• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.1
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• pp.113-120
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• 2010

In case the traffic accident occurs, skid mark is very important factor to calculate the car speed. Especially, for the purpose of objective and scientific inspection, traffic accidents should be appraised and inspected by righteous material evidences, computer simulation, and studies such as automobile engineering, traveling and collision accident dynamics, road and traffic engineering. In this paper, it displays the results of studying cases with the reasons of traffic accidents by analyzing and studying automobile kinetics, real traffic accidents and the results of in scientific and objective ways. After computer simulation result that it is proved that compared with unpacked road condition and packed road condition. unpacked road condition is shorter than packed road condition.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.56-64
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• 2013

We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.

• Proceedings of the IEEK Conference
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• 2005.11a
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• pp.1231-1234
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• 2005

For the purpose of objective and scientific inspection, traffic accidents should be appraised and inspected by righteous material evidences, computer simulation, and studies such as automobile engineering, traveling and collision accident dynamics, road and traffic engineering. In this paper, it displays the results of studying cases with the reasons of traffic accidents by analyzing and studying automobile kinetics, real traffic accidents and the results of in scientific and objective ways. In this paper, it is proved that with compared by dry and wet road surface condition, the transient brake time of wet condition is longer than dry road condition. Moreover, compared with unpacked road condition and packed road condition. unpacked road condition is shorter than packed road condition using computer simulation.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.3
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• pp.308-315
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• 1991

This paper deals with the global dynamic behavior of multiple autonomous mobile robots with suggested navigation strategies within unbounded and bounded spatial domain. We derive some navigation strategies of robots wirh complete detectability with finite range to reach their goal states without collision which is motivated by Coulomb's law regarding repulsive and attractive forces between electrical charges. An analysis of the dynamic behavior of the interacting robots with the suggested navigation strategies under the assumption that communication is not permissible between robots is made and some examples are illustrated by computer simulation. The convergence of robot motions to their goal states under certain conditions is established by considering their global dynamic behavior even when some objects are close to their goal points.

• Journal of the Korean Chemical Society
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• v.25 no.5
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• pp.291-299
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• 1981

A test particle kinetic theory for reaction dynamics in liquids is presented at the repeated ring collision level for the hard sphere model. A kinetic equation for the equilibrium time correlation function of the reactive test particle phase space density is derived and the rate kernel expression for the reversible chemical reaction of the type A +B ${\rightleftharpoons$ C + D in the presence of inert solvent S is obtained by the projection operator method.

• Transactions of the Korean hydrogen and new energy society
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• v.11 no.3
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• pp.127-136
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• 2000

Molecular dynamics simulations have been carried out to investigate the scattering and penetration properties of hydrogen ions with the normal incident angle to Ni (100) surface. The initial kinetic energies of hydrogen ions range from 100 to 1,600 eV. The simulation results are used to assess the applicabilities of theoretical predictions based on the binary collision approximation, and, in the high kinetic regime, theoretical results for scattering energies were shown to he a good agreement with molecular simulations. The angle dependencies on both scattering and penetration distributions were found in the longitudinal direction, but not in the azimuthal direction except for the high kinetic energy of 1,600 eV.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.722-728
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• 1998

In this paper real-time estimation methods for identifying the tire-road friction coefficient are presented. Taking advantage of the Magic Formula Tire Model, the similarity technique and the specific model for the vehicle dynamics, a reduced order observer/filtered-regressor-based method is proposed. The Proposed method is evaluated on simulations of a full-vehicle model with an eight state nonlinear vehicle/transmission model and nonlinear suspension model. It has been shown through simulations that it is possible to estimate the tire-road friction from measurements of engine rpm, transmission output speed and wheel speeds using the proposed identification method. The proposed method can be used as a useful option as a part of vehicle collision warning/avoidance systems and will be useful in the implementation of a warning algorithm since the tire-road friction can be estimated only using RPM sensors.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.422-428
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• 2005

In this paper, the contact force between two colliding bodies is modeled by using Hertz's force-displacement law and nonlinear damping function. In order to verify the appropriateness of the proposed contact force model, the drop type impact test is carried out for different impact velocities and different materials of the impacting body, such as rubber, plastic and steel. In the drop type impact experiment, six photo interrupters in series close to the collision location are installed to measure the velocity before impact more accurately. The characteristics of contact force model are investigated through experiments. The parameters of the contact force model are estimated using the optimization technique. Finally the estimated parameters are used to predict the impact force between two colliding bodies in opening action of the magnetic contactor, a kind of switch mechanism for switching electric circuits.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.105-110
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• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.8 no.4
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• pp.1-6
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• 2009

Air drying technology was developed as an equipment for reducing of moisture content from wastewater treatment and waterworks sludge cake and reproducing it by reusable matter. Advantage of cyclone type pneumatic dehydrator is simple and excellent drying performance. The air drying equipment was composed to the air ejector which made high-speed fluid field, and cyclone which made circling fluid field. Dewatered cake was crushed at the high-speed zone as first step, and formed with dried powder of sphere shape by the collision between particles at the circling fluid zone. In this study, a CFD analysis has been performed to predict air-sludge particles flow in cyclone and ejector of pneumatic dehydrator. The computational results showed typical Rankine vortex structure which was frequently found in swirling flow phenomena. And the conical type wedge in lower part of a cyclone prevented accumulation of the sludge particles in the cyclone. Therefore, this technology was effective in drying of dehydrated cake of waterworks sludge.