• 한국정밀공학회지
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• 제26권6호
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• pp.74-80
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• 2009

Path tracking of unmanned vehicle is a basis of autonomous driving and navigation. For the path tracking, it is very important to find the exact position of a vehicle. GPS is used to get the position of vehicle and a direction sensor and a velocity sensor is used to compensate the position error of GPS. To detect path lines in a road image, the bird's eye view transform is employed, which makes it easy to design a lateral control algorithm simply than from the perspective view of image. Because the driving speed of vehicle should be decreased at a curved lane and crossroads, so we suggest the speed control algorithm used GPS and image data. The control algorithm is simulated and experimented from the basis of expert driver's knowledge data. In the experiments, the results show that bird's eye view transform are good for the steering control and a speed control algorithm also shows a stability in real driving.

• 산업기술연구
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• 제26권B호
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• pp.21-28
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• 2006

A diesel truck of 1 ton is re-powered by a gasoline engine and the fuelling system of gasoline engine modified to gasoline/CNG bi fuel system. The engine characteristics such as fuel economy and power are evaluated by driving rest, sloping test and dynamometer. The driving test prove the driving cost is saved by 55% and the maximum speed is raised by 13%, which is mainly due to the higher calorific value of CNG. The sloping test is done on the road of which slope is 15%. The truck shows the mean velocity of 88km/h, which means that a re-powered truck is working fine. The BHP are measured by dynamometer. The power and torque produced by a re-powered truck are reduced by 13% and 14% respectively from the power of gasoline engine. The BHP reduction is one of main problems which one has to solve in near future.

• 한국군사과학기술학회지
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• 제20권3호
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• pp.352-361
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• 2017

This paper proposes a design and fabrication of the test equipment that is implemented as a part of the airborne tracking radar inspection under the environment of indoor simulation. This test equipment provides controlling the operation status of airborne tracking radar and replicating the velocity and range information of target by generating a variety of target signal. This is mainly composed of radar operation controller, target signal generator, horn antenna driving devices. Radar operation controller is able to perform the controlling of radar operation mode and monitoring in real time by serial communication. Target signal generator is generated doppler signal and range delayed signal using virtual target of RF-band. Horn antenna driving devices perform a role of target simulating exercise. In the end, the performance is demonstrated using experiment results of test equipment for airborne tracking radar.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.485-486
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• 2006

This paper represents a ultra precision rotational device where the smooth impact drive mechanism(SIDM) is utilized as a driving mechanism. Linear motions of piezoelectric elements are converted to the rotational motion of disk by frictional forces generated between the rotational disk and the friction bars which are attached to the piezoelectric elements. This device was designed to drive a rotational disk using slip-slip motion mechanism based on stick-slip motion mechanism. Experimental results show that the angular velocity was increased in proportion to the magnitude of supplied voltage to piezoelectric element. In our device, the smooth rotational motion was obtained when the driving frequency has been reached to 500Hz under the driving voltage of 100V. The amount of step movement has been revealed to be $3.44{\times}10^{-4}$ radian.

• 대한조선학회논문집
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• 제45권4호
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• pp.370-378
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• 2008

It is reported to develop the driving pump for the Low Noise Large Cavitation Tunnel(LOCAT) which is under construction at Maritime & Ocean Engineering Research Institute(MOERI). For low background noise condition of the LOCAT, it is crucial not only the best pump efficiency but also no cavity occurrence at any operating conditions. Design condition of the pump is determined by considering the required pump headrise, flow quantity, shaft rotation velocity and pump diameter. Performance analysis of the pump is conducted using commercial CFD codes ($BladeGen^+$, CFX-10), and the predicted results are verified by a series of model tests. Cavity was not observed at any operating condition in the model test, which were conducted at the midium cavitation tunnel of MOERI. The optimum pump for LOCAT, named as LP-11, was successfully developed through a series of pump design processes composed of blade design, performance analysis and model test.

