• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.448-448
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• 2000

This paper deals with dynamic behaviour analysis for pipeline inspection gauge (PIG) flow control in natural gas pipeline. The dynamic behaviour of the PIG is depending on the different Pressure between the rear and nose parts, which is generated by injected gas flow behind PIG's tail and expelled gas flow in front of its nose. To analyze the dynamic behaviour characteristics such as gas flow in pipeline, and the PIG's position and velocity, mathematical model is derived as two types of a nonlinear hyperbolic partial differential equation for unsteady flow analysis of the PIG driving and expelled gas, and nonhomogeneous differential equation for dynamic analysis of PIG. The nonlinear equation is solved by method of characteristics (MOC) with the regular rectangular grid under appropriate initial and boundary conditions. The Runge-Kuta method is used when we solve the steady flow equations to get initial flow values and the dynamic equation of PIG. The gas upstream and downstream of PIG are divided into a number of elements of equal length. The sampling time and distance are chosen under Courant-Friedrich-Lewy (CFL) restriction. The simulation is performed with a pipeline segment in the Korea Gas Corporation (KOGAS) low pressure system, Ueijungboo-Sangye line. The simulation results show us that the derived mathematical model and the proposed computational scheme are effective for estimating the position and velocity of PIG with different operational conditions of pipeline.

• Fisheries and Aquatic Sciences
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• v.16 no.2
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• pp.101-108
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• 2013

An active stimulating device (ASD) consisting of a net panel or ropes fluttering in the turbulence inside the cod end was effective in driving fish near the cod end to reduce juvenile by-catch. The fluttering characteristics of the rope and net panel were examined by video observations and analyzed for fluttering amplitude and period in a water channel and in field experiments with a bottom trawl. The amplitude ratio of the fluttering ropes or nets in the tank test increased with the fluttering index as the diameter of the twine, mesh size, flexibility, and flow velocity changed, whereas the period decreased with the above factors. In bottom trawl experiments, the range of mean depth difference in the fluttering net panel was 12-17% of the length of the fluttering net, and the period of depth difference or three-dimensional (3D) tilt was revealed, with shorter ones ranging from 2 to 6 s. The amplitude as depth difference and period from field measurements were similar to those of nets in tank experiments and also to the period of 3D flow velocity inside the cod end. These results could be used to design an ASD that could be used for to the cod end of actual towed fishing gear to reduce juvenile by-catch.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.11
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• pp.997-1002
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• 2008

This paper is mainly concerned with the development of a remotely operated vehicle for investigation of the coastal sea. For this, we have designed and constructed a vehicle entitled KMU-ROV(Korea Maritime University Remotely Operated Vehicle), for purpose of investigation mission under 50(m) of the sea surface. We have designed six independent waterproof actuators and the housing of the controller for underwater operation. For six degree-of-freedom motion, we have analyzed the dynamics of the KMU-ROV and have designed a new composition of six actuators including the driving system. For motion control, we have composed a concurrent velocity control algorithm for controlling the speed of all the actuating motors. The control system for the KMU-ROV is composed of a master DSP controller, DSP controller for the motor control and various sensors. We composed the PID control algorithm and a network system for controlling motors using the CAN communication. The performance of the KMU-ROV was presented by testing the developed control algorithm and control system under the water.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.1
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• pp.61-67
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• 2013

In this paper, it was studied how the critical speed which could occur hot judder due to disk temperature. Through the dynamometer experiment, we measured the critical velocity and surface temperature when the hot judder occur on the disk break. Also with the critical velocity theory equation and the temperature change graph of factors which used in the equation, we was induced experiment equation including theory equation and experiment values. And it has compared with the method which approach as linea. From this, we predicted the change of critical speed which could occur hot judder due to disk temperature. In addition, critical speed graph has compared with actual driving speed and disc temperature at a vehicle test. Therefore it was estimate to possibility of arising hot judder.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.3
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• pp.162-165
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• 2012

