• 한국항해학회지
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• 제23권2호
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• pp.1-9
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• 1999

A trailer truck is a major equipment for transporting containers, and its driving is difficult due to two degrees of freedom which exist in the joint part between truck and trailer. Especially Backing a trailer truck to a parking home is a difficult exercise for all but the most skilled truck drivers. Normal driving instincts lead to erroneous movements. When watching a truck driver backing toward a parking home, one often observes the driver backing, going forward, backing again, going forward, etc., and finally backing to the desired position along the parking home. This paper discusses the design of the controller to control the steering of a trailer truck while only backing up to a parking home from an initial position. In this paper, we propose a backing up control system for a container trailer truck using fuzzy theory where the primitive fuzzy control rules are macroscopically designed using an expert's knowledge, and the control rules are regulated by LIBL(Linguistic Instruction Based Learning) to enable to back up successfully the trailer tuck to a parking home from arbitrary initial position. The validity of the proposed parking control system is shown by applying it to some initial positions on the simulator for container trailer truck.

• 한국지능시스템학회논문지
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• 제18권1호
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• pp.109-115
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• 2008

무인자동차에 관한 연구가 활성화되면서 무인 주차 또한 중요한 과제로 대두되고 있다. 본 논문에서는 무인차랑을 위한 주차 편의 시스템 설계를 위하여 퍼지논리시스템에 의한 주차 알고리즘 설계를 제안하고자 한다. 기존의 논문들이 제시한 장단점을 분석하여 새로운 단일 입력을 가지는 퍼지논리시스템을 통한 주차 알고리즘을 설계하고, 시뮬레이션을 통하여 그 효용성을 확인하고자 한다.

• 한국정밀공학회지
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• 제32권11호
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• pp.977-982
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• 2015

This study uses finite element analysis to evaluate the forming load of tool entrance angle of the cold forward extrusion molding process of helical gear; this can replace the spur gear applied to the Electronic Parking Brake (EPB) system. A cold forging process is often used in the automobile industry as well as in various industrial machines due to its high efficiency. Finite element analysis is frequently used when interpreting results of the forging process. Formality was evaluated by calculating tooth profile filling rate of helical gear. Change in required forming load was investigated when the entrance angle of forward extrusion tool die was changed from $30^{\circ}$ to $60^{\circ}$, also by finite element analysis. We suggest suitable tool entrance angles.

• 로봇학회논문지
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• 제15권2호
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• pp.147-159
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• 2020

Over the last years, a number of different path following methods for the autonomous parking system have been proposed for tracking planned paths. However, it is difficult to find a study comparing path following methods for a short path length with large curvature such as a parking path. In this paper, we conduct a comparative study of the path following methods for perpendicular parking. By using Monte-Carlo simulation, we determine the optimal parameters of each controller and analyze the performance of the path following. In addition, we consider the path following error occurred at the switching point where forward and reverse paths are switched. To address this error, we conduct the comparative study of the path following methods with the one thousand switching points generated by the Monte-Carlo method. The performance of each controller is analyzed using the V-rep simulator. With the simulation results, this paper provides a deep discussion about the effectiveness and limitations of each algorithm.

• 동력기계공학회지
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• 제16권2호
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• pp.5-10
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• 2012

The parking brake is one of the essential units embedded in track driving motor for forward and backward motion of an excavator. It is composed of multi-friction discs. When the hydraulic motor stops, the multi-friction discs closely stick to the facing discs by acting of multi-spring forces. So, the friction forces generate the braking force by compressing the cylinder barrel of hydraulic motor. In this study, we combined the multi-friction discs to two kinds of spring which have different spring force, and the maximum torque measured at the rotational starting point of hydraulic motor through gradually increasing the rotational torque of load side hydraulic motor by use of 1 and 2 sheets of friction plates. And, under this experimental condition, the maximum coefficient of static friction and the characteristics of paper friction sheet were analyzed. The obtained experimental results will be applied to the design of parking brake system for producing large size excavator in the 85-ton weight class.

• Tribology and Lubricants
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• 제29권1호
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• pp.1-6
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• 2013

Hydraulic transmission is the main component delivering power to the drive wheels of an excavator during forward and backward movement, and it has low speed, high torque and high speed, low torque gear change ratios as a forward/backward two-speed main function. It also has additional function of ensuring that the excavator is stably fixed on the ground with the built-in parking brake during excavation operations. In this study, optimal design specifications are determined by modeling and simulating about the multi-disc-type friction clutch, which is the main component improving the reliability of the hydraulic transmission for a 14-ton wheel excavator, and the friction properties of the transmission clutch are analyzed by performing sample tests.

