• Title/Summary/Keyword: Electrical Vehicle

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A method for automatically generating a route consisting of line segments and arcs for autonomous vehicle driving test (자율이동체의 주행 시험을 위한 선분과 원호로 이루어진 경로 자동 생성 방법)

  • Se-Hyoung Cho
    • Journal of IKEEE
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    • v.27 no.1
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    • pp.1-11
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    • 2023
  • Path driving tests are necessary for the development of self-driving cars or robots. These tests are being conducted in simulation as well as real environments. In particular, for development using reinforcement learning and deep learning, development through simulators is also being carried out when data of various environments are needed. To this end, it is necessary to utilize not only manually designed paths but also various randomly and automatically designed paths. This test site design can be used for actual construction and manufacturing. In this paper, we introduce a method for randomly generating a driving test path consisting of a combination of arcs and segments. This consists of a method of determining whether there is a collision by obtaining the distance between an arc and a line segment, and an algorithm that deletes part of the path and recreates an appropriate path if it is impossible to continue the path.

Comparison of Association Rule Learning and Subgroup Discovery for Mining Traffic Accident Data (교통사고 데이터의 마이닝을 위한 연관규칙 학습기법과 서브그룹 발견기법의 비교)

  • Kim, Jeongmin;Ryu, Kwang Ryel
    • Journal of Intelligence and Information Systems
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    • v.21 no.4
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    • pp.1-16
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    • 2015
  • Traffic accident is one of the major cause of death worldwide for the last several decades. According to the statistics of world health organization, approximately 1.24 million deaths occurred on the world's roads in 2010. In order to reduce future traffic accident, multipronged approaches have been adopted including traffic regulations, injury-reducing technologies, driving training program and so on. Records on traffic accidents are generated and maintained for this purpose. To make these records meaningful and effective, it is necessary to analyze relationship between traffic accident and related factors including vehicle design, road design, weather, driver behavior etc. Insight derived from these analysis can be used for accident prevention approaches. Traffic accident data mining is an activity to find useful knowledges about such relationship that is not well-known and user may interested in it. Many studies about mining accident data have been reported over the past two decades. Most of studies mainly focused on predict risk of accident using accident related factors. Supervised learning methods like decision tree, logistic regression, k-nearest neighbor, neural network are used for these prediction. However, derived prediction model from these algorithms are too complex to understand for human itself because the main purpose of these algorithms are prediction, not explanation of the data. Some of studies use unsupervised clustering algorithm to dividing the data into several groups, but derived group itself is still not easy to understand for human, so it is necessary to do some additional analytic works. Rule based learning methods are adequate when we want to derive comprehensive form of knowledge about the target domain. It derives a set of if-then rules that represent relationship between the target feature with other features. Rules are fairly easy for human to understand its meaning therefore it can help provide insight and comprehensible results for human. Association rule learning methods and subgroup discovery methods are representing rule based learning methods for descriptive task. These two algorithms have been used in a wide range of area from transaction analysis, accident data analysis, detection of statistically significant patient risk groups, discovering key person in social communities and so on. We use both the association rule learning method and the subgroup discovery method to discover useful patterns from a traffic accident dataset consisting of many features including profile of driver, location of accident, types of accident, information of vehicle, violation of regulation and so on. The association rule learning method, which is one of the unsupervised learning methods, searches for frequent item sets from the data and translates them into rules. In contrast, the subgroup discovery method is a kind of supervised learning method that discovers rules of user specified concepts satisfying certain degree of generality and unusualness. Depending on what aspect of the data we are focusing our attention to, we may combine different multiple relevant features of interest to make a synthetic target feature, and give it to the rule learning algorithms. After a set of rules is derived, some postprocessing steps are taken to make the ruleset more compact and easier to understand by removing some uninteresting or redundant rules. We conducted a set of experiments of mining our traffic accident data in both unsupervised mode and supervised mode for comparison of these rule based learning algorithms. Experiments with the traffic accident data reveals that the association rule learning, in its pure unsupervised mode, can discover some hidden relationship among the features. Under supervised learning setting with combinatorial target feature, however, the subgroup discovery method finds good rules much more easily than the association rule learning method that requires a lot of efforts to tune the parameters.

Range Design of Pulse Repetition Frequency for Removal of SAR Residual Image (영상레이더 잔상 제거를 위한 펄스 반복 주파수의 범위 설계)

