• 한국정보전자통신기술학회논문지
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• 제12권6호
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• pp.612-618
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• 2019

무인 이동체 관련 산업은 4차 산업혁명 기술발전과 더불어 공공 및 민간 수요의 급증으로 시장이 폭발적으로 성장하고 있다. 뿐만 아니라 통신 서비스에도 무인 이동체가 활용되고 있다. 본 논문에서는 도플러 주파수의 특성에 따른 무인 비행체의 통신 성능을 분석하였다. 무인 비행체의 기하학적 모델을 이용하여 도플러 주파수를 계산하고, 제어기의 위치를 원점으로 고속의 무인 비행체를 고려하여 시속 10km, 30km, 300km, 1000km의 도플러 주파수와 AWGN에 의한 BER 성능을 측정하였다. 도플러 주파수 모델은 Dent 모델을 이용하였으며, 가산성 백색 가우시안 잡음(AWGN)을 추가하여 송신단과 수신단의 비트 오차를 확인하였다. 저속의 무인 비행체는 일반적으로 0.2의 BER 성능을 나타내었으며, 고속의 무인 비행체는 일반적으로 0.06의 BER 성능을 나타내었다. 동일한 속도에서 주파수 대역이 증가하면 BER 성능은 증가하였으며, 동일한 주파수 대역에서 속도가 증가하면 BER 성능은 감소됨을 확인하였다. 이는 이론적으로 예상 가능한 BER 성능 예측을 시뮬레이션 결과를 통해 확인하였다. 2.6GHz, 5GHz, 28GHz 각각의 주파수 대역에서 도플러 주파수에 의한 BER 특성과 제어기 함수에 의한 BER 특성을 확인하였으며, 무인 비행체의 이동시 발생하는 도플러 주파수는 제어기의 위치와 가까운 곳에서 통신 성능에 많은 영향을 미치는 것을 확인하였다.

• 대한토목학회논문집
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• 제26권5D호
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• pp.831-838
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• 2006

본 연구에서는 차량의 주행속도, 차축하중 그리고 타이어 압력변화에 따른 아스팔트 포장의 주요 응답 특성을 분석하고자 하였다. 시험도로 아스팔트 포장 중 기층의 두께가 서로 다른 A5(180mm)와 A8(280mm)단면을 선정하여 표준 3축 덤프트럭에 의한 아스팔트의 변형률과 수직응력의 변화를 계측하였다. 모든 주행시험은 각 포장 단면의 주행차로에서 진행되었으며 실제 주행속도와 이동경로는 레이저 원더링 시스템을 적용하여 실시간으로 관찰, 기록하였다. 아스팔트 포장의 변형률은 차량의 주행속도가 증가할수록 그 크기가 감소하는 일반적인 점탄성 거동을 보였다. 특히 수직응력은 차축하중 뿐만 아니라 주행속도에도 영향을 받는 것으로 보아 속도별 차량의 운동특성이 각 차축으로 전달되는 연직하중의 크기에 많은 영향을 주고 있음을 알 수 있었다. 일반적으로 타이어 공기압이 증가하고 차축하중이 증가할수록 아스팔트 하부의 최대 인장변형률은 증가하였다. 두 아스팔트 포장 단면에서 다층탄성해석을 수행한 결과 변형률은 계측된 결과보다 크게 예측되었으며 수직응력은 수치해석결과가 계측결과보다 작게 평가되었다.

• 한국자동차공학회논문집
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• 제18권1호
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• pp.99-104
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• 2010

It is a frequent occurrence in urban traffic - a low-speed collision in which one vehicle hits the back of another. The vehicles often sustain expensive damage. Bumpers can reduce this damage, but only line up so the initial contact in an impact is bumper to bumper. Then the bumpers on the colliding vehicles have to absorb the crash energy, keeping damage away from expensive sheet metal, lights, and other components. In real world accidents, Bumper mismatches in crashes are increasing, and the resulting repair costs from low-speed collisions are escalating. In this study, we investigated the bumper rail height and analyzed their effects on repair cost. Futhermore, Our 16kph front-into-rear crash tests demonstrates bumper mismatch problem.

• Journal of Mechanical Science and Technology
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• 제17권5호
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• pp.776-783
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• 2003

A low speed wind tunnel test was conducted for full-scale model of an unmanned aerial vehicle (UAV) in Korea Aerospace Research Institute (KARI) Low Speed Wind Tunnel(LSWT). The purpose of the presented paper is to illustrate the general aerodynamic and performance characteristics of the UAV that was designed and fabricated in KARI. Since the testing conditions were represented minor portions of the load-range of the external balance system, the repeatability tests were performed at various model configurations to confirm the reliability of measurements. Variations of drag-polar by adding model components such as tails, landing gear and test boom are shown, and longitudinal and lateral aerodynamic characteristics after changing control surfaces such as aileron, flap, elevator and rudder are also presented. To explore aerodynamic characteristics of an UAV with model components build-up and control surface deflections, lift curve slope, pitching moment variation with lift coefficients and drag-polar are examined. The discussed results might be useful to understand the general aerodynamic characteristics and drag pattern for the given UAV configuration.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2075-2077
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• 2001

