• 한국도로학회논문집
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• 제19권5호
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• pp.131-141
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• 2017

PURPOSES : The main distress of asphalt pavements in monsoon climate regions are caused by water damage and plastic deformation due to repeated rain season and increased heavy vehicle traffic volume. In this study, the mechanical properties of polymer-modified warm mix asphalt (PWMA) materials are evaluated to use in monsoon climate regions such as Indonesia. METHODS : Comprehensive laboratory tests are conducted to evaluate moisture resistance and permanent deformation resistance for three different asphalt mixtures such as the Indonesian conventional hot-mix asphalt (HMA) mixture, the polymer-modified asphalt mixture, and the polymer-modified warm mix asphalt (PWMA) mixture. Dynamic immersion test and indirect tensile strength ratio test are performed to evaluate moisture resistance. The wheel tracking test is performed to evaluate rutting resistance. Additionally, the Hamburg wheel tracking test is performed to evaluate rutting and moisture resistances simultaneously. RESULTS :The dynamic immersion test results indicate that the PWMA mixture shows the highest resistance to moisture. The indirect tensile strength ratio test indicates that TSR values of PWMA mixture, Indonesian PMA mixture, and Indonesian HMA mixture show 87.2%, 84.1%, and 67.9%, respectively. The wheel tracking test results indicate that the PWMA mixture is found to be more resistant to plastic deformation than the Indonesian PMA. The dynamic stability values are 2,739 times/mm and 3,150 times/mm, respectively. Moreover, the Hamburg wheel tracking test results indicate that PWMA mixture is more resistant to plastic deformation than Indonesian PMA and HMA mixtures. CONCLUSIONS :Based on limited laboratory test results, it is concluded that rutting resistance and moisture susceptibility of the PWMA mixture is superior to Indonesian HMA and Indonesian PMA mixtures. It is postulated that PWMA mixture would be suitable for climate and traffic conditions in Indonesia.

• 한국산학기술학회논문지
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• 제18권12호
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• pp.1-8
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• 2017

본 연구에서는 인휠 전기구동 시스템의 장점을 바탕으로 첨단능동안전지원 기술의 일종인 적응순항제어(Adaptive Cruise Control, ACC) 알고리즘의 고도화 방안을 제시한다. 본 연구에서 대상 차량은 전륜은 엔진에 의해, 후륜은 인휠모터에 의해 구동되는 4륜 하이브리드 구동계를 갖는 것을 특징으로 하는데, 이러한 구성은 기존 내연기관 차량을 개선하여 차량의 출력을 증가시키거나 4륜 하이브리드 형태로의 변화를 용이하게 하는 장점이 있다. 본 연구에서는 이러한 차량의 구성을 바탕으로 기본 상태에서는 엔진만을 이용하여 차간거리 제어를 수행하되, 젖은 노면 등 주행 환경에서 제어오차가 커지게 되면 후륜의 인휠모터를 구동하여 제어성능을 확보할 수 있는 ACC 알고리즘을 제안한다. 제안된 ACC 알고리즘은 상기와 같은 방법으로 ACC 제어성능을 최적화함과 동시에 기존 4륜 자동차가 갖는 장점을 그대로 유지하도록 한다. 또한 본 연구에서는 고정밀 동역학 SW를 기반으로 대상 인휠모터 및 인휠 하이브리드 구동계, 해당 구동계 기반의 ACC 제어시스템을 모델링하였으며, 이를 통해 시뮬레이션 환경을 기반으로 제안된 알고리즘의 검증 결과를 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.19-24
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• 1992

Real-time mobile robot controllers usually have been designed with an emphasis on control theory ignoring the importance of system integration. This paper demonstrates that useful mobile robots require a real time controller with a wide range of capabilities in addition to control theory. These capabilities include: path-planning, position estimation, path tracking control and wheel control. An architectural framework supporting these capabilities has been designed and implemented. Using this frame work, individual modules such as a path planner, a path tracking controller, position estimators, wheel controllers and other cruical elements have been successfully integrated into the control system for the LCAR robot which was developed as a proto-type mobile robot in our laboratory. The context of the research, the architecture, its implementation and performance results from experiments are discussed.

• 대한임베디드공학회논문지
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• 제6권3호
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• pp.132-138
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• 2011

This paper presents an intelligent control approach for lateral position control of an autonomous four wheel steered snowplowing robotic vehicle. The vehicle is built for removing snow on the highway. Dynamics of the vehicle is derived and linearized for LQR control. Lateral position is controlled by the LQR method first, then the neural network control technique is introduced to improve tracking performances under the presence of load. The feasibility of using four wheel steering control is investigated by simulation studies of lateral position tracking of the Ford F-250 truck model. Performances of a LQR control method and a neural network control method under virtual snowplowing situation are compared.

