• 드라이브 ㆍ 컨트롤
• /
• 제16권3호
• /
• pp.94-102
• /
• 2019

• 대한전기학회논문지:시스템및제어부문D
• /
• 제50권3호
• /
• pp.120-129
• /
• 2001

A two-degree-of-freedom quarter-car model is used as the basis for LQ and the proposed controller design for a semi-active suspension. The LQ controller results in the best rms performance trade-offs(as defined by performance index) between ride, handling and packaging requirements. In LQ controller, however, the conflict between road holding and ride comfort remains. The adaptive semi-active suspension control based on the road frequency are introduced in this paper. With this method, the trade-off between road holding and ride comfort can be relaxed. The road frequency is estimated by wavelet transform if rattle space signal. The simulation results show that the proposed controller is superior to the conventional LQ controller.

• 한국소음진동공학회논문집
• /
• 제19권11호
• /
• pp.1144-1150
• /
• 2009

Appropriate vibration model is required to predict in advance the vibration level of a large vehicle which carries sensitive electronic/mechanical equipments and drives often on the unpaved and/or off-road conditions. Central tire inflation system(CTIS) is recently adopted to improve the mobile operation of military and bulletproof vehicles. In this paper, full vehicle model(FVM) having 11 degrees of freedom and equipped with CTIS has been developed for a large vehicle which has $8\times8$ wheels$\times$driving wheels. Usability of the developed model is validated via road tests for three different modes (i.e. highway, country, and mud/sand/snow modes) and for various velocity conditions. The developed FVM can be used to predict the vibration level of the large vehicle as well as to determine the driving velocity criterion for different road conditions.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2008년도 춘계학술대회 논문집 센서 박막재료연구회 및 광주 전남지부
• /
• pp.6-9
• /
• 2008

A 3D depth measurement system is proposed for mobile vehicles. Depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to- the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of Non-linear trail are included in this paper.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2007년도 하계학술대회 논문집 Vol.8
• /
• pp.517-518
• /
• 2007

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of Nonlinear trail are included in this paper.

• 디지털융복합연구
• /
• 제12권1호
• /
• pp.359-364
• /
• 2014

본 논문은 평균이동방법과 연결요소방법을 이용하여 도로 영역을 추출하는 알고리즘을 제안하였다. 평균 이동 방법은 중심 모드를 찾기 위한 비모수적 통계 방법으로 컬러 영상을 분할하는데 효율적이다. 일반적으로, 영상의 중 하단에 위치하는 정보를 활용하여 도로의 특징점이 추출된다. 이 특징점과 분할된 컬러 영상을 이용하면, 도로의 영역을 추출할 수 있다. 그러나, 도로의 위치정보와 색상정보만으로 도로영역을 추출할 경우, 잡음과 도로 이외의 영역까지 추출되는 단점이 있다. 본 논문에서는 모폴로지 열기 닫기 연산을 이용하여 잡음을 제거하고, 연결요소 방법을 통하여 가장 큰 영역의 부분만을 추출하여 도로 영역으로 결정하는 방법을 제안한다. 제안된 방법은 실험을 통하여 잡음 제거와 보다 정확한 도로 검출됨을 검증한다.

• 한국환경과학회지
• /
• 제19권6호
• /
• pp.665-670
• /
• 2010

Pollutants from urban pavement consists various kinds of substances which are originated from dry deposition, a grind out tire, corrosive action of rain to pavement and facilities and raw materials of the road etc.. These are major pollutants of urban NPS (Non-point source) during rainfall period. However there is not enough information to control such pollutants for appropriate management of natural water quality. In this study of transportation areas, three monitoring stations were set up at trunk road, urban highway and national road in Gyeongnam province. Runoff flow rate was measured at every 15minutes by automatic flow meters installed at the end of storm sewer pipe within the road catchment area for water quality analysis. Data was collected every 15 minutes for initial two hours of rainfall. Additional samples were collected 1-4 hours interval till the end of rainfall. The monitoring parameters were $COD_{Mn}$, SS, T-N & T-P and heavy metals. The average EMCs of TSS and $COD_{Mn}$ were 62.0 mg/L and 24.2 mg/L on the city trunk road, which were higher than those of urban highway and national road, indicating higher pollutant loads due to activities in the city downtown area beside the vehicle. On the other hand, the average EMC of T-N and T-P were in the range of 2.67-3.23 mg/L and 0.19-3.21 mg/L for all the sampling sites. Heavy metals from the roads were mainly Fe, Zn, Cu and Mn, showing variable EMCs by the type of road. From the TSS wash-off analysis in terms of FF(first flush) index, first flush phenomenon was clearly observed in the trunk road(FF : 0.89-1.43). However, such mass delivery behavior was not apparently shown in urban highway(FF : 0.90-1.11) and national road(FF : 0.81-1.41).

