• Journal of IKEEE
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• v.14 no.2
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• pp.58-63
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• 2010

In this paper, design and implementation of multi-modular robots of similar structure to the arthropods for rock path driving. Each module corresponds to an arthropod joint, which has an independent power supply and control equipment including drive and short-range Zigbee wireless communication that were implemented. On various directions and paths each module has the same driving direction and each module is controlled to operate or not by wireless communication. Depending on path condition, each module calculate the speed and torque and depending on the slope of a rough path, the number of active modules can be changed for the efficient driving on a variety of roads conditions. Experimental driving through rough road model, variable multi-module robot is implemented.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.6
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• pp.726-732
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• 2013

It is required for UGV(Unmanned Ground Vehicle) to have a LPP(Local Path Plan) component which generate a local path via the center of road by analyzing binary map to travel autonomously unpaved road in rough environment. In this paper, we present the method of boundary estimation for unpaved road and a local path planning method based on RANGER algorithm using the estimated boundary. In specially, the paper presents an approach to estimate road boundary and the selection method of candidate path to minimize the problem of zigzag driving based on Bayesian probability reasoning. Field test is conducted with scenarios in rough environment in which bush, tree and unpaved road are included and the performance of proposed method is validated.

• Journal of the Korean Society of Systems Engineering
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• v.15 no.2
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• pp.1-8
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• 2019

Autonomous vehicles operated in the rough terrain environment must satisfy various technical requirements in order to improve the speed. Therefore, in order to design and implement a technical architecture that satisfies the requirements for speed improvement of autonomous vehicles, it is necessary to consider the overall technology of hardware and software to be mounted. In this study, the technical architecture of the autonomous vehicle operating in the rough terrain environment is presented. In order to realize high speed driving in pavement driving environment and other environment, it should be designed to improve the fast and accurate recognition performance and collect high quality database. and it should be determined the correct running speed from the running ability analysis and the frictional force estimation on the running road. We also improved synchronization performance by providing precise navigation information(time) to each hardware and software.

• 한국신재생에너지학회:학술대회논문집
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• 2011.11a
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• pp.104-104
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• 2011

The fuel economy estimates essentially serve two purposes : to provide consumers with a basis on which to compare the fuel economy of different vehicles, and to provide consumers with a reasonable estimate of the range of fuel economy they can expect to achieve. The current fuel economy label values utilize measured fuel economy over city driving cycles. However, this test driving mode can not be evaluated the variety factor of the real-world. These factors include differences between the way vehicles are driven on the road and over the test cycles, air conditioning use, widely varying ambient temperature and humidity, widely varying trip lengths, wind, precipitation, rough road conditions, hills, etc. The purpose of this paper is to account for three of these factors on the fuel economy : 1) on-road driving patterns (i.e. higher speeds and more aggressive driving (higher acceleration rates)), 2) air conditioning, and 3) colder temperatures. The new test methods will bring into the fuel economy estimates the test results from the five emissions tests in place today : CVS-75, HWFET, US06, SC03 and Cold CVS-75. Based on these new test methods, this paper discusses the characteristics of driving condition on Hybrid electric vehicle (HEV). And this paper assesses the fuel economy label of HEV.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.1
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• pp.101-109
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• 1997

A tool for the dynamic simulation and design technique of the excavator plays an important role in the prediction of dynamic behavior of the excavator in the initial design stage. In this paper, a flexible multibody dynamic analysis model including track of the crawler type excavator is developed using DADS and ANSYS. Through the driving simulation of the excavator travelling over rough road track, frequency characteristics of the upper frame and cabin are obtained, and the reaction forces acting on the track rollers are also presented for the fatigue life estimation. The effect of boom vibration modes on the joint reaction forces and accelerations is presented from the swing simulation.

• Journal of the Ergonomics Society of Korea
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• v.30 no.4
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• pp.495-501
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• 2011

The objective of this study was to evaluate the convenience of the tractor seatbelt. We selected four healthy men as subjects. We measured their body pressure and examined the comfort of the seatbelt, while driving 50m on three different types of agricultural road with two types of seatbelts: automatic and manual. As results, when they used manual seatbelt, subjective uncomfortable rate was much higher than the automatic seatbelt on all types of road. Especially, body pressure was undistributed while using manual seatbelt on rough road.

• The Journal of Korea Robotics Society
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• v.11 no.2
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• pp.83-91
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• 2016

Most of outdoor mobile robots have a suspension on each wheel in order to relieve the shock by ground obstacles and to improve the driving stability. Typically, in the actual operations, the suspensions have been used under a given set of conditions as all the damping and spring coefficients of the suspensions are fixed. However, it is necessary to readjust the coefficients of the suspensions according to surface conditions that may cause the unstable shaking of a robot body at high speed driving. Therefore, this paper is focused on the mobility analysis of an outdoor robot when the coefficients of suspensions (in particular, damping coefficients) are changed while driving on an uneven road surface. In this paper, a semi-active suspension with twelve damping coefficient levels was used and a small sized vehicle with the suspensions was employed to analyze the mobility dependent on a change of the damping coefficient. And the mobility was evaluated through driving experiments on a bumped slope.

• Journal of Mechanical Science and Technology
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• v.16 no.11
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• pp.1404-1411
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• 2002

A newly developed high intensity discharge (HID) automotive headlamp results in a high luminous gradient at the cutoff line, and proves the superior concept in safer and more com-fortable nighttime driving. This new headlamp technology Provides drivers expanded night vision by a significantly improved light pattern. However, the HID headlamp may dazzle other traffics during traversing a rough road or encountering an unexpected bump. To resolve this problem, an automatic headlamp leveling device is necessary. A preview control is presented for the design of the leveling system. The proposed control algorithm is capable of attenuating a dynamic glare which is one of the major detractors to a driving in dark roads. Computer simulations using ADAMS are carried out to confirm the effectiveness on the control system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.10 s.181
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• pp.2603-2609
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• 2000

In this paper, track tension estimation methods are developed for tracked vehicles which are subject to various maneuvering tasks such as longitudinal driving on sloping and/or rough roads. The information of the track tension is very important for the tracked vehicles because the track tension is closely related to the maneuverability and the durability of the tracked vehicles. A modified 3 DOF dynamics model is derived for the tracked vehicles and is utilized for estimating the tractive force and track tension for the longitudinal driving case. The tension estimation performance of the proposed methods is verified through the simulation of the Multi-body Dynamics tool. The simulation results demonstrate the effectiveness of the proposed method under various maneuvering tasks of the tracked vehicles.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.3
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• pp.341-352
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• 2019

LTV(Light Tactical vehicle) operating in our military requires higher levels of performance and durability to withstand harsher conditions than ordinary vehicles, as they must travel on both rough-train and off-road as well as on public roads. Recently, developed light tactical vehicle is developed by a variety of test evaluations in order to satisfy ROC(Required Operational Capability) by the requirement military group. However, there is no standardized driving test condition for satisfying the durability performance of Korean tactical vehicle. Therefore, this study aims to provide basic data to establish reliable driving test conditions by analyzing the maneuver conditions and the driving data in order to select the representative drive course required. To do this, we analyzed the future operational environment, the area of operation analysis and the driving information of light tactical vehicle.