• 한국통신학회논문지
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• 제18권2호
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• pp.231-238
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• 1993

퍼지제어룰은 일반적으로 시스템에 대한 전문오퍼레이터나 기술자가 갖고 있는 애매모호함을 포함하고 있는 제어지식을 시스템의 입 출력 분할에 의해 if-then이라는 언어적 룰로서 표현하는 것으로 전문오퍼레이터나 기술자의 제어지식 자체의 부정확과 룰의 불완전등으로 완전하게 표현한다는 것은 대단히 어렵다. 이러한 불완전한 룰의 정확도를 시스템 동작 후에도 연속적으로 높이기 위한 방법으로서 신경회로망에 의한 퍼지 추론과 학습을 제시한다. 이 방식은 시스템의 퍼지롤의 후건부를 층상신경회로망의 역전파(Back-propagation) 학습방법에 의한 정확도를 증진시키고, 전건부의 적합도를 연상기억방식에 의해 추론하는 방식으로서, 이 방식을 이용하여 한정된 구역 내에서 숙련된 기술과 지식이 필요한 차의 안전하고 신속한 정차를 위한 Auto-Parking Fuzzy Controller를 설계하고 시뮬레이션을 통해 그 타당성을 입증하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제18권1호
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• pp.64-88
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• 2024

Security and reliability are the utmost importance facts in intelligent networked vehicles. Stochastic Petri Net and Z (SPZN) as an excellent formal verification tool for modeling concurrent systems, can effectively handles concurrent operations within a system, establishes relationships among components, and conducts verification and reasoning to ensure the system's safety and reliability in practical applications. However, the application of a system with numerous nodes to Petri Net often leads to the issue of state explosion. To tackle these challenges, a refinement and abstraction method based on SPZN is proposed in this paper. This approach can not only refine and abstract the Stochastic Petri Net but also establish a corresponding relationship with the Z language. In determining the implementation rate of transitions in Stochastic Petri Net, we employ the interval average and weighted average method, which significantly reduces the time and space complexity compared to alternative techniques and is suitable for expert systems at various levels. This reduction facilitates subsequent comprehensive system analysis and module analysis. Furthermore, by analyzing the properties of Markov Chain isomorphism in the case study, recommendations for minimizing system risks in the application of intelligent parking within the intelligent networked vehicle system can be put forward.

• 자동차안전학회지
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• 제10권3호
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• pp.32-37
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• 2018

Recently, the driver can be assisted by the advanced active safety devices such as ADAS from road traffic risks. With this system, driver and passenger may freed from can driving tasks or kept eyes on forward direction while on the road. Help from adoptive cruise control, auto parking and newly develped automated driving vehicles technologies, the driver positions will vary significantly from the current standard driver position during the travel time. On this hypothesis, the objective of this study is analyze the behavior and injuries of drivers in the event of frontal impact under these abnormal driver position. Based on the KNCAP frontal impact testing method, this simulation matrix was set-up with dummies of 5 th tile female Hybrid III dummy and 50 th tile male Hybrid III dummy. The small sedan type passenger car was modeled in this simulation. The series of simulation was performed to compare the injuries and behaviour of each dummy, varying the seating status and seat position of each dummy.

• 한국전통조경학회지
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• 제40권1호
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• pp.65-73
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• 2022

본 논문은 굉촌 고촌락의 특성과 변화과정을 통해 변화된 굉촌 역사문화공간의 보존을 위한 보호구역의 재설정 방안을 분석하였다. 이를 위해 굉촌과 관련한 고문헌, 고화, 각종 보호 관련 정책자료를 분석하고 인터뷰와 현지조사를 실시하여 굉촌 내 보존지역과 활용지역 현황을 파악하고 이를 통해 보존지역의 재설정 문제를 살펴보았다. 그 결과 다음과 같은 결론을 도출하였다. 첫째, 굉촌은 유교, 불교, 도교사상의 영향을 받아 조성된 촌락으로 공간구성은 유교의 위계에 따라 조성되었다. 이로 인해 중앙정부의 보존이 존재하지 않았음에도 선조들의 유산이 계승 보존될 수 있었다. 둘째, 굉촌 고촌락은 고대부터 이어져온 문물의 개념으로 인식되어온 협의적 보존의 개념이 적용되어 왔으나 대약진운동과 문화대혁명 등으로 인하여 촌락 공간의 변화를 가져왔다. 이후 굉촌 보호계획을 계기로 신축 및 증축 등의 규제를 통하여 고건축물, 수체계, 수림 등이 보존되었으나 지속된 개발 압력과 개혁개방으로 인한 원주민의 생활 변화로 보존지역 내의 개발이 진행되고 있다. 셋째, 고촌락 원주민들은 유산에 대한 가치 인식은 높았으나 생활의 개선과 수익 창출을 위한 방안 및 이를 위한 촌락의 적극적인 활용을 요구하였다. 넷째, 노거수로 이루어진 수림은 복원이 진행되고 있으나 고택 내 정원들은 활용을 위하여 원림공간이 축소되거나 변형되는 현상을 보이고 있었다. 도로는 본래 고 촌락 진입구인 서측 지역에서 확장된 남측지역에 다리와 주차장이 신설되어 기존 진출입구의 변화를 가져왔다. 이는 관광객의 진출입이 편리하도록 도로체계를 변형한 것으로 고촌락 공간변화의 주요 원인으로 나타났다. 다섯째, 기존의 보존지역을 월소를 중축으로 하는 보존 루트로 재설정하여 보존을 진행하는 한편 주변 지역을 직접·간접체험공간으로 설정하여 각 공간의 위계에 따른 보존과 활용을 교차하여 보존 가운데 활용이 진행되어야 한다.