• 전자공학회논문지 IE
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• v.46 no.2
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• pp.33-45
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• 2009

In this paper, the implementation of the backward movement control of a truck-trailer type mobile robot using fuzzy model based control scheme considering the practical constraints, computing time-delay and quantization is presented. We propose the fuzzy feedback controller whose output is delayed with unit sampling period and predicted. The analysis and the design problem considering the computing time-delay become very easy because the proposed controller is syncronized with the sampling time. Also, the stability analysis is made when the quantization exists in the implementation of the fuzzy control architectures and it is shown that if the trivial solution of the fuzzy control system without quantization is asymptotically stable, then the solutions of the fuzzy control system with quantization are uniformly ultimately bounded. The experimental results are shown to verify the effectiveness of the proposed scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1080-1085
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• 2005

A hybrid control scheme is proposed for the stabilization of backward movement along simple paths for a vehicle composed of a truck and six trailers. The hybrid comprises the combination of a linear quadratic regulator (LQR) and a neurocontroller (NC) that is trained by a genetic algorithm (GA). Acting singly, either the NC or the LQR are unable to perform satisfactorily over the entire range of the operation required, but the proposed hybrid is shown to be capable of providing good overall system performance. The evaluation function of the NC in the hybrid design has been modified from the conventional type to incorporate both the squared errors and the running steps errors. The reverse movement of the trailer-truck system can be modeled as an unstable nonlinear system, with the control problem focusing on the steering angle. Achieving good backward movement is difficult because of the restraints of physical angular limitations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to jack-knife locks. This paper demonstrates that a hybrid of neural networks and LQR can be used effectively for the control of nonlinear dynamical systems. Results from simulated trials are reported.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.2
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• pp.194-201
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• 2006

Roof-fairing and deflector system have been used on heavy-duty trucks to minimize aerodynamic drag force not only for driving stability of the truck but also for energy saving by reducing the required driving power of the vehicle. In this study, a numerical simulation was carried out to see aerodynamic effect of the drag reducing device on the model vehicle. Drag and lift force generated on the five different models of the drag reducing system were calculated and compared them each other to see which type of device is efficient on the reduction of driving power of the vehicles quantitatively. An experiment has been done to see airflow characteristics on the model vehicles. Airflow patterns around the model vehicles were visualized by smoke generation method to compare the complexity of airflow around drag reducing device. From the results, the deflector systems(Model 5,6) were revealed as a better device for reduction of aerodynamic drag than the roof-fairing systems(Model 2,3,4) on the heavy-duty truck and it can be expected that over 10% of brake power of an engine can be saved on a tractor-trailer by the aerodynamic drag reducing device at normal speed range($80km/h{\sim}$).

• International Journal of Highway Engineering
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• v.12 no.4
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• pp.187-196
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• 2010

The purpose of this study is to develop the calibration method for temperature effects to improve the accuracy of the Weigh-In-Motion(WIM) system for collecting long-term truck weight data. WIM system was installed at a location where the truck traffic volume is high and weight data has been collected from January 2010. In this study, as a calibration measure, the first axle weight of Truck Type 10, the semi tractor-trailer is used based on the fact that the first axle weight is relatively constant, independent of the cargo weight. From this fact, calibration equations are developed from the relationship between the axle weight and the temperature(daily mean, maximum and minimum). Analysis on calibrated weight data shows adequacy of the proposed calibration method. Results of this study can be used to improve the accuracy of the WIM system and to carry out more rational design of pavement and bridge structures.

• Transactions of the Korean Society of Automotive Engineers
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• v.25 no.2
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• pp.207-218
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• 2017

Improving fuel consumption, particularly that of commercial vehicles, has become a global concern. The reduction in logistics cost has been a key issue in efforts to improve fuel economy and efficiency of transportation equipment. Typical technologies for reducing reduce fuel usage include air resistance reduction technologies, tire rolling resistance technologies, and idle technologies among others. Air resistance technology is a highly effective method that can be easily applied in a short period. As with air resistance technology, several devices involving side skirt, boat tail and gap fairing have been developed based on an analytical 3-D modeling technique for reducing air resistance attributed to the vehicle configuration. The devices were on a 45 feet tractor-trailer and the emission test was done using PEMS equipment. Fuel economy was evaluated by introducing several devices to reduce outer air resistance. The test was conducted by changing the experimental method of SAE J1321 Joint TMC/SAE Fuel Consumption Test Procedure - Type II test. As a result, air resistance decreased by at least 15 % and fuel economy improved by at least 13 %. This study sought to reduce greenhouse gas and improve fuel economy by applying several devices to a test vehicle to lower air resistance.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.6
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• pp.1017-1023
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• 2017

Duration induced by freeway crashes has a critical influence on traffic congestion. In general, crash duration composes detection and verification, response, and clearance time. Of these, the crash clearance time determined by a crash clearance team has attracted considerable attention in the freeway congestion management since the interest of the first two time stages faded away with increasing ubiquitous mobile phone users. The objective of this study is to identify the critical factors that affect freeway crash clearance time using a Cox's proportional hazard model. In total, 6,870 crash duration data collected from 30 major Korean freeways in 2013 were used. As a result, it was found that crashes during the night, with trailer or larger size truck, and in tunnel section contribute to increasing clearance time. Crashes associated with fatality, completed damage of crashed vehicle (s), and vehicles' fire or rollover after crash also lead to increasing clearance time. Additionally, an increase in the number of vehicles involved resulted in longer clearance time. On the other hand, crashes in the vicinity of tollgate, by passenger car, during spring, on flat section, and of car-facility type had longer clearance time. On the basis of the results, this paper suggested some strategic plans and mitigation measures to reduce crash clearance time on Korean freeway systems.