• 한국도로학회논문집
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• 제8권3호
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• pp.21-28
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• 2006

Field or laboratory wheel tracking tests have been employed for the evaluation of the rutting potential of asphalt paving mixtures. Compared to field tests, laboratory wheel tracking tests are much less expensive and more manageable for most road projects. However, most test laboratories are not equipped to perform such tests because there does not exist any standard test procedure, and the required equipment is rather expensive. Futhermore, the size of test specimens and the relatively large quantity of test mixture required present difficulties for laboratory specimen mixing and compaction. This paper describes a project conducted to study the feasibility of replacing wheel tracking testsby a repeated-load creep test for rutting potential evaluation. Comparisons were made between the results of the two tests for different test temperatures, loading speeds and applied pressures. Three types of asphalt mixtures were studied in the test program. Favorable conclusions concerning the use of the repeated-load test for rutting potential evaluation were drawn based on the findings of the experimental test results. The correlation between the two types of tests was found to be good for all threeasphalt mixtures. Adopting the repeated-load creep test would lead to cost savings since it employs standard test equipment already available in most laboratories. It would also result in substantial time savings due to the much smaller quantity of mix needed, and the ease in specimen preparation.

• 한국지반신소재학회논문집
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• 제2권3호
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• pp.39-46
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• 2003

국내 도로포장의 주요 파손형태는 주변환경 및 반복교통하중 조건에 의한 소성변형, 피로균열, 반사균열, 온도균열 등이 있는데, 포장이 설계수명에 도달하기 이전에 주로 발생하며 이로 인한 도로포장의 유리관리에 막대한 국가예산이 낭비되고 있는 실정이다. 본 연구는 토목섬유를 보강한 아스팔트 포장 시스템을 평가하는 것으로 이를 위해 아스팔트 포장 소성변형에 대한 토목섬유의 보강효과를 분석하고자 휠트래킹 시험을 수행하였으며, 토목섬유 보강에 따른 토목섬유와 아스팔트 혼합물의 거동특성을 고찰하였다.

• 한국도로학회논문집
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• 제15권1호
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• pp.57-63
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• 2013

PURPOSES: This study is to investigate the Hot In-Place recycling asphalt mixture in Korea using field produced materials. METHODS: Hot In-Place reclaimed asphalt mixture was investigated to evaluate the mixture properties based on various test results such as Marshall Test, Indirect Tensile Test, TSR, and Wheel Tracking Test. These test values were compared with domestic standard specification. RESULTS: The result of the laboratory experiment indicates that the Hot In-Place Reclaimed(HIR) asphalt mixture produced at the field constrution site was satisfied all of the test criteria such as Indirect tensile test, Marshall and TSR test, and wheel tracking test. During the test, the research team found that current HIR system is required an extention of mixing time to improve quality and to reduce variation of sample to sample. Although the current HIR mixture was passed the test criteria, there is a potential capability to enhance the mixture properties as extend mixting time. CONCLUSIONS: Based on these laboratory test results, It would be concluded that domestic HIR mixture's properties were satisfied all standard specification related with evaluation of recycling asphalt mixtures. Based on this case study result, there is a chance to save construction cost and increase the usage of reclaimed asphalt concrete in the future.

• International Journal of Automotive Technology
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• 제5권2호
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• pp.123-133
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• 2004

This paper describes a robust and fast wheel slip tracking control using a moving sliding surface technique. A traction control system (TCS) is the active safety system used to prevent the wheel slipping and thus improve acceleration performance, stability and steerability on slippery roads through the engine torque and/or brake torque control. This paper presents a wheel slip control for TCS through the engine torque control. The proposed controller can track a reference input wheel slip in a predetermined time. The design strategy investigated is based on a moving sliding surface that only contains the error between the reference input wheel slip and the actual wheel slip. The used moving sliding mode was originally designed to ensure that the states remain on a sliding surface, thereby achieving robustness and eliminating chattering. The improved robustness in driving is important due to changes, such as from dry road to wet road or vice versa which always happen in working conditions. Simulations are performed to demonstrate the effectiveness of the proposed moving sliding mode controller.

• 한국도로학회:학술대회논문집
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• 한국도로학회 2003년도 학술발표회 논문집
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• pp.35-40
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• 2003

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 추계학술대회 논문집
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• pp.197-205
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• 2007

Radio frequency identification, or RFID, is a generic term for technologies that use radio wave to automatically identify people or objects. UHF RFID technology is used for everything from tracking goods within their supply chain, working in process and for other applications. If RFID is applied in wheel scanner that is a important equipment to measure a diameter, width, height of wheel, efficiency in maintenance will be improved because of checking data in real-time. In domestic technology, capacity of wheel scanner technology as well as RFID are less good than foreign goods there a up to current day a point of read range, anti-collision, a tolerance. Therefore, sturdy on the development of wheel scanner using RFID technology to measure wheel in maintenance of rolling stock was carried out in this paper.