• Journal of Institute of Control, Robotics and Systems
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• v.22 no.4
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• pp.253-265
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• 2016

We propose an obstacle classification method using multi-decision factors and decision sections based on Single 2D LiDAR. The existing obstacle classification method based on single 2D LiDAR has two specific advantages: accuracy and decreased calculation time. However, it was difficult to classify obstacle type, and therefore accurate path planning was not possible. To overcome this problem, a method of classifying obstacle type based on width data was proposed. However, width data was not sufficient to enable accurate obstacle classification. The proposed algorithm of this paper involves the comparison between decision factor and decision section to classify obstacle type. Decision factor and decision section was determined using width, standard deviation of distance, average normalized intensity, and standard deviation of normalized intensity data. Experiments using a real autonomous vehicle in a real environment showed that calculation time decreased in comparison with 2D LiDAR-based method, thus demonstrating the possibility of obstacle type classification using single 2D LiDAR.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2002.04a
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• pp.185-191
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• 2002

In this study a 3-dimensional analytical model is developed, which can analyses dynamic responses of curved bridges subject to moving vehicles. A 5-axle semi-trailer is modeled to simulate the actual tire forces that are redistributed by vehicle rolling effect due to the centrifugal force. The 1-span curved bridge with two steel box girders is modeled using the frame elements. The dynamic response characteristics of curved box girder bridges are examined and compared for two different support conditions. One is the case that two shoes are arranged at the outer sides of box girders with larger space between the two shoes and the other is that two shoes at the center of each box girder. In the curved bridges, the dynamic effect of moving vehicles influences the reaction force much more than other responses, such as displacement or stress, especially the upward reaction of inner-radius shoes. It is more advantageous for the reaction considering dynamic effect when shoes are arranged further at the outer sides of box girders than when shoes at the center of each box. The shoes for curved bridges with two-box girder system should be arranged to have larger distance.

• Proceedings of the KSR Conference
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• 2002.10a
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• pp.715-720
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• 2002

The dynamic load effects, generated by moving trains, are transferred to the railway bridges through tracks. The dynamic load effects may vary due to the dynamic characteristics of the applied vehicle loads and the railway bridges including the track system. However, the track models have been neglected or simplified by spring elements in the most studies since it is quite complicated to consider the track systems in the dynamic analysis models of railway bridges. In this study track system on railway bridges are modeled using a three-dimensional discrete-support model that can simulate the load carrying behavior of tracks. A 40m simply supported prestressed concrete box-girder system adopted for high-speed railway bridges are modeled for simulation works. The train models are composed of 20 cars for KTX. The dynamic response of railway bridges are found to be affected depending on whether the track model is considered for not. The influencing rate depends on the traveling speed and different wheel-axle distance. The dynamic bridge response decreases remarkably by the track systems around the resonant frequency. Therefore, the resonance effect can be reduced by modifying the track properties in the railway bridge, especially for KTX trains.

• International Journal of Railway
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• v.3 no.2
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• pp.54-59
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• 2010

In order to develop the deep-underground GTX (Great Train eXpress) in domestic, the running performance analysis of the propulsion system by a variety of route condition must be carried out before studying the specification and the development of the high-speed propulsion system with inverter and traction motor. Then it is necessary to study the running resistance properties of the high-speed traction system for the variety of tunnel type and vehicle organization method at first. In addition, the properties of the power requirement of the traction motors needed to maintain the balanced speed of the high-speed traction system are next studied. We need to study properties of the emergency braking distance caused by the highest operation speed of the high-speed traction system and present the fundamental design technologies to develop the high-speed traction system for the deep-underground GTX. Finally, the paper analyzes the applicability of the conventional Korean Tilting Train eXpress (TTX) propulsion system on the high-speed propulsion system for the deep-underground GTX.

• The Korean Journal of Ecology
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• v.15 no.3
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• pp.267-279
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• 1992

The relationship between pb, zn, cd, and the microbial biomass and activity were investigated in three public park soils of central and outer london. Variability with distance from the roadside and profile were studied. The heavey metal concentrations were the highest in hampstead heath and hyde park with high trafic density and the lowest in hainault. The highest concentrations of heavy metals were found adjacent to the roadside in the upper parts of the soil profile. Dehydrogenase activity, adenosine tri-phosphate and ergosterol contents used as indices of micrbial biomass and activity, were generally higher in hainadult, and also higher in the upper pats of the soil profile. Simple regression analysis indicated that the microbial biomass and activity were affected significantly by moisture content, water holding capacity, total organic carbon, total nitrogen, and organic mater rather than heavy metal concentration. Highest inputs of nitrogen and carbon were associated with high inputs of heavey metals, all three being derived from vehicle emissions adjacent to the road. The hyde park and hampstead heath microbial populations were able to respond to the c and n input positively by increase in biomass and activity, whereas the hainault populations could not. This rsult suggrsts adaptation in he former to heavy matals, but not in the latter.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.131-136
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• 2006