For precise positioning, GPS carrier measurements are often used. In this case, accurate position having mm${\sim}$cm error can be obtained. For 3D positioning, in CDGPS, more than five carrier phase measurements are required. When GPS signals are blocked or carrier phase measurements are insufficient, it cannot provide positioning solution. By integrating CDGPS with INS, continuity of positioning solution can be guaranteed. However, when a vehicle moves in low speed or in stationary, the CDGPS/INS integrated system is difficult to compensate INS attitude errors because GPS velocity error become relatively lange. In this paper, we used the 3D attitude GPS receiver to compensate the INS attitude error. By field experiments, it is shown that the proposed integration system maintains the navigation performance even when a vehicle is in low speed or GPS signal is blocked for a period of time.

• 한국대기환경학회지
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• 제1권1호
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• pp.83-92
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• 1985

In odrder to survey the emission level of air pollutants from diesel vehicles, was measured CO, HC, NOx and smoke of 4 types of domestic-use diesel engines under various conditions. The emission of CO, HC and NOx tested by 6-Mode test method and smoke emission by full load test met the permissible vehicle emission standard. Pollutant emission rates of diesel engines were different according to engine operating conditions, that is, engine load and engine speed. Generally, CO and HC was emitted more at low load and NOx at high load but the trend was quite different by the type of engines. In exhaust gas, $NO_2$ portion of NOx emission was high, specially at low speed and low load. The correlation equation between CLD(NOx) and NDIR(NO) method of nitrogen of nitrogen oxides analysis was y = 1.10x - 3.48 (y: CLD method) as a result of 6-mode test.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.533-536
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• 2003

The Low frequency(1-200 Hz) noise levels radiated by road traffic were investigated. The results showed that the peak pass-by noise of truck with speed of 60km/h was about 75㏈. For the infra-sound frequency range, the noise was about 65㏈ and it was less value than expected. But the noise level will be increase as increasing the speed. The pass-by noise for train was also measured for comparison. The peak train noise was about 95㏈ and it will be enough noise level for a human body to give nuisance.

• Journal of Biosystems Engineering
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• 제27권5호
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• pp.417-424
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• 2002

This study was conducted to develop a vehicle, leading or following a worker at a certain distance to assist laborious transporting works in greenhouses. A prototype vehicle was tested in the practical field conditions using a developed control algorithm. Results of this study were summarized as following: 1. The sensing device consisted of infrared sensors was attached to the front of the vehicle and turning following algorithm was developed to make the vehicle turned as it follows a worker simultaneously. 2. The measured average power consumptions were 110W and 89W, equivalent to 5.2-6.4 hrs battery durations, at low speed with and without the maximum payload, respectively. 3. Results of the travel tests showed that the deviations from the center of row spacing were $\pm$100 mm along the ridge and $\pm$85 mm along the hydroponic bed in the greenhouse. Therefore, the worker-following transport vehicle was feasible to travel along the row without collision in the greenhouse.

• International Journal of Automotive Technology
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• 제8권5호
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• pp.583-591
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• 2007

This paper describes the development of the $H_{\infty}$ lateral control system for an autonomous ground vehicle operating a limited area using the RTK-DGPS(Real Time Kinematic-Differential Global Positioning System). Before engaging in autonomous driving, map data are acquired by the RTK-DGPS and used to construct a reference trajectory. The navigation system contains the map data and computes the reference yaw angle of the vehicle using two consecutive position values. The yaw angle of the vehicle is controlled by the $H_{\infty}$ controller. A prototype of the autonomous vehicle by the navigation method has been developed, and the performance of the vehicle has been evaluated by experiment. The experimental results show that the $H_{\infty}$ controller and the RTK-DGPS based navigation system can sufficiently track the map at low speed. We expect that this navigation system can be made more accurate by incorporating additional sensors.

• 전력전자학회논문지
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• 제6권2호
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• pp.125-131
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• 2001

본 논문은 백터제어기법을 적용한 철도차량용 1.2MVA전동차 구동시스템의 개발에 관한 것이다. 벡터제어를 위해서는 출력 전압의 크기와 위상을 순시적으로 제어해야한다. 전동차 구동시스템에서는 DC링크 단의 전압 이용률을 최대로 하기 위해 고속 운전 영역에서는 1펄스 모드를 사용한다. 따라서 고속 운전 영역에서는 토크성분 전류와 지송성분 전류를 독립적으로 술시 에어해야 하는 백터제어기법을 정용할 수 없다. 이에, 본 연구에서는 저속이 운전영역에서는 순시 토크 제어가 가능한 벡터제어를 적용하고, 고속 운전 영역에서는 슬립 주파수제어를 적용하는, 백터 제어와 스칼라 제어의 병용제어 기법을 제안하였다. 또한 운전영역에 따라 이들 두 제어방법이 부드럽게 전환되도록 하는 제어기법이 제시되었다. 제안되 제어기법을 4대의 210kW 유도전동기를 구동하는 1.2MVA 전동차 견인 구동시스템에 적용하여 그 효용성을 알아보았다.