• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.310-318
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• 2004

In this paper, an unscented Kalman filter (UKF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, an UKF is used because of the drawbacks of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.

• International Journal of Control, Automation, and Systems
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• v.3 no.2
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• pp.173-182
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• 2005

In this paper, a target tracking algorithm for tracking maneuvering vehicles is presented. The overall algorithm belongs to the category of an interacting multiple-model (IMM) algorithm used to detect multiple targets using fused information from multiple sensors. First, two kinematic models are derived: a constant velocity model for linear motions, and a constant-speed turn model for curvilinear motions. Fpr the constant-speed turn model, a nonlinear information filter is used in place of the extended Kalman filter. Being equivalent to the Kalman filter (KF) algebraically, the information filter is extended to N-sensor distributed dynamic systems. The model-matched filter used in multi-sensor environments takes the form of a federated nonlinear information filter. In multi-sensor environments, the information-based filter is easier to decentralize, initialize, and fuse than a KF-based filter. In this paper, the structural features and information sharing principle of the federated information filter are discussed. The performance of the suggested algorithm using a Monte Carlo simulation under the two patterns is evaluated.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1669-1674
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• 2004

In this paper, a nonlinear information filter (IF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, a nonlinear IF is used in place of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.459-464
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• 2004

In this paper, an autonomous navigation system for autonomous guided vehicles (AGVs) operated in an automated container terminal is designed. The navigation system is based on the sensors detecting the range and bearing. The navigation algorithm used is an interacting multiple model (IMM) algorithm to detect other AGVs and avoid other obstacles using informations obtained from multiple sensors. As models to detect other AGVs (or obstacles), two kinematic models are derived： Constant velocity model for linear motion and constant speed turn model for curvilinear motion. For constant speed turn model, an unscented Kalman filter (UKF) is used because of drawbacks of the extended Kalman filter (EKF) in nonlinear system. The suggested algorithm reduces the root mean squares error for linear motions, while it can rapidly detect possible turning motions.

• Journal of Korean Society of Transportation
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• v.18 no.4
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• pp.7-18
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• 2000

KS-SIGNAL, a traffic signal optimization model for coordinated arterials, is an optimization model using the mixed integer linear Programming that minimizes total delay on arterials by optimizing left-turn Phase sequences. However, the Previous version of KS-SIGNAL had a difficulty in reducing computation speed because the related variables and constraints multiply rapidly in accordance with the increase of intersections. This study is designed to propose a new model, improving optimizing computation speed in KS-SIGMAl, and evaluate it. This Paper Puts forth three kinds of methodological approaches as to achieve the above goals. At the first step to reduce run-time in the proposed model objective function and a few constraints are Partially modified, which replaces variable in related to queue clearance time with constant, by using thru-movements at upstream intersection and the length of red time at downstream intersection. The result shows that the run-time can be reduced up to 70% at this step. The second step to load the library in LINDO for Windows, in order to solve mixed integer linear programming. The result suggests that run-time can be reduced obviously up to 99% of the first step result. The third step is to add constraints in related to left-turn Phase sequences. The proposed methodological approach, not optimizing all kinds of left-turn sequences, is more reasonable than that of previous model , only in the view of reducing run-tim. In conclusion, run-time could be reduced up to 30% compared with the second results. This Proposed model was tested by several optimization scenarios. The results in this study reveals that signal timing plan in KS-SIGNAL is closer to PASSER-II (bandwidth maximizing model) rather than to TRANSYT-7F(delay minimizing model).

• Computers and Concrete
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• v.22 no.5
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• pp.469-479
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• 2018

The Brazilian tensile strength of concrete samples is a key parameter in fracture mechanics since it may significantly change the quality of concrete materials and their mechanical behaviors. It is well known that porosity is one of the most often used physical indices to predict concrete mechanical properties. In the present work the influence of porosity shape on concrete tensile strength characteristics is studied, using a bonded particle model. Firstly numerical model was calibrated by Brazilian experimental results and uniaxial test out puts. Secondly, Brazilian models consisting various pore shapes were simulated and numerically tested at a constant speed of 0.016 mm/s. The results show that pore shape has important effects on the failure pattern. It is shown that the pore shape may play an important role in the cracks initiation and propagation during the loading process which in turn influence on the tensile strength of the concrete samples. It has also been shown that the pore size mainly affects the ratio of uniaxial compressive strength to that of the tensile one in the simulated material samples.

• Journal of Advanced Marine Engineering and Technology
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• v.11 no.4
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• pp.59-74
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• 1987

In this dissertation, a complete model of commutatorless static Kramer type slip power recovery system of 3.phi. induction motor has been designed and tested in the laboratory, and the experimental results are compared with the numerical values. The main results of this study are summerized as follows. (1) Maintenance and repair of the mechanical commutator is obviated by adopting a thyristor commutator in place of the mechanical commutator in the conventional Kramer system. (2) The experimental results of developed torque, and stator current are generally coincided with the numerical values obtained by the derived equation, proving their validity. (3) This system is simulated and the following operational characteristics are obtained with suitable design values : (a) The speed control range of 7:1 is obtained when the turn ratio of induction motor is lowered to about 3:1 to 4:1 and the generating constant of auxiliary synchronous motor is increased to 120-175 range. (b) Its efficiency can be increased to 75-85%, the range for static Scherbius system and its power factor takes values in the range of 65-85%, which is twice of the range for static Scherbius system.