• 자동차안전학회지
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• 제13권4호
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• pp.7-13
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• 2021

This paper presents an vulnerable road user (VRU) classification and tracking algorithm using vision and LiDAR sensor fusion method for urban autonomous driving. The classification and tracking for vulnerable road users such as pedestrian, bicycle, and motorcycle are essential for autonomous driving in complex urban environments. In this paper, a real-time object image detection algorithm called Yolo and object tracking algorithm from LiDAR point cloud are fused in the high level. The proposed algorithm consists of four parts. First, the object bounding boxes on the pixel coordinate, which is obtained from YOLO, are transformed into the local coordinate of subject vehicle using the homography matrix. Second, a LiDAR point cloud is clustered based on Euclidean distance and the clusters are associated using GNN. In addition, the states of clusters including position, heading angle, velocity and acceleration information are estimated using geometric model free approach (GMFA) in real-time. Finally, the each LiDAR track is matched with a vision track using angle information of transformed vision track and assigned a classification id. The proposed fusion algorithm is evaluated via real vehicle test in the urban environment.

• 천문학회지
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• 제38권2호
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• pp.219-222
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• 2005

We present the high-resolution (2"-4") images of the molecular envelopes surrounding the evolved stars, V Hya, VY CMa, and ${\pi}^1$ Gru observed with the Submillimeter Array. The CO J=2-1 and 3-2 images of the carbon star V Hya show that the circumstellar structure of this star consists of three kinematic components; there is a flattened disk-like envelope that is expanding with a velocity of ${\~}16 km\;s^{-1}$, the second component is the medium-velocity wind having a deprojected velocity of 40-120 km $s^{-l}$ moving along the disk plane, and the third one is the bipolar molecular jet having an extreme velocity of 70-185 km $s^{-l}$. The axis of this high velocity jet is perpendicular to the plane of the disk-like envelope. We found that the circumstellar structure of the S-star ${\pi}^1$ Gru traced by the CO J =2-1 resembles that of V Hya quite closely; the star is surrounded by the expanding disk-like envelope and is driving the medium-velocity wind along the disk plane. We also obtained the excellent images of VY CMa with the CO and $^{13}CO$ J=2-1 and $SO\;6_5-5_4$ lines. The maps of three molecular lines show that the envelope has a significant velocity gradient in the east-west direction, suggesting that the envelope surrounding VY CMa is also flattened and expanding along its radial direction. The high-resolution images obtained with the SMA show that some AGB stars are associated with the asymmetric mass loss including the equatorial wind and bipolar jet.

• Journal of Biosystems Engineering
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• 제9권2호
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• pp.48-57
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• 1984

To analyze the grain transport velocity, which is valuable for optimizing the separation losses, an oscillating appratus for sieve was designed. The grain transport velocity was measured in each combination of three amplitude levels, three rpm levels and four projection angle levels. To analyze the grain transport velocity theortically, two computer programs were developed. And the results from experiment and theoretical analysis were compared. 1. The grain transport velocity was increased with the projection angle of oscillating sieve. Especially when the projection angle is higher than $45^{\circ}$ the grain transport velocity on the flat-plate was not increased but on the racked surface was increased persistently. 2. The grain transport velocity was increased linearly with the frequency of oscillating motion. The speed of driving link must be higher than 350 rpm at 24mm amplitude, 250 rpm at 36 mm amplitude to transport the grain efficiently. 3. The grain transport velocity was increased with the amplitude of oscillating motion. But if the amplitude was smaller than interval of racks, the grain on the racked surface was not transported, even though the projection angle or the speed of revolutionary link was increased. 4. The transport characteristics of a grain varied with the amplitude and projection angle. Especially in the range of 1.5 < K < 2.3 at $45^{\circ}$ projection angle the transportation of grain was successful and the grain motion consisted of sliding movement (forward, backward) and jumping movement, which is considered recommendable for separating process of a combine sieve. 5. The results from theoretical analysis were approximately in accord with that from experiment.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제54권7호
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• pp.329-334
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• 2005

This paper presents the optimal design for reducing the rotor inertia in order to improve the driving characteristic of BLDC motor for robots. The parallel Genetic Algorithm is performed to rotor inertia minimization in optimal design. Also, velocity profile with finite jerk method is introduced to reduce vibration of BLDC motor. As a result, a torque characteristic is same although rotor inertia is reduced to 2/3 compared with prototype model. And, maximum vibration value is reduced by 63.4[$\%$] according to the application of finite .jerk method.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권1호
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• pp.48-55
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• 2005

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy, These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.