In this paper, the method of controlling velocity between joining vehicles at the point of bottleneck using information and communications technology of WAVE method based V2V and V2I are proposed for the driving with high fuel efficiency. Using the derived fuel-efficiency comparative analysis model, it was shown that the proposed method's fuel efficiency is better than traffic light method demanding periodically vehicle's stop. Also, this method provides the derivation algorithm for deceleration and acceleration for controlling velocity between vehicles approaching bottleneck area.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.432-434
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• 1998

Recently, For the material transport is increased, the AGV(Automated Guided Vehicle) is the most important part in the industrial factory. So we treat the navigation control problem and experimental results using microprocessor. In navigation control, we have faced with velocity control problem related to guide path tracking problem. Carefully, In the straight line, the AGV moves at its high speed, but in the curve line, especially when the radian ratio is very big it is difficult to follow guide line. So, Using fuzzy controller we have simulated the guide path following AGV according to the varying velocity and experimented it with microprocessor.(Intel 80C196KC) Now, If we use the AGV industrial factory, we will improve the product and efficiency in spite of changing the factory environment.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.32 no.9
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• pp.645-651
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• 2008

For a high speed train driving at 300 km/h, aero-acoustic noise is a dominant component among various noise sources. The aeroacoustic noise is mainly due to inter-coach spacings because discontinuities in the train surface significantly disturb turbulent flows. This often leads to the uncomfortableness of passengers. Interestingly, the aero-acoustic noise reduces with decreasing the mud-flap spacing of the inter-couch spacing. We perform numerical simulations to investigate flow characteristics around the inter-coach spacing. We model the inter-coach spacing as a simple 2-D cavity with flaps, and calculate the velocity and pressure field using two equation turbulence models, varying the flap spacing. The results show that a wider flap spacing develops a higher inflection point in mean velocity profiles over the cavity. It is likely that large eddies generated near the inflection point persist longer in the downstream since they are less affected by the wall. This probably induces the more aero-acoustic noises. The wider spacing also results in the larger pressure difference between the inside and outside of the cavity. This is also responsible for the increased noise since the large difference would cause a strong flow oscillations in and out of the cavity.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.6
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• pp.615-622
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• 2015

Recently Digital-TachoGraph(DTG) was mounted mandatorily in commercial vehicles(Taxi, Bus, etc.). DTG records accurate and detailed information of the running state of vehicles related to traffic accident, such as Time, Distance, Velocity, RPM, Brake ON/OFF, GPS, Azimuth, Acceleration. Thus those standardized data can play an important role in traffic accident investigation and reconstruction. To develope the accurate and objective method using the DTG data for the reconstruction of traffic accident, we had conducted several tests such as driving test, high speed circuit test, braking test, slalom test at Korea Automobile Testing & Research Institute(KATRI), and collision test at Korea Automobile insurance repair Research and Training center(KART) with the vehicle equipped with several DTG. Development of the program which enables the reading and analysis of the DTG data was followed. In the experiments, we have found velocity error, RPM error, brake signal error and azimuth error in several products, and also non-continuous event data. The cause of these errors was deduced to be related to the correction factor, the durability of electronic parts and the algorithm.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.7
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• pp.1032-1040
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• 2012

This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.

• Journal of Auto-vehicle Safety Association
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• v.16 no.1
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• pp.6-11
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• 2024

This paper presents a motion planning algorithm of autonomous racing vehicles for mimicking the characteristics of a human driver. Time optimal maneuver of a race car has been actively studied as a major research area over the past decades. Although the time optimization problem yields a single time series solution of minimum time maneuver inputs for the vehicle, human drivers achieve similar lap times while taking various racing lines and velocity profiles. In order to model the characteristics of a specific driver and reproduce the motion, a stochastic motion planning framework based on kernelized motion primitive is introduced. The proposed framework imitates the behavior of the generated reference motion, which is based on a small number of human demonstration laps along the racetrack using Gaussian mixture model and Gaussian mixture regression. The mean and covariance of the racing line and velocity profile mimicking the driver are obtained by accumulating the outputs tested at equidistantly sampled input points. The results confirmed that the obtained lateral and longitudinal motion simulates the driver's driving characteristics, which are feasible for actual vehicle test environments.