• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.45 no.2
• /
• pp.265-272
• /
• 1996

In this paper, attitude computation algorithm for a strap down ARS(Attitude Reference System)of an underwater vehicle has been studied. Attitude errors o the ARS using low-level gyroscopes tend to increase with time due to gyroscope errors. To cope with this problem, a mixing algorithm of accelerometer aided attitude computation has been developed. The algorithm can successfully bound the error increase for cruising motion, but it gives instantaneously large errors when a vehicle maneuvers. To improve the performance in case of vehicle's maneuver, a new attitude computation mixing algorithm complying state of vehicle and to manage the adjustment of the gains which are invariant in the existing algorithm. In addition, a gain scheduling method is applied to fuzzy inference composition process for real-time computation. Monte Carlo simulation results show that the proposed algorithm provides better performance than the existing algorithm.

• Journal of Korean Society of Transportation
• /
• v.28 no.4
• /
• pp.177-186
• /
• 2010

The principal objective of this paper is to develop road design guidelines, especially for managed lane access spacing between the expressway on-ramp (or off-ramp) and managed lane access point. Managed lanes are typically located in the expressway median and are accessed by weaving across the mainlines. The high level of lane-changing activity present in weaving areas affects capacity significantly. One promising tool for the analysis of lane-changing activity is "gap acceptance theory." This paper estimates the capacity of weaving areas based on the estimated degree of traffic turbulence using gap acceptance theory. The degree of traffic turbulence is represented by a function of the probability that lane-changing vehicles can complete their maneuvers successfully in a given weaving distance. In developing road design guidelines based on the developed gap acceptance model, the minimum managed lane access spacing is determined where the capacity with respect to the managed lane access spacing becomes stable.

• Journal of Korean Society of Transportation
• /
• v.21 no.5
• /
• pp.97-110
• /
• 2003

The sight distance at unsignalized intersections is the one of the fundamental geometric design elements, and can ensure safety and efficient operations. Despite its importance, little research attention has been directed in Korea compared to developed countries such as European countries, the United States, and Japan. AASHTO ISD policies have been applied to the intersection design in Korea without any revise, which can produce unrealistic and unadoptable design values. Those values are emerged from several reasons because the AASHTO ISD has been calibrated based on the local data. Therefore the ISD hardly takes into account the local characteristics of Korea such as driving behavior. vehicular movement and roadway conditions. The objective of this study is to calculate the appropriate ISD values for unsignalized intersections in the urban area in Korea. In this study, we employed the ISD model of AASHTO(2001), which is based on gap acceptance theory and can account for and take the driving and roadway conditions in Korea into consideration. The approach can also consider the complex driving maneuvers at the intersections in a proper and simple manner. The results in this study show that the ISD design criteria currently used in Korea are more conservative(safer) than those of the USA. In other words, the ISD using field data collected in this study has generally smaller values than those in USA.