• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.289-297
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• 2004

This paper deals with the design and control of passive multiple trailer systems for practical applications. Due to the cost and complexity of the trailer mechanism, passive systems are preferred to active systems in this research. The design and control objective is to minimize the trajectory tracking errors occurring in passive multiple trailers. Three sorts of passive trailer systems, off-hooked, direct-hooked, and three-point, are discussed in this paper. Trajectory tracking performance and stability issues under constant curvature reference trajectories are investigated for these three types. As well, various simulations and experiments have been performed for each type. It is shown that the proposed off-hooked trailer system produces a tracking performance that is superior to the others.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.11
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• pp.1831-1839
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• 2003

This paper deals with design and control of passive multiple trailer systems fer practical applications. Due to cost and complexity of trailer mechanism, passive systems are preferred to active systems in this research. The control objective is to minimize trajectory tracking errors of passive multiple trailers. Three types of passive trailer systems-direct-hooked, three-point, and off-hooked- are discussed in this paper. Trajectory tracking performance and stability issues under constant velocity motion are carried out for three types. Various simulations and experiments have been also performed for these three types. It is shown that the proposed off-hooked trailer system produces better tracking performance than the other types.

• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.286-293
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• 2010

The trailer system offers efficiency of transportation capability. However, it is difficult to control the backward motion. It is an open loop unstable problem. To solve this problem, we are proposed the driver assistance system. Driver assistance system assists a driver to control the backward motion of trailer system as if forward motion. A driver only secure the rear view of last passive trailer, and select the control input to drive the last passive trailer. The driver assistance system converts the control input of the driver into velocity and steering angle of the vehicle using the inverse kinematics. It is possible by electronic control input devices and the rear view camera. Effectiveness of driving assistance system is verified by the simulation and the experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.10a
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• pp.549-552
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• 2015

The Korean government establishes a strategy to develop the Busan New Port as a world ranking two transit-oriented port. This paper aims at presenting an efficient Inter-Terminal Transportation system in the Busan New Port as a method of achieving the government strategy. It proposes four systems to treat Inter-Terminal Transportation in the port; Double stack Multiple Trailer System (DMTS) Rail-based transportation system, Private road for Inter-Terminal Transportation, and platform for Inter-Terminal Transportation. This is shown to highly potential for efficient Inter-Terminal Transportation in the port.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.3
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• pp.1279-1287
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• 2014

The Korean government establishes a strategy to develop the Busan New Port as a world ranking two transit-oriented port. This paper aims at presenting an efficient inter-terminal transport (ITT) system in the Busan New Port as a method of achieving the government strategy. First, it presents results of long term forecast for the inter-terminal transportation volume in the port. Second, it proposes two systems to treat ITT in the port; Double stack Multiple Trailer System (DMTS) and Rail-based transportation system. The implementation methods in the port are introduced in detail for the both systems, and the required number of the systems and costs are calculated for implementation of both the systems. B/C for DMTS is analyzed to 3.7, moreover unit-fare per [$ton{\cdot}km$] can is lowered to 67% against current fare. DMTS is shown to highly potential for efficient ITT in the port.

• Structural Engineering and Mechanics
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• v.91 no.1
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• pp.25-38
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• 2024

After the mainshock, whether the train can be allowed to pass the bridges plays an important role in ensuring the transport of supplies and rescue works for example, in the "12 May" earthquake in China, after evaluation, the bridge was still used for transportation in rescue at a very slow speed, engineers usually evaluate whether the train can pass the bridge safely based on the experience, lacks sufficient calculation basis and does not fully consider the risk caused by aftershocks. To address this issue, this paper comprehensively considers the randomness of track irregularity, the randomness of aftershock intensity and other multiple random sources in train-bridge interaction system (TBIS). The sensitivity of train to various random parameters after earthquake is analyzed from the perspective of probability, the most sensitive random variable in this paper is PGA of aftershocks, both for bridge and trailer car, With the increase of epicentral distance, the sensitivity of PGA will decrease, and correspondingly, for trailer car, the sensitivity of other random variables will increase, research in this paper provides a basis for the subsequent random analysis of post-earthquake driving safety.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.2
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• pp.638-645
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• 2014

This paper presents results of a study for development and application of container massive transportation system. The system is aimed to improve competing power of Korean container ports. This paper selects Double stack Multi-Trailer System (DMTS) under consideration of pros-con analysis between three systems alternatives as well as operation process of existing Korean container terminal companies. An analysis of turning radius is undertaken for applying the system. Key elementary technologies was derived by patent analysis. DMTS has no problems in utilization to existing Korean container ports. Further, the system is expected to highly potential to improve operational efficiency in the container ports thanks to its high unit transportation capacity.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1190-1195
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• 2003

In this paper, it is shown how a robot with n passive trailers can be controlled in backward direction. When driving backward direction, a kinematic model of the system is represented highly nonlinear equations. The problem is formulated as a trajectory following problem, rather than control of independent generalized coordinates. Also, the state and input saturation problems are formulated as a trajectory generation problem. The trajectory is traced by a rear hinge point of the last trailer, and reference trajectories include line segments, circular shapes and rectangular turns. Experimental verifications were carried out with the PSR-2(public service robot $2^{nd}$ version) with three passive trailers. Experimental result showed that the backward motion control can be successfully carried out using the proposed control scheme.

• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.273-280
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• 2009

It is difficult to find a practical solution for the backward-motion control of a car-like mobile robot with n passive trailers. Unlike an omni-directional robot, a car-like mobile robot has nonholonomic constraints and limitations of the steering angle. For these reasons, the backward motion control problem of a car-like mobile robot with $n$ passive trailers is not trivial. In spite of difficulties, backing up a trailer system is useful for parking control. In this study, we proposed a mechanical alteration which is connecting $n$ passive trailers to the front bumper of a car to improve the backward motion control performance. Theoretical verification and simulations show that the backward-motion control of a general car with n passive trailers can be successfully carried out by using the proposed approach.

• Korean Journal of Environment and Ecology
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• v.34 no.5
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• pp.446-453
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• 2020

This study built a model to predict the daily number of visitors to 18 trails in the Taebaeksan National Park using the auto-counter system data to analyze the factors affecting the daily number of visitors to each trail and classified the trails by visitors' behaviors. Results of the multiple regression models with the daily number of visitors of the 18 trails indicated that the events, such as the National Foundation Day celebration of Snow Festival, affected the number of visitors of all of the 18 trails and were the most critical factor that determined the daily number of visitors to the Taebaeksan National Park. The long-holidays of three days or longer and other national holidays also affected the daily number of visitors to the trails. Precipitation had a negative impact on the number of visitors of trails where the intention of most visitors was for sightseeing or camping instead of hiking, whereas had no significant impacts on the number of visitors of trails where many visitors intended for hiking. It indicated that visitors who intended for hiking went ahead hiking even if the weather was poor. The effects of temperature had a positive effect on the number of visitors who intended for hiking but a negative effect on the number of visitor to the trails near Danggol Plaza where the Snow Festival was held in each winter, suggesting that the impact of the Snow Festival was the deterministic factor for trail management. Results of K-mean clustering showed that the 18 trails of the Taekbaeksan National Park could be classified into three types: those affected by the Snow Festival (type 1), those that have sightseeing points and so were visited mostly by non-hikers (type 2), and those visited mostly by hikers (type 3). Since visitor behaviors and illegal actions differ according to the trail type, this study's results can be used to prepare a trail management plan based on the trail characteristics.