Commercial uses of GPS have been growing rapidly with applications for aircraft, ship, and land vehicle navigation as well as for surveying and time keeping. The next generation GPS and Japanese QZS (Quasi Zenith Satellite) will provide three different civil signals. Galileo will also provide several types of civil signals. The availability of the third civil frequency has obvious advantages to instantaneous carrier phase accuracy and ambiguity resolution for centimeter level measurements. This paper discusses the effects of additional new civil signals for the high accuracy positioning in urban areas based on simulation using practical raw data. As for constellation, only GPS and GPS+QZS are considered. For positioning, a short distance baseline is assumed in order to disregard atmosphere effects. In this simulation, mask angle and signal conditions were fixed and ambiguity success rates were compared between different triple frequency combination scenarios. The coefficient of reflection was set randomly from 0.05 to 0.5 and the multipath delay was also set randomly from 5-100 m. Visible satellites and signal strength were determined by raw data collected in Tokyo by car. These simulation results have confirmed that the availability of high accuracy positioning will increase in all scenarios if we use GPS+QZS with triple frequencies.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.6
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• pp.615-622
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• 2015

Recently Digital-TachoGraph(DTG) was mounted mandatorily in commercial vehicles(Taxi, Bus, etc.). DTG records accurate and detailed information of the running state of vehicles related to traffic accident, such as Time, Distance, Velocity, RPM, Brake ON/OFF, GPS, Azimuth, Acceleration. Thus those standardized data can play an important role in traffic accident investigation and reconstruction. To develope the accurate and objective method using the DTG data for the reconstruction of traffic accident, we had conducted several tests such as driving test, high speed circuit test, braking test, slalom test at Korea Automobile Testing & Research Institute(KATRI), and collision test at Korea Automobile insurance repair Research and Training center(KART) with the vehicle equipped with several DTG. Development of the program which enables the reading and analysis of the DTG data was followed. In the experiments, we have found velocity error, RPM error, brake signal error and azimuth error in several products, and also non-continuous event data. The cause of these errors was deduced to be related to the correction factor, the durability of electronic parts and the algorithm.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.5
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• pp.556-565
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• 2016

As a result of the enforced control of emission, many devices, including the diesel particulate filter, have been installed in diesel cars to reduce the emission of particulate matters. In this study, a car fire case has been investigated and analyzed. A car fire broke out after the vehicle traveled a distance of 1.4 km from a car service center. The car was provided with DPF cleaning when the DPF warning light came on. After being dismantled in the engine room, the car's engine and gearbox were investigated. The findings showed that the rear part of the DPF metal case was melted and punctured, while the honeycomb filter of the DPF was damaged. The car fire was caused by an overheated DPF associated with inaccurate maintenance practice. Therefore, the responsibility of the fire rested on the car service center that performed the DPF cleaning.

• Industrial Engineering and Management Systems
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• v.13 no.2
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• pp.163-171
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• 2014

Under amazing increase in markets and certain demand on qualified service in the delivery system, global logistic optimization is becoming a keen interest to provide an essential infrastructure coping with modern competitive prospects. As a key technology for such deployment, we have been engaged in the practical studies on vehicle routing problem (VRP) in terms of Weber model, and developed a hybrid approach of meta-heuristic methods and the graph algorithm of minimum cost flow problem. This paper extends such idea to multi-depot VRP so that we can give a more general framework available for various real world applications including those in green or low carbon logistics. We show the developed procedure can handle various types of problem, i.e., delivery, direct pickup, and drop by pickup problems in a common framework. Numerical experiments have been carried out to validate the effectiveness of the proposed method. Moreover, to enhance usability of the method, Google Maps API is applied to retrieve real distance data and visualize the numerical result on the map.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.1002-1008
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• 2011

The mine-detection system, which is one of the various mission equipments for Ground Vehicle System, detects mine under the ground. The mine detection sensors comprised of Metal Detection(MD) sensor and Ground Penetration Radar(GPR) are attached on the end of the multi-DOF manipulator. The manipulator moves the sensor to sweep mine areas keeping the pre-determined distance between the sensor and ground to enhance mine detection performance. The detection system can be operated automatically, semi-automatically and manually. When the detection system is operated automatically, the sensor should avoid collisions with unexpected obstacles which may exist on the ground. Two types of ultra-sonic sensors were developed for the mine detection sensor system to keep the appropriate gap between sensor and the ground to avoid the obstacles. Also, mine place marking device was developed.