• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.9
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• pp.1003-1008
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• 2012

The paper presents an Experimental Vehicle Model (EVM), that utilizes the kinematic characteristics of suspensions from SPMD test data. The relative displacement and orientation of a wheel with respect to the body are represented as a function of the vertical displacement of the wheel. The equations of motion of the vehicle are formulated in terms of local coordinates that do not require coordinate transformation, which improves the efficiency of dynamic analysis. The EOM was modularized for each suspension model, and a $6{\times}6$ vehicle model was obtained by combining six suspensions. The analysis results were compared with ADAMS to verify the accuracy of the EVM. This study also verifies the feasibility of real-time simulation with the developed EVM. For a vehicle simulation for 1 ms, the real simulation time required within 20% of the prescribed time. This result shows that the EVM meets the real-time simulation requirements.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.6 s.144
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• pp.551-558
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• 2005

In this paper, horizontal manoeuvrability of an underwater vehicle near free surface was investigated. Planar Motion Mechanism(PMM) tests were performed at the shallow depth within 4.5 times of vehicle's diameter. Hydrodynamic coefficients related to the horizontal movement were estimated from the measured data using Least SQuare(LS) method and analyzed at each submerged depth. Furthermore, horizontal dynamic stability, trajectory of turning and zigzag test were investigated for the various depths. As underwater vehicle is positioned nearer to the free surface, forces increase and moment decreases. Tested model was found to be stable only at the depth 0.5 times of vehicle's diameter.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1090-1096
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• 2001

In this paper, new methods for efficiently solving linear acceleration equations of multibody dynamic simulation exploiting sparsity for real-time simulation are presented. The coefficient matrix of the equations tends to have a large number of zero entries according to the relative joint coordinate numbering. By adequate joint coordinate numbering, the matrix has minimum off-diagonal terms and a block pattern of non-zero entries and can be solved efficiently. The proposed methods, using sparse Cholesky method and recursive block mass matrix method, take advantages of both the special structure and the sparsity of the coefficient matrix to reduce computation time. The first method solves the η$\times$η sparse coefficient matrix for the accelerations, where η denotes the number of relative coordinates. In the second method, for vehicle dynamic simulation, simple manipulations bring the original problem of dimension η$\times$η to an equivalent problem of dimension 6$\times$6 to be solved for the accelerations of a vehicle chassis. For vehicle dynamic simulation, the proposed solution methods are proved to be more efficient than the classical approaches using reduced Lagrangian multiplier method. With the methods computation time for real-time vehicle dynamic simulation can be reduced up to 14 per cent compared to the classical approach.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.10 no.2
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• pp.1-8
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• 2011

Traffic congestion is a source of significant economic and social costs in urban areas. Intelligent Transportation Systems (ITS) are a promising means to help alleviate congestion by utilizing advanced sensing, computing, and communication technologies. This paper proposes and investigates a basic and advanced ITS framework Advanced Traveler Information System (ATIS) using wireless Vehicle to Roadside (Centralized ATIS model: CA model) and Vehicle to Vehicle (DeCentralized ATIS model: DCA model) communication and assuming an ideal communication environment in the typical $6{\times}6$ urban grid traffic network. Results of this study indicate that an ATIS using wireless communication can save travel time given varying combinations of system characteristics: traffic flow, communication radio range, and penetration ratio. Also, all tested metrics of the CA and DCA models indicate that the system performance of both models is almost identical regardless of varying traffic demand and penetration ratios. Therefore, DCA model can be a reasonable alternative to the fixed infrastructure based ATIS model (CA model).

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.359-364
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• 2012

Real-Time Traversability should be analyzed from the equiped sensors' data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on $6{\times}6$ articulated unmanned ground vehicle demonstrate the method's effectiveness and applicability into the traversability analysis on terrain with bumps.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.10a
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• pp.250-253
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• 2003

This paper concerns about an experimental investigation about steering performance of tracked vehicle on extremely soft soil based on DOE(Design Of Experiment) using L8 orthogonal Array. A tracked vehicle model with principal dimensions of $0.9m{\times}0.8m{\times}0.4m$ and weight 167kg was constructed with a pair of driving chain links driven by two AC-servo motors. The tracks are configured with detachable grousers, the span of which can be varied. Deep seabed was simulated by means of bentonite-water mixture in a soil bin of $6.0m{\times}3.7m{\times}0.7m$. Turning radii of vehicle and torques of motors were measured with respect to experimental variables; steering ratio, driving speed, grouser chevron angle, grouser span, grouser height. The effects of experiment variables on steering performance are evaluated.

• Ocean and Polar Research
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• v.26 no.2
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• pp.333-339
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• 2004

This paper is concerned with an experimental investigation about tractive performance of a tracked vehicle on extremely soft soil. A tracked vehicle model with principal dimensions of $0.9\;m(L)\;{\times}\;0.75\;m(B)\;{\times}\;0.4\;m(H)$ and the weight of 167 kg was constructed with a pair of driving chain links driven by two AC-servo motors. The tracks are configured with detachable grousers with variable span. Deep seabed was simulated by means of bentonite-water mixture in a soil bin of $6.0\;m(L)\;{\times}\;3.7\;m(B)\;{\times}\;0.7\;m(H)$. Slip of vehicle and driving torque of motor were measured with respect to experimental variables; grouser span, grouser chevron angle, driving speed, drawbar-pull weight, position of center-of-gravity and weight. $L_8$ orthogonal array is adopted for DOE (Design Of Experiment). The effects of experiment variables on traction performance are evaluated.

• Journal of Hydrogen and New Energy
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• v.22 no.6
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• pp.942-948
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• 2011

The performance of a supercharger for vehicle using solar cell attached on the exterior of a car, an auxiliary battery, and an air compressor was evaluated in this study. This supercharger is composed of a solar cell of 40W, a battery of 60 Ah, an air compressor of 17 A, 8 $kgf/cm^2$ and an air tank of 8L. It takes about 6 days to charge the battery with the solar cell and the high pressure air of 8L can be supplied about 70 times to engine intake with this battery. The intake pressure increased by about 20~40% with this supercharger. The vehicle power and accelerating performance are enhanced by 87% and 50% each in the low speed range. But the performance improved little in the high speed range because of the rather constant flow rate of air supplied by this type of supercharger.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.2
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• pp.148-157
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• 2015

In this paper, we propose a compact antenna hat to perform RF compatibility testing efficiently between the launch vehicle and ground stations. The proposed structure implements a small size and low loss using the conductive shield instead of the conventional RF absorber. The S-band antenna hat, which is fabricated for an inverted-F onboard antenna with the size of $74mm{\times}13mm{\times}16mm$, has the small enclosure of $88mm{\times}35mm{\times}44mm$, the return loss of 25.6 dB, the insertion loss of 0.26 dB, and the leakage loss of 49.4 dB at the center frequency of 2.25 GHz. The simulated and measured results show a good agreement.

• 전자공학회논문지 IE
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• v.48 no.2
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• pp.19-25
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• 2011

This paper presented neural network modeling method using vehicle data to predict fuel consumption. To acquire data for training and testing the proposed neural network, medium-class gasoline vehicle drove at downtown and parameters measured include speed, engine rpm, throttle position sensor (TPS), and mass air flow (MAF) as input data, and fuel consumption as target data from OBD-II port. Multi layer perception network was used for nonlinear mapping between the input and the output data. It was observed that the neural network model can predict the vehicle quite well with mean squared error was $1.306{\times}10^{-6}$ for the fuel consumption.