  • Kim, Kyeong-Rok;Heo, Min-Wook;Kim, Tu-Hwan;Ryu, Sang-Burm;Lee, Sang-Gyu;Lee, Hyeon-Cheol;Kim, Jae-Hyun
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.41 no.11
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    • pp.1653-1660
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    • 2016
  • The synthetic aperture rardar (SAR) is an active sensor using microwaves. It transmits a microwave signal, called a chirp pulse, and receives the reflected signal in a moving platform such as satellite and unmanned aerial vehicle. Since this sensor uses microwaves that can penetrate the atmosphere, SAR generates the images regardless of light and weather conditions. However SAR operates on the moving platform, the Doppler shift and the side-looking observation method should be considered. In addtion, a residual image or ghost image can be occurred according to selection of the pulse repetition frequency (PRF). In this paper, a range design of the PRF for the L-band spaceborne SAR system is studied for prevention of SAR image distortion. And the system is studied for prevention of SAR image distortion. And the system parameter and the PRF are calibrated iteratively according to the proposed system design procedure and design constraints. The MATLAB based on SAR system simulator has been developed to verify the validity of calculated PRF. The developed simulator assumes that SAR sensor is operated by the PRF calculated from the design. The results of the simulator show that the targets in image has a valid peak to side-lobe ratio (PSLR) so that the PRF can be used for the spaceborne SAR sensor.

Feasibility Study of a Series Hybrid-Electric Propulsion System for a Fixed Wing VTOL Unmanned Aerial Vehicle (고정익 수직이착륙 무인항공기를 위한 하이브리드-전기 추진시스템의 타당성 연구)

  • Kim, Boseong;Bak, Jeonggyu;Yun, Senghyun;Cho, Sooyoung;Ha, Juhyung;Park, Gyusung;Lee, Geunho;Won, Sunghong;Moon, Changmo;Cho, Jinsoo
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.43 no.12
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    • pp.1097-1107
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    • 2015
  • General VTOL aircraft uses gas turbine engine which has high power to weight ratio. However, in the VTOL UAV in small sector, the gas turbine as a prime mover is not adequate because of the limitation of the high fuel consumption ratio of the gas turbine. In this research, The Series Hybrid-Electric Propulsion System(SHEPS) has been proposed and technology survey & comparison analysis has conducted to constitute propulsion system for engine, electric motor and battery. To achieve this object a 65kg-class P-UAV from "Company I" was used. And to estimate the validity of power control algorithm and developed power management control, Matlab/simulink$^{(R)}$ has been used for the simulation. As a result, the developed algorithm worked comparatively well and the research has predicted that SHEPS was satisfied enough for 7 hour of endurance for mission profile.

Tracking Control of 3-Wheels Omni-Directional Mobile Robot Using Fuzzy Azimuth Estimator (퍼지 방위각 추정기를 이용한 세 개의 전 방향 바퀴 구조의 이동로봇시스템의 개발)

  • Kim, Sang-Dae;Kim, Seung-Woo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.11 no.10
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    • pp.3873-3879
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    • 2010
  • Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

Engineering Characteristics of Liquid Filler Using Marine Clay and In-situ Soil (해양점토와 현장토를 활용한 유동성 채움재의 공학적 특성)

  • Oh, Sewook;Bang, Seongtaek
    • Journal of the Korean GEO-environmental Society
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    • v.21 no.9
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    • pp.25-32
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    • 2020
  • The underground utilities installed under the ground is an important civil engineering structure, such as water supply and sewerage pipes, underground power lines, various communication lines, and city gas pipes. Such underground utilities can be exposed to risk due to external factors such as concentrated rainfall and vehicle load, and it is important to select and construct an appropriate backfill material. Currently, a method mainly used is to fill the soil around the underground utilities and compact it. But it is difficult to compact the lower part of the buried pipe and the compaction efficiency decreases, reducing the stability of the underground utilities and causing various damages. In addition, there are disadvantages such as a decrease in ground strength due to disturbance of the ground, a complicated construction process, and construction costs increase because the construction period becomes longer, and civil complaints due to traffic restrictions. One way to solve this problem is to use a liquid filler. The liquid filler has advantages such as self-leveling ability, self-compaction, fluidity, artificial strength control, and low strength that can be re-excavated for maintenance. In this study, uniaxial compression strength test and fluidity test were performed to characterize the mixed soil using marine clay, stabilizer, and in-situ soil as backfill material. A freezing-thawing test was performed to understand the strength characteristics of the liquid filler by freezing, and in order to examine the effect of the filling materials on the corrosion of the underground pipe, an electrical resistivity test and a pH test were performed.

Electrode bonding method and characteristic of high density rechargeable battery using induction heating system (유도 가열 접합 시스템을 이용한 대용량 이차전지 전극의 접합 방법 및 특성)

  • Kim, Eun-Min;Kim, Shin-Hyo;Hong, Won-Hee;Cho, Dae-Kweon
    • Journal of Advanced Marine Engineering and Technology
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    • v.38 no.6
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    • pp.688-697
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    • 2014
  • In this study, electrode bonding technology needed for high density of rechargeable battery is studied, which is recently researched for electric vehicle, the small leisure vessel. For the alternative overcoming the limit of stacking amount able to be stacked by conventional ultrasonic welding, the low temperature bonding method, eligible for minimum of degeneration of chemical activator on the electrode surface which is generated by thermal effect as well as the increase of conductivity and tension strength caused by electrode bonding using filler metal, not using conventional direct heating on the electrode material method, is studied. Specifically to say, recently used more generally the ultrasonic welding and spot welding method are not usable for satisfying stable electric conductivity and bonding strength when much electrode is stacking bonded. If the electrical power is unreasonably increased for the welding, due to the effect of welding temperature, deformation of electrode and activating material degeneration are caused, and after the last packaging, decline of electrical output and generating heat cause to reduce stability of battery. Therefore, in this study, induction heating system bonding method using high frequency heating and differentiated electrode method using filler metal pre-treatment of hot dipping are introduced.

