T ISO 13355 standards, the cargo bike can withstand vibrations within the range of 10 Hz to 60 Hz when operating on both bicycle lanes and regular roads. However, it is observed that there are peaks exceeding the profile in the frequency range of 3-6 Hz. In the 70-200 Hz range, the profile is exceeded on both regular roads and bicycle lanes, with a tendency for higher exceedance on bicycle lanes. The Grms value within the frequency range of KS T ISO 13355 is 5.926 m/s² (0.604 Grms). When operating on bicycle lanes with cargo, the Peak envelope optimization PSD value is 6.553 Grms, while on bicycle lanes, it is 7.708 Grms, indicating a difference of at least tenfold.