• Journal of Korean Society of Water and Wastewater
• /
• v.26 no.6
• /
• pp.851-860
• /
• 2012

In this study, to evaluate the abatement of runoff pollution loads by the road sweeping(cleaning), various investigations are implemented at the sample area of the highway. As the results of evaluating the removal efficiency of pollutants along road cleaning, TSS showed about 78 % of the removal efficiency and COD showed 49 % of removal efficiency through the operation of cleaning vehicle of vacuum suction method. In case of TN and TP, they showed the relatively-lower removal efficiency by 30~35 %. TSS removal efficiency along the number of cleaning appeared about 60 % in case of one time of cleaning and the additional removal effect did not appear though the number of cleaning increased to two times. With running speed of cleaning vehicle, TSS removal ratio is lessened from 60 % to 20 % when cleaning vehicle speed up to 20 km/hr from 6 km/hr. It seems that the reasons why the removal efficiencies are inversely proportional to its speed are related to the lower vacuum efficiencies and the disturbed particles on the road. In the pollutant build-up analysis, it is showed that it takes more time to the critical pollutant build-up in the shoulder than the center of the road. It is also showed that the proper cleaning cycle is recommended as 4~6 dry weather days without rainfall events.

• Journal of Institute of Convergence Technology
• /
• v.8 no.1
• /
• pp.5-8
• /
• 2018

Emissions of diesel vehicles have been regulated by NEDC mode for a long time. However, the NEDC mode has been known the control of emission reduction is not reflected properly on actual road conditions. For these reasons, diesel vehicle emissions are regulated in both NEDC mode and WLTC mode from 2017 to 2020, from 2020 onwards, the emissions of diesel vehicles will measure in WLTC mode only and will not be able to exceed 1.5 times the regulated value. The purpose of this study is to analyze the development trend of diesel vehicle after-treatment system in order to comply with the future regulations on diesel vehicle. As a result, it is essential to reduce the NOx emissions of diesel vehicles for Euro 6, the NOx emissions of the test vehicle equipped with SCR were 30% to 50% loss than the test vehicle equipped with LNT despite the higher curb weight and engine displacement.

• Journal of Positioning, Navigation, and Timing
• /
• v.6 no.4
• /
• pp.135-140
• /
• 2017

This paper proposes a signal merging algorithm to increase the signal-to-noise ratio (SNR) of a GPS correlator output to estimate the roll angle of a rotating vehicle in a weak GPS signal environment. Rotation Locked Loop (RLL) algorithm is used to estimate a roll angle using the characteristics that the power of the GPS signal measured at the receiver of a rotating vehicle varies periodically. First, delay times are calculated to synchronize GPS signals using satellites' and receiver's positions and the rotation frequency of a vehicle, and then correlator outputs are delayed in time and merged with each other, resulting in the increase of an SNR in a correlator output. Finally, simulations are conducted and the performance of the proposed algorithm is validated.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.7
• /
• pp.632-638
• /
• 2010

This paper presents an optimum tire force distribution method for 6WD/6WS(6-Wheel-Drive and 6-Wheel-Steering) electric vehicles. Using an independent steering and driving system, the performance of 6WD/6WS vehicles can be improved, as, for example, with respect to their maneuverability under low speed and their stability at high speed. Therefore, there should be a control strategy for finding the optimum tire forces that satisfy the driver's command and minimize energy consumption. From the driver's commands (steering angle and accelerator/brake pedal stroke), the desired yaw moment, the desired lateral force, and the desired longitudinal force were obtained. These three values were distributed to each wheel as the torque and the steering angle, based on the optimum tire force distribution method. The optimum tire force distribution method finds the longitudinal/lateral tire forces of each wheel that minimize the cost function, which is the sum of the normalized tire forces. Next, the longitudinal/lateral tire forces of each wheel are converted into the reference torque inputs and the steering wheel angle inputs. The proposed method was tested through a simulation, and its effectiveness was verified.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.15 no.3
• /
• pp.153-159
• /
• 2007

Nano-Particles are influenced on the environmental protection and human health. The relationships between transient vehicle operation and nano-particle emissions are not well-known, especially for diesel passenger vehicles with DPF. In this study, a diesel passenger vehicle was measured on condition of DPF regeneration and no regeneration on a chassis dynamometer test bench. The particulate matter (PM) emission from this vehicle was measured by its number, size and mass measurement. The mass of the total PM was evaluated with the standard gravimetric measurement method while the total number and size concentrations were measured on a NEDC driving cycle using Condensation Particle Counter (CPC) and EEPS. Total number concentration by CPC was $1.5{\times}10^{1l}N/km$, which was 20% of result by EEPS. This means about 80% of total particle emission is consist of volatile and small-sized particles(<22nm). During regeneration, particle emission was $6.2{\times}10^{12}N/km$, was emitted 400 times compared with the emission before regeneration. As for the particle size of $22{\sim}100nm$ was emitted mainly, showing peak value of near 40nm in size. This means regeneration decreased the mean size of particles. Regarding regeneration, PM showed no change while the particle number showed about 6 times difference between before and after regeneration. It seems that the regeneration influences on particle number emissions are related to DPF-fill state and filtration efficiency.