High safety battery management system of DC power source for hybrid vessel (하이브리드 선박 직류전원용 고 안전 BMS)

  • Choi, Jung-Leyl;Lee, Sung-Geun
    • Journal of Advanced Marine Engineering and Technology
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    • v.40 no.7
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    • pp.635-641
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    • 2016
  • In order to drive a hybrid propulsion device which combines an engine and an electric propulsion unit, battery packs that contain dozens of unit cells consisting of a lithium-based battery are used to maintain the power source. Therefore, it is necessary to more strictly manage a number of battery cells at any given time. In order to manage battery cells, generally voltage, current, and temperature data under load condition are monitored from a personal computer. Other important elements required to analyze the condition of the battery are the internal resistances that are used to judge its state-of-health (SOH) and the open-circuit voltage (OCV) that is used to check the battery charging state. However, in principle, the internal resistances cannot be measured during operation because the parallel equivalent circuit is composed of internal loss resistances and capacitance. In most energy storage systems, battery management system (BMS) operations are carried out by using data such as voltage, current, and temperature. However, during operation, in the case of unexpected battery cell failure, the output voltage of the power supply can be changed and propulsion of the hybrid vehicle and vessel can be difficult. This paper covers the implementation of a high safety battery management system (HSBMS) that can estimate the OCV while the device is being driven. If a battery cell fails unexpectedly, a DC power supply with lithium iron phosphate can keep providing the load with a constant output voltage using the remainder of the batteries, and it is also possible to estimate the internal resistance.

Design of Brushless Permanent Machine with Skewed Stator for Electrical Power Steering System (전동 조향 장치용 브러쉬리스 영구자석 전동기의 스테이터 스큐 설계)

  • Lee, Choong-Sung;Jung, Kyung-Tae;Hong, Jung-Pyo;Kim, Hae-Joong;Kim, Young-Kyun
    • Journal of the Korean Magnetics Society
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    • v.25 no.6
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    • pp.189-197
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    • 2015
  • As enforced the regulation of fuel efficiency, the electrification of automotive components in internal combustion vehicle has been applied instead of hydraulic pressure. A typical example of such parts is the EPS (electric power steering), and it is applied to most automotive at present. In electric power steering system, the core component is motor. The reduction of cogging torque and torque ripple is required to improve steering feeling and reduce NVH (Noise Vibration Harshness) in EPS. Generally the skewed design of stator or rotor is applied in order to reduce cogging torque and torque ripple. This paper propose the design and analysis methodology of Brusheless PMSM (Permanent Magnet Synchronous Motor) which is applied to skewed stator. The proposed methodology is as follows: First Intial Design PMSM with skewed stator for EPS, Second Optimal design using RSM (Response surface method), Third Performance Analysis such as Phase Back EMF, Inductance, Load torque using FEA (Finite Element Method). Finally, the reliability of proposed design methodology will be verified through the experiments of prototype sample.

Reduction of Chattering Error of Reed Switch Sensor for Remote Measurement of Water Flow Meter (리드 스위치 센서를 이용한 원격 검침용 상수도 계량기에서 채터링 오차 감소 방안 연구)

  • Ayurzana, Odgerel;Kim, Hie-Sik
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.44 no.4 s.316
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    • pp.42-47
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    • 2007
  • To reduce the chattering errors of reed switch sensors in the automatic remote measurement of water meter a reed switch sensor was analyzed and improved. The operation of reed switch sensors can be described as a mechanical contact switch by approximation of permanent magnet piece to generate an electrical pulse. The reed switch sensors are used mostly in measurement application to detect the rotational or translational displacement. To apply for water flow measurement devices, the reed switch sensors should keep high reliability. They are applied for the electronic digital type of water flow meters. The reed switch sensor is just mounted simply on the conventional mechanical type flow meter. A small magnet is attached on a pointer of the water meter counter rotor. Inside the reed sensor two steel leaf springs make mechanical contact and apart repeatedly as rotation of flow meter counter. The counting electrical contact pulses can be converted as the water flow amount. The MCU sends the digital flow rate data to the server using the wireless communication network. But the digital data is occurred difference or won by chattering noise. The reed switch sensor contains chattering error by it self at the force equivalent position. The vibrations such as passing vehicle near to the switch sensor installed location causes chattering. In order to reduce chattering error, most system uses just software methods, for example using filter algorithm and also statistical calibration methods. The chattering errors were reduced by changing leaf spring structure using mechanical characteristics.