• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.105-112
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• 2016

This paper presents the experimental setup for autonomous navigation of a robotic vehicle for touring university campus. The robotic vehicle is developed for navigation of specific areas such as university campus or play parks. The robotic vehicle can carry two passengers to travel short distances. For the robotic vehicle to navigate autonomously the specific distance from the main gate to the administrative building in the university, the experimental setup for SLAM is presented. As an initial step, a simple method of following the line detected by a single camera is implemented for the partial area. The central line on the pavement colored with two kinds, red and yellow, is detected by image processing, and the robotic vehicle is commanded to follow the line. Experimental studies are conducted to demonstrate the performance of navigation as a possible touring vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.747-756
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• 2002

The automatic steering system for unmanned vehicle was developed. The magnet and MR (Magnetoresistive) sensors are used for the tue detecting system. The lateral distance between sensor and the center line of the road is determined by the linearization of the distance according to the output. The PD control theory is used for the design of the controller to compare with $H_\infty$ control theory. The $H_\infty$ control theory is used for the design of the controller to reduce the disturbance. The performance of the PD controller and $H_\infty$ controller is compared in simulations and tests. The PD controller is easy to tune in the test site. The $H_\infty$ controller is robust far the disturbances in the test results.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.81-86
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• 2015

GPS position errors were corrected for guidance of autonomous vehicles. From the vision, we can obtain the lateral distance from the center of lane and the angle difference between the left and right detected line. By using a controller which makes these two measurements zero, a lane following system can be easily implemented. However, the problem is that if there's no lane, such as crossroad, the guidance system of autonomous vehicle does not work. In addition, Line detection has problems working on curved areas. In this case, the lateral distance measurement has an error because of a modeling mismatch. For this reason, we propose GPS error correction filter based on curve-modeled lane detection and evaluated the performance applying it to an autonomous vehicle at the test site.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.2
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• pp.353-356
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• 2015

Due to high oil prices, environmental pollution, the study of electric vehicles have been actively promoted. Charger for the electric vehicle is being developed using wireless rather than cable options. In this paper, we got more efficiency from using a superconducting transmission coil compared to using a normal coil. We implemented a wireless power transmission system using a magnetic induction at a frequency of 63.1 kHz. For comparison, a transmitter was designed using a superconducting coil and a normal coil. In addition, a receiver used a normal coil to apply for electric vehicles. The applied voltage and current were12 V and 5 A. Efficiency at a distance of 40 ~ 80 mm was measured. As a result, the superconducting transmission coil had a higher efficiency than the normal transmission coil. However, the receiving coil should be normal conductor for stable operation considering that it was put in moving electric vehicle. The efficiency was increased to 44 % at a distance of 40 mm when the diameter of normal receiving coil was 120 mm.

• Structural Engineering and Mechanics
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• v.46 no.5
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• pp.713-734
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• 2013

Bridges are vital components of the railroads. High speed of travel, the periodic and oscillatory nature of the loads and the comparable vehicle bridge weight ratio distinguish the railway bridges from the road bridges. The close proximity between estimations by some numerical methods and the measured data for the bridge-vehicle dynamic response under the moving load conditions has boosted the confidence in the numerical analyses. However, there is hardly any report regarding the responses of the railway bridges under the effect of the trains entering from the opposite directions while running at unequal speed and having dissimilar geometries. It is the purpose of this article to present an analytical method for the dynamic analysis of the railway bridges under the influence of two opposing series of moving loads. The bridge structural damping and many modes of vibrations are included. The concept of modal superposition is used to solve for the system motion equations. The method of solution is indeed a computer assisted analytical solution. It solves for the system motion equations and gives output in terms of the bridge deflection. Some case studies are also considered for the validation of the proposed method. Furthermore, the effects of varying some parameters such as the distance between the bogies, and the bogie wheelset distance are studied. Also, the conditions of resonance and cancellation in the dynamic response for a variety of vehicle-bridge specifications are investigated.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.140-146
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• 2013

In this paper, we describe a vision sensor-based driving algorithm for indoor automatic guided vehicles (AGVs) that facilitates a path tracking task using two mono cameras for navigation. One camera is mounted on vehicle to observe the environment and to detect markers in front of the vehicle. The other camera is attached so the view is perpendicular to the floor, which compensates for the distance between the wheels and markers. The angle and distance from the center of the two wheels to the center of marker are also obtained using these two cameras. We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping. This driving algorithm based on two vision sensors gives greater flexibility to AGVs, including easy layout change, autonomy, and even economy. The algorithm was validated in an experiment using a two-wheeled mobile robot.

• Journal of Korean Society of Transportation
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• v.25 no.2 s.95
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• pp.157-165
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• 2007

In this research, a vertical alignment analysis algorithm was developed. The developed algorithm used acquired data from a vehicle with multiple sensors such as a global positioning system (GPS) an inertial navigation system (INS), and a distance measuring unit (DMI) to collect information about vehicle position and altitude. The vertical alignment analysis algorithm includes the identification of vertical tangent sections, the beginning and ending points of vertical curves, and the calculation of length of vortical curves. Also, the algorithm can help build models for vertical tangent sections and vertical curve sections. In order to verify the algorithm, a field survey was conducted at an actual highway section and the result of the field survey was compared to a highway CAD drawing.

• Journal of the korean Society of Automotive Engineers
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• v.6 no.4
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• pp.36-45
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• 1984

The relationship between vehicle driving pattern and fuel consumption in urban area was studied in Seoul along three representative routes using a test car equipped with all the instruments required for recording modes of traffic and measuring fuel consumption. Correlation with idle speed, fuel consumption and CO concentration of car in use was also measured. The average vehicle speed in Seoul was 31.4 km/h and the time spent in different modes was 23.0% in idle mode, 22.5% in acceleration mode, 32.4% in cruising mode and 22.3% in deceleration mode, respectively. Hence, traffic flow was suggested to be relatively smooth. Fuel consumption per unit distance, .phi. was closely related with trip time spent per unit distance, t, and correlation coefficient obtained from the test car was 0.925, and the relationship between .phi. and t was also obtained from the linear regression with the following equation. .phi.=42.87+0.38 t. Idle speed of vehicle in use was mostly adjusted low and cars which were over the permissible standard of CO concentration (4.5%) were 50% or more. As the idle speed decreased, the fuel consumption was decreased, while the CO concentration was increased. Therefore, the decrease of fuel consumption can not be expected with only a decrease in idle speed.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.8
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• pp.233-247
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• 1999

Traffic accidents are normally caused by late or faulty judgements due to the driver's inaccurate estimation of the distance, velocity, and acceleration from the surrounding vehicles as well as his carelessness or inattention. Thus, the development of collision avoidance systems is motivated by their great potential for increased vehicle safety. A typical collision avoidance system consists of the forward-looking sensor, the criteria for activation of collision warming and avoidance, the collision avoidance maneuvers, and the user interface. This thesis is concerned with the development of a collision warning algorithm in which the driver is warned of approaching collision with the visual and/or the audible signals . The warning algorithm based on fuzzy logic is presented here based on new warning criteria. It has been newly derived from the conventional warning equation by adding a new input variable of the required deceleration to avoid collision. The algorithm is also able to adapt to the individual driver's taste along with the different road conditions by externally controlling the warning intensity. Finally , the proposed algorithm has been validated using computer simulation.

• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.2
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• pp.65-71
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• 2018

In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.