• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1355-1360
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• 1990

This paper describes the application of the recently developed feedback linearization technique to the design of a new command to line-of-sight (CLOS) guidance law for skid-to-turn (STT) missiles. The key idea lies in converting the three dimensional CLOS guidance problem to the tracking problem of a time-varying nonlinear system. Then, using a feeedback linearizing approach to tracking in nonlinear systems, we design a three dimensional CLOS guidance law that can ensure zero miss distance for a randomly maneuvering target. Our result may shed new light on the role of the feedforward acceleration terms used in the earlier CLOS guidance laws. Furthermore, we show that the new CLOS guidance law can be computationally simplified without performance degradation. This is made possible by dropping out the terms in the new CLOS guidance law, which obey the well-known matching condition.

• 제어로봇시스템학회논문지
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• 제8권1호
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• pp.46-53
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• 2002

The brake system of a high speed train has a crucial role for the safety of the train. To develop a safe brake system of the high speed train, it is necessary to understand the braking principle and phenomena of the total brake system and its subsystems. In this paper, we have suggested a mathematical model which includes car dynamics, interactions between cars, adhesive forces, brake blending algorithm, and the dynamics of each brake devices. Also, we have proposed a ready-time compensation algorithm of eddy-current brake system and a brake control logic on electric-pneumatic blending. A simulation study has shown the proposed models and algorithms are effective on the braking of the train.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.795-800
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• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental

• 생태와환경
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• 제38권spc호
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• pp.58-61
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• 2005

Environmental polluting materials from road surface drainage are a significant nonpoint source influenced to the eutrophication of lake and ecosystems with a transport development in recent years. To elucidate the discharge characteristics, the changing patterns in concentrations of polluting materials such as suspended solid (SS), chemical oxygen demand (COD), nitrogenous and phosphorus nutrients in drainage waters, were investigated during rainfall. Load variation of COD concentration in drainage water samples was closely related to that of SS concentration. This indicates that SS contained a greater part of organic matter. A quite difference between the past pavement and the new well-drainage pavement system was observed in the concentrations of SS and COD in drainage waters. Appreciable concentrations of nitrite and nitrate were determined in drainage waters. The present results indicate that the drainage water from road surfaces is a significant nonpoint source, and that the well-drainage pavement system introduced to skid prevention has an effect on the decreases of pollutants.

• 한국자동차공학회논문집
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• 제4권4호
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• pp.27-37
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• 1996

In this paper the effects of suspension design parameters on the steady-state cornering performance of vehicles are studied. To investigate the understeer characteristics of vehicles, steady-state cornering equatons are derived from a two-track model which is expanded from a simple one track model. The effects of the suspension design parameters as well as those of lateral load transfer are taken into consideration. To verify the equation, a skid pad test was carried out with a domestic passenger car. The design parameters of the vehicle are measured using a Suspension Parameter Measuring Device(SPMD). Based on these results, parameter studies are carried out to determine the effect of design parameters on the cornering performance of a vehicle, both in low and high acceleration region.

• 오토저널
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• 제2권1호
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• pp.32-38
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• 1980

In the case of a automobile marking skid on road for a period of braking, in general, the automobile velocity just before rapid braking can be obtained by evaluating the coefficient of friction between tires and road. Up to now, the coefficient of friction has been derived from mean velocity measured by a time watch, but the automobile velocity obtained in this manner would be deviated from actual value considerably, due to errors arising from not only measuring time but other various factors. In this paper the presumption method of automobile velocity by accelerometer is presented so as to improve the accuracy of measurement, and to determine the velocity readily. The results obtained in this experiment show that the frictional coefficients between tires and road under the given experimental conditions are considered to take linear relation over the fixed velocity limits 30km/h to 50km/h while for the same limits of velocities the coefficients of friction by the time watch method are not valid ar low velocity range. It will be seen that the former is simple and reliable whilst the latter is cumbersome and unreliable.

• 한국자동차공학회논문집
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• 제5권6호
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• pp.89-102
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• 1997

In this study, the steady state cornering behavior of a vehicle is investigated by using a numerical model that has parameters associated with roll motion. The nonlinear characteristics of tire cornering forces and aligning torques are presented in analytical forms using the magic formula. The sets of nonlinear algebraic equations that govern the cornering motion are solved by the Newton-Raphson iteration method. The vehicle design parameters are measured by SPMD(Suspension Parameter Measuring Device), and its results are verified by carrying out a skid pad test. The design parameters that are most affecting the steady state cornering behavior are classified into four factors, and the contributions of the factors to understeer gradient are then calculated.

• International Journal of Automotive Technology
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• 제7권2호
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• pp.187-193
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• 2006

When emergency evasion during running is required, a driver sometimes causes a vehicle to drift, that is, a condition in which the rear wheels skid due to rapid steering. Under such conditions, the vehicle enters a very unstable state and often becomes uncontrollable. An unstable state of the vehicle induced by rapid steering was simulated and the effect of differential steering assistance was examined. Results indicate that, in emergency evasion while cornering and during which the vehicle begins to drift, unstable behavior like spins can be avoided by differential steering assistance and both the stability and control of the vehicle is improved remarkably. In addition, reduction of overshoot during spin evasion by the differential steering assistance has been shown to enable the vehicle to return to a state of stability in a short time in emergency evasion during straight-line running. Moreover, the effectiveness of differential steering assistance during emergency evasion was confirmed using a driving simulator.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2000년도 가을 학술발표회 논문집(II)
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• pp.1227-1232
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• 2000

In this study the mechanical properties of various wire mesh reinforcing porous concrete mixtures are investigated. A properly designed porous concrete pavements provides a durable riding surface. It also eliminates puddles and standing water, resulting in improved skid resistance. The most popular application is that of light-traffic volume roadways such as parking lots, resident roads, driveways, and sidewalks. Flexural strength and toughness index are examined for wire mesh reinforcing porous concrete. Type of Wire mesh is divided into three cases, A type, B type and C type. It shows A type is most excellent shape of destruction of slab specimen is similar to that of flexural specimen. The aim of this paper is to present the results of a pilot study undertaken to examine the extent to which wire mesh reinforced porous concrete can be used as a continuous paving materials.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1997년도 봄 학술발표회 논문집
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• pp.635-642
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• 1997

This research focused on the development of concrete overlay and test, which was conducted at 88 Highway 105k, 2 lanes of 290 m. The field application test consists of 6 cm and 10 cm bonded concrete overlay and 25 cm unbonded concrete overlay, using the slag cement for opening lanes for traffic early. The overlay were placed in a day. The whole period of traffic closing wes 8 day and it was reopened to traffic after concrete overlay has cured for 3 day. 5 cracks were founded when the field test section was investigated after 1 month, but all these may not make significant problems to overlay because these initiated and growed at the same line of repair section. The rideability and skid resistance become much better like in the new pavement after overlay. The structural capacity against deflection was much. which were verified by FWD(Falling Weight Deflectometer). The field test section is being used in a good condition and the results of field application and pavement performance analysis are encouraging. This rehabilitation methods may be adopted in Korea after a more field performance verifications.