• Journal of Electrical Engineering and Technology
• /
• v.13 no.6
• /
• pp.2468-2478
• /
• 2018

We propose the Sparse Feature Convolutional Neural Network (SFCNN) to reduce the volume of convolutional neural networks (CNNs). Despite the superior classification performance of CNNs, their enormous network volume requires high computational cost and long processing time, making real-time applications such as online-training difficult. We propose an advanced network that reduces the volume of conventional CNNs by producing a region-based sparse feature map. To produce the sparse feature map, two complementary region-based value extraction methods, cluster max extraction and local value extraction, are proposed. Cluster max is selected as the main function based on experimental results. To evaluate SFCNN, we conduct an experiment with two conventional CNNs. The network trains 59 times faster and tests 81 times faster than the VGG network, with a 1.2% loss of accuracy in multi-class classification using the Caltech101 dataset. In vehicle classification using the GTI Vehicle Image Database, the network trains 88 times faster and tests 94 times faster than the conventional CNNs, with a 0.1% loss of accuracy.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.17 no.1
• /
• pp.130-136
• /
• 2009

A lumped parameter model of Li-ion battery in hybrid electric vehicle(HEV) is constructed and system parameters are identified by using recursive least square estimation for different C-rates, SOCs and temperatures. The system characteristics of pole and zero in frequency domain are analyzed with the parameters obtained from different conditions. The parameterized model of Li-ion battery indicates highly dependant of temperatures. The system pole and internal resistance changes 6.6 and 18 times at $-20^{\circ}C$, comparing with those at $25^{\circ}C$, respectively. These results will be utilized on constructing model-based state observer or an on-line identification and an adaptation of the model parameters in battery management systems for hybrid electric vehicle applications.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.11 no.4
• /
• pp.141-148
• /
• 2008

In this paper, we develop a detailed full dynamic model which includes various rough terrains for 6-wheel skid-steering mobile robot based on the real experimental autonomous vehicle called Dog-Horse Robot. We also design a co-simulation for performance comparison of path tracking algorithms. The control architecture in the co-simulation can be divided into two levels. The high level control is the closed-loop control of path tracking to follow a given path, and the low level is concerned about torque control of wheel motion. The simulation using the mechanical data of the Dog-Horse Robot is performed under the Matlab/Simulink environment. We also simulate and evaluate the performance of the model based adaptive controller.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.16 no.12
• /
• pp.8700-8706
• /
• 2015

The first driving device of the power bogies for the Korean high-speed railway vehicle consists of the traction motor (TM) and the motor reduction gears unit (MRU). Although TM and MRU are the mechanically integrated structures, their time between overhauls (TBO) have two separate intervals due to different technical requirements(i.e. TBO of MRU: $1.8{\times}10^6km$, TBO of TM: $2.5{\times}10^6km$). Therefore, to reduce the unnecessary number of preventive maintenances, it is important to evaluate the optimal TBO with a viewpoint of reliability-center maintenance towards cost-effective solution. In this study, derived from the field data in maintenance, fault tree analysis and failure rate of the subsystem considering criticality of the components are evaluated respectively. To minimize the conventional total maintenance cost, the same optimal TBO of the components is derived from genetic algorithm considering target reliability and improvement factor. In this algorithm, a chromosome which comprised of each individual is the minimum preventive maintenance interval. The fitness function of the individual in generation is acquired through the formulation using an inverse number of the total maintenance cost. Whereas the lowest common multiple method produces only a four percent reduction compared to what the existing method did, the optimal TBO of them using genetic algorithm is $2.25{\times}10^6$km, which is reduced to about 14% comparing the conventional method.

• Journal of the Korea Convergence Society
• /
• v.7 no.6
• /
• pp.1-6
• /
• 2016

In this paper, we propose an image enhancement method for vehicle recorder by dividing the images into sub-images and finding local histograms of the sub-images. The proposed method includes the following steps. Firstly, the input image is divided into ($N{\times}M$) pieces. And the sub-images are used to make groups using the adjacent piece-images (eg. piece-imagei,j, piece-imagei,j+1, piece-imagei+1,j and piece-imagei+1,j+1). Secondly, the contrast enhancement processes are executed using the local histogram of the sub-images. Finally, overall image is reconstructed by using a transfer function that reflects the characteristics of the sub-image. The proposed method might achieve more enhanced images for vehicle recorder by suppressing excessive image contrast.