• 한국산학기술학회논문지
• /
• 제14권11호
• /
• pp.5987-5992
• /
• 2013

본 연구는 도로분야의 정보모델 표준 구축을 목표로 하고 있으며 도로 배수시설을 대상으로 IFC 스키마의 토목요소 확장 방안을 제시하였다. 국내 도로설계 관련 문헌 분석을 통해 도로 배수시설 중 IFC 모델로 정의가 가능한 구성요소를 도출하였으며 IFC 엔티티를 정의하였고 속성으로 정의가 가능한 배수시설 별 설계 정보를 도출하여 IFC 프로퍼티로 제시하였다. 본 연구의 결과를 통해 IFC 스키마를 도로 배수시설에 적합하도록 확장 할 수 있으며 추가적인 도로 시설물을 수용할 수 있는 IFC 스키마가 개발된다면 이를 통해 향후 공정관리, 비용 산출 및 시뮬레이션 등이 가능한 어플리케이션에서 상호운용성을 유지하며 활용할 수 있을 것이다.

• 한국도로학회논문집
• /
• 제14권4호
• /
• pp.125-131
• /
• 2012

PURPOSES : Road lighting facilities increase the visibility of road at night in order to improve traffic driver safety and comfort. Generally speaking, current pole lighting has a tendency to create problems of glare and flicker. The phenomenon of glare gives discomfort due to increase of scattered light, when high luminance is in driver's field of view. The phenomenon of flicker occurs due to the driver passing through discontinuous pockets of pole lighting areas. These phenomenon increase eye strain and decrease driver safety. METHODS : Low height line lighting that distributes light lower than driver's eye level has been developed and evaluated to reduce the problems linked to current pole lighting. A test was undertaken with 4 conditions(turn on the general pole lighting, turn off alternate pole lighting, turn on the line lighting and line lighting with 50% dimming). A driver written survey was conducted in order to gain driver feedback. RESULTS : Pupil size and brow frequency compared with degree in pole lighting are reduced. CONCLUSIONS : Low height line lighting environment makes drivers more comfortable than pole lighting environment and is positive lighting method in the energy saving and landscape aspect.

• 대한교통학회지
• /
• 제17권3호
• /
• pp.73-85
• /
• 1999

대도시에는 회전제한을 갖는 교차로가 다수 존재하며, 도로망에 있어서 최적경로를 계산할 때 회전제한을 고려해야 한다. 본 논문에서는 회전제한을 갖는 도로망에서 새로운 경로계획 방법을 제안하였다. 각 회전제한 노드에 대하여 U턴 혹은 P턴을 이용하여 대체경로를 미리 계산하고 이를 도로망 데이터베이스에 포함하는 도로망 모델을 제안하였다. 제안된 모델은 기존의 도로망 모델에서 회전제한을 표현하기 위하여 사용하던 가상 노드를 포함하지 않기 때문에 효율적이다. 제안된 모델을 이용하여 최적경로를 계산하기 위하여 새로운 최적경로 알고리즘을 제안하였다. 회전제한이 있는 노드에 대하여 마디를 정의하였으며, 이를 이용하여 대체경로의 비용과 타경로와의 비용을 비교할 수 있도록 하였다. 제안된 경로계획 방법은 회전제한이 존재하는 도로망에 대하여 최적경로를 고속으로 계산할 수 있는 효율적인 방법이다.