• ETRI Journal
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• v.45 no.3
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• pp.479-491
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• 2023

The automation of agricultural machines is an irreversible trend considering the demand for improved productivity and lack of labor in handling agricultural tasks. Unstructured working environments and weather often inhibit a seemingly simple task from being fully autonomously performed. In this context, we propose a remote driving system (RDS) to aid agricultural machines designed to operate autonomously. Particularly, we modify a commercial speed sprayer for orchard environments into a robotic speed sprayer to evaluate the proposed RDS's usability and test three sensor configurations in terms of human performance. Furthermore, we propose a confidence error ellipsebased task performance measure to evaluate human performance. In addition, we present field experimental results describing how the sensor configurations affect human performance. We find that a combination of a semiautonomous line tracking device and a wide-angle camera is the most effective for spraying. Finally, we discuss how to improve the proposed RDS in terms of usability and obtain a more accurate measure of human performance.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.3
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• pp.265-272
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• 2016

The objective of vehicle aerodynamic design is on the fuel economy, reduction of the harmful emission, minimizing the vibration and noise and the driving stability of the vehicle. Especially for a sedan, the driving stability of the vehicle is the main concern of the aerodynamic design of the vehicle indeed. In this theoretical study, an evaluation algorithm of aerodynamic driving stability of a vehicle was made to estimate the dynamic stability of a vehicle at the given driving condition on a road. For the stability evaluation of a driving vehicle, CFD simulation was conducted to have the rolling, pitching and yawing moments of a model vehicle and compared the values of the moments to the resistance moments. From the case study, it is found that a model sedan running at 100 km/h in speed on a straight level road is stable under the side wind with 45 m/s in speed. But the different results may be obtained on the buses and trucks because those vehicles have the wide side area. From the case study of the model vehicle moving on 100 km/h speed with 15 m/s side wind is evaluated using the numerical algorithm drawn from the study, the value of yawing moment is $608.6N{\cdot}m$, rolling moment $-641N{\cdot}m$ and pitching moment $3.9N{\cdot}m$. These values are smaller than each value of rotational resistance moment the model vehicle has, and therefore, the model vehicle's driving stability is guaranteed when driving 100 km/h with 15 m/s side wind.

• Journal of Korean Institute of Industrial Engineers
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• v.40 no.3
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• pp.267-274
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• 2014

The purpose of this study is to identify a relationship between the time taken and the characteristics of touch key for touch-screen-based in-vehicle information system (IVIS) and to suggest a new Fitts' law formula that is added a driving speed parameter. Many studies already have shown that Fitts' law is well fitted in various devices for primary tasks, but there is no study of Fitts' law for secondary task in dual-task situation. Fitts' law may not be applied to the secondary task as it is, because the secondary task performance can be affected by the amount of attention for the primary task. To verify this, we carried out an experiment that showed whether pointing task to touch-screen-based IVIS during driving is affected by driving speeds or not. In the experiment, 30 people were volunteered for participants and the participants carried out driving task and pointing task on the screen of IVIS simultaneously. We measured the time to point a touch key on IVIS for every condition (3 driving speeds${\times}5$ touch key sizes${\times}7$ distances between steering wheel and touch key). As a result, there was an effect of driving speed on the pointing time. As we extended the index of difficulty of the conventional Fitts' law formula by incorporating driving speed, we established an extended Fitts' law formula for pointing on IVIS, which showed better accordance with dual task situation. This study can be evidence that secondary task performance is affected by degree of concentration on primary task, and the extended Fitts' law formula can be useful to design interfaces of IVIS.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.2 no.4
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• pp.627-634
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• 1998

This paper proposes an algorithm which improves capacity of a state observer and low speed driving characteristics of a induction motor by inertia moment identification. In induction motet driving systems, it is difficult to obtain the accurate speed information by a low resolution encoder because the encoder pulses are very few in a low speed range. To improve this problem, state observer based on the Gopinath' theory which estimates speed and disturbance was designed, and disturbance rejection control was realized by application of the observer. Also, inertia moment of the motor was estimated and the nominal inertia of the observer was identified to minimize the error of estimated speed and disturbance. From the simulation and experimental results, it is showed that the proposed observer improved the transient response characteristics in low speed region below 6［rpm］.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.2
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• pp.192-198
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• 2001

In this study, a methodology of synchronous control which can be applied to position synchronization of a two-axes driving system has been developed. The synchronous error is caused by model uncertainties and torque disturbance of each axis. To overcome these problems, the proposed synchronous control system has been composed of two speed controllers and one synchronous controller. The speed controllers based on PID control law are aimed at the following to speed reference. And the parameters of speed controllers have been designed in order that speed response of the second axis corresponds with one of first axis. Especially, considering to model uncertainties of each axis, the synchronous controller has been designed using H$\infty$ control theory. The controller eliminates the synchronous error by controlling speed of the second axis. The effectiveness of the proposed method has been verified through simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1581-1582
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• 2013

• 한국정보디스플레이학회:학술대회논문집
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• 2007.08b
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• pp.1181-1184
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• 2007

The new self-priming addressing driving scheme was proposed to improve an address discharge time lag. It utilizes the priming effect maintaining the priming ramp discharge during an address period and the address discharge time lag is significantly improved. In this study, the basic characteristics of the priming ramp discharge are presented.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.25 no.12
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• pp.888-894
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• 2015

A new method for the simulation of the vehicle's interior road noise is proposed in the present study. The road noise model can synthesize road noise of a vehicle for varying driving speed within a range. In the proposed method, interior road noise is considered as a stochastic time-series, and is modeled by a nonstationary parametric model via two steps. First, each interior road noise signal, obtained from constant speed driving tests performed within a range of speed, is modeled as an autoregressive model whose parameters are estimated by using a standard method. Finally, the parameters obtained for different driving speeds are interpolated based on the varying driving speed to yield a time-varying autoregressive model. To model a full band road noise, audible frequency range is divided into an octave band using a wavelet filter bank, and the road noise in each octave band is modeled.

• Journal of the Korean Society of Safety
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• v.27 no.5
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• pp.211-218
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• 2012

Two experiment are planed to identify driver's safe driving behaviour by curve radius, road surface condition in curve section. At four-lane and two-lane road, conducted experiments are check on driver's feeling of safety that 30 subjects do not feel discomfort. And using the data from these experiments, this study compare physical speed (not slipping, fall our of the road) with safety driving speed(drivers felt a comfortable and safe speed) each curve radius and fiver road surface condition(drying, wet, rain, snow and ice). As a result, safe driving behaviour factors that are derived to curve radius of 100m units, five road surface conditions enable to represent quantitative analysis of driver's discomfort. This study will develop road design method and evaluation reflected ergonomic aspects.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.5
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• pp.72-81
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• 2018

In this study, the sinusoidal-wave driving method, six-step driving method, and twelve-step driving method, which can be used in an inverter for permanent-magnet synchronous motors, were simulated, and the results were compared to review their operating performance. These driving methods were classified according to the electrical conduction angle and phase current of the motor. Conventionally, only the transition control technique between the sinusoidal-wave driving method and six-step driving method was studied for the efficiency of the inverter. In this paper, however, comparative analysis was focused on a variety of transition control applications to use the advantages of each driving method. For this purpose, computer simulations for these driving methods were carried out to obtain the motor torque, speed control characteristics, and THD of the motor phase currents. As a result, the sinusoidal-wave driving method showed the best performance in all respects. The six-step driving method has better speed control characteristics than the twelve-step driving method, and the twelve-step driving method has a lower THD of the motor phase currents than the six-step driving method.