• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.

• Wind and Structures
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• v.29 no.5
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• pp.299-312
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• 2019

Due to the rugged terrain, metro lines in mountain city across numerous wide rivers and deep valleys, resulting in instability of high-pier bridge and insecurity of metro train under crosswind. Compared with the conditions of no-wind, crosswind triggers severer vibration of the dynamic system; compared with the short-pier viaduct, the high-pier viaduct has worse stability under crosswind. For these reasons, the running safety of the metro vehicle traveling on a high-pier viaduct under crosswind is analyzed to ensure the safe operation in metro lines in mountain cities. In this paper, a dynamic model of the metro vehicle-track-bridge system under crosswind is established, in which crosswind loads model considering the condition of wind zone are built. After that, the evaluation indices and the calculation parameters have been selected, moreover, the basic characteristics of the dynamic system with high-pier under crosswind are analyzed. On this basis, the response varies with vehicle speed and wind speed are calculated, then the corresponding safety zone is determined. The results indicate that, crosswind triggers drastic vibration to the metro vehicle and high-pier viaduct, which in turn causes running instability of the vehicle. The corresponding safety zone for metro vehicle traveling on the high-pier is proposed, and the metro traffic on the high-pier bridge under crosswind should not exceed the corresponding limited vehicle speed to ensure the running safety.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.787-793
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• 2012

This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.

• Journal of Mechanical Science and Technology
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• v.16 no.10
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• pp.1253-1263
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• 2002

The control system design and modeling of an unmanned vehicle by means of a new concept for better performance through a tole-operation system is suggested by sensor fusion. But, the control of a real vehicle is very difficult, because the system identification of the vehicle is hard to find the unknown factors and the disturbances of the experimental environment. For the longitudinal and lateral controls, the traction system and steering system models are set up and a tuning method to find the gain of the controller by experiments is presented. In this research, mechanical and electronic parts are implemented to operate the unmanned vehicle and data reconstruction method of information about the environment data coming from several sensors is presented by data plot for the vehicle navigation. This paper focuses on the integration of tole-operated unmanned vehicle. This vehicle mainly controlled lateral and longitudinal directions with actuators for controlling vehicle movement and sensors for the closed-loop controlled system.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.5
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• pp.874-887
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• 2011

Compared to nomadic and fixed relay stations, vehicle-mounted mobile relay stations show different characteristics caused by the time-variant topology, due to their mobility. Especially, a relay mounted in a vehicle is differentiated from nomadic or fixed relay by the restricted distance between the relay and associated mobile station and the variable density of relay deployment in a cell. In this paper, we identify the characteristics of vehicle-mounted mobile relay stations and provide some parameters that highly influence the performance of vehicle-mounted relay. Through simulation, we measure the effect of relay density, zone ratio, relay transmission power, and frame transmission mode on the performance of vehicle-mounted relay. The results show that the performance of vehicle-mounted relay is highly susceptible to the above vehicle-mounted relay-specific parameters.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1550-1554
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• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.915-919
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• 2005

It is materialized an unmanned vehicle system as a part of Intelligent Transportation System (ITS) which is a fundamental constituent for unmanned vehicle. Remote control system, monitoring system and remote operating system which are consisted of unmanned vehicle system. Network program by TCP/IP socket, and real-time control & operating controlled by servo-motors from a remote place, those are used to verify safety and stability of the unmanned vehicle system in this research. This unmanned vehicle is divided into two major sections which are an unmanned vehicle part and control station part. The server PC is installed on the unmanned vehicle and a client PC is installed at a remote place, which can control the u manned vehicle. In this research work, main theme is that we experimented and tested to check the speed and utilization of the wireless LAN communication.

• Smart Structures and Systems
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• v.21 no.5
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• pp.677-686
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• 2018

The structural responses are often used to identify the structural local damages. However, it is usually difficult to gain the responses of the track, as the sensors cannot be installed on the track directly. The vehicles running on a track excite track vibration and can also serve as response receivers because the vehicle dynamic response contains the vibration information of the track. A damage identification method using the vehicle responses and sensitivity analysis is proposed for the vehicle-track coupling system in this paper. Different from most damage identification methods of vehicle-track coupling system, which require the structural responses, only the vehicle responses are required in the proposed method. The local damages are identified by a sensitivity-based model updating process. In the vehicle-track coupling system, the track is modeled as a discrete point supported Euler-Bernoulli beam, and two vehicle models are proposed to investigate the accuracy and efficiency of damage identification. The measured track irregularity is considered in the calculation of vehicle dynamic responses. The measurement noises are also considered to study their effects to the damage identification results. The identified results demonstrate that the proposed method is capable to identify the local damages of the track accurately in different noise levels with only the vehicle responses.

• Wind and Structures
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• v.29 no.3
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• pp.149-161
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• 2019

When a railway vehicle runs in crosswinds, the unsteady aerodynamic forces acting on the train induced by the vehicle speed, crosswind velocity and local landforms are a common problem. To investigate the dynamic performance of a railway vehicle due to the influence of unsteady aerodynamic forces caused by local landforms, a vehicle aerodynamic model and vehicle dynamic model were established. Then, a wind-loaded vehicle system model was presented and validated. Based on the wind-loaded vehicle system model, the dynamic response performance of the vehicle, including safety indexes and vibration characteristics, was examined in detail. Finally, the effects of the crosswind velocity and vehicle speed on the dynamic response performance of the vehicle system were analyzed and compared.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.408-412
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• 2003

Obstacle avoidance algorithm is very important on an unmanned vehicle. Therefore, in this research, we propose a algorithm of obstacle avoidance and we can prove through vehicle test and sensor experiments. Obstacle avoidance must be divided into two parts: the first part includes the longitudinal control for acceleration and deceleration and the second part is the lateral control for steering control. Each system is used for unmanned vehicle control, which notes its location, recognizes obstacles surrounding it, and makes a decision how fast to proceed according to circumstances. During the operation, the control strategy of the vehicle can detect obstacles and perform obstacle avoidance on the road, which involves vehicle velocity. In this paper, we propose a method for vehicle control, modeling, and obstacle avoidance, which are confirmed through vehicle tests.