• International Journal of Control, Automation, and Systems
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• 제2권3호
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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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• 제3권2호
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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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• 제어로봇시스템학회 2004년도 ICCAS
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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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 춘계학술대회 논문집
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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.

• 대한교통학회지
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• 제18권4호
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• pp.7-18
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• 2000

본 논문에서는 기개발된 간선도로 연동화 신호최적화 모형인 KS-SIGNAL의 최적화 수행속도를 향상시키기 위한 새로운 모형식을 개발하였다. 이를 위하여 기존 모형식의 수정, MILP 최적화 루틴의 탑재, 좌회전 현시순서와 관련한 제약식의 추가 등 3단계에 걸친 모형 개선 작업이 이루어졌으며, 그 결과 기존 모형식과 비교 99%이상의 최적화 수행시간 단축 효과를 창출하였다. 개발된 KS-SIGNAL 모형식은 여러 다양한 경우에 대해 모의실험을 실시한 결과 교통량보다는 교차로간 거리에 더욱 민감하게 반응함으로써 지체최소화모형 (TRANSYT-7F)보다는 통과폭최대화모형(PASSER-II)에 더 가까운 신호시간계획을 산출하였다. 더불어 본 모형식이 좌회전 현시순서를 최적화시키지 못하는 TRANSYT-7F 모형식과 통과폭을 최대화하나 통과폭 밖의 직진교통류를 고려하지 못하는 PASSER-II 모형식, 그리고 이들의 단점을 상호보완한 결합모형과 비교하여 더 적은 지체를 유발시키는 보다 더 효율적인 신호시간계획을 창출하는 것으로 분석되었다.

• Computers and Concrete
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• 제22권5호
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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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• 제11권4호
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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.