• Journal of the Korean Operations Research and Management Science Society
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• v.34 no.1
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• pp.153-165
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• 2009

This paper apollos an ant colony system (ACS) for the vehicle routing problem with time window (VRPTW). The VRPTW is a generalization of the VRP where the service of a customer can begin within the time windows defined by the earliest and latest times when the customer will permit the start of service. The ACS has been applied effectively in geographical environment such as TSP or VRP by meta-heuristic that imitate an ant's biologic special duality in route construction, 3 saving based ACS (SB-ACS) is introduced and its solution is improved by local search. Through iterative precesses, the SB-ACS is shown to drive the best solution. The algorithm has been tested on 56 Solomon benchmarking problems and compared to the best-known solutions on literature. Experimental results shows that SB-ACS algorithm could obtain food solution in total travel distance minimization.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.232-241
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• 2014

This paper proposes an underwater localization algorithm using probabilistic object recognition. It is organized as follows; 1) recognizing artificial objects using imaging sonar, and 2) localizing the recognized objects and the vehicle using EKF(Extended Kalman Filter) based SLAM. For this purpose, we develop artificial landmarks to be recognized even under the unstable sonar images induced by noise. Moreover, a probabilistic recognition framework is proposed. In this way, the distance and bearing of the recognized artificial landmarks are acquired to perform the localization of the underwater vehicle. Using the recognized objects, EKF-based SLAM is carried out and results in a path of the underwater vehicle and the location of landmarks. The proposed localization algorithm is verified by experiments in a basin.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.533-539
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• 1993

In this paper, two side-attack guidance laws for an underwater vehicle are considered. In order to find the guidance command, we first make use of the optimal guidance law with terminal impact angle constraint. Secondly, the optimal solution of tracking problem is used. This paper shows some brief theory which is used in deriving the side-attack guidance laws, and the method of computing these guidance laws. Simulations on underwater vehicle for a constant moving target prove that the suggested side-attack guidance laws have enhanced side attack performance over the optimal guidance law with miss distance weighting only. Furthermore, from simulation results. we conclude that the guidance law using the optimal solution of tracking problem is more efficient for the side-attack guidance than the optimal guidance law with terminal impact angle constraint.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.67.4-67
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• 2002

Antilock brake System (ABS) is a essential safety equipment for modern vehicles. It prevents wheels from being locked-up when emergency braking of a vehicle is required. So it can improves directional stability of the vehicle, shortens stopping distance. Heavy Vehicles such as trucks and buses use mainly pneumatic pressures for their braking systems, where pneumatic modulators control the flow rate of compressed air thus braking pressures in the wheels. In this paper, a antilock braking algorithm which is suitable for heavy vehicles was developed. This algorithm uses limit cycle of wheels and is implemented in the ABS ECU. The developed algorithm and ECU were tested in the labo..

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.6
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• pp.64-69
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• 2016

Vehicle clutch measurement for disc cushion variation was developed for the production of high quality Dual clutch transmissions. The developed device is composed of load cells for load measurement and LVDT for measuring the distance variation measurement in cushion variation. The servo motor-driven electric press for flexible loads that was developed was controlled by a PC-based HMI system, LabVIEW, and the device was able to continuously record real time measurement data with the accuracies of ${\pm}0.1\;kgf$ load and ${\pm}5{\mu}m$ cushion amount, which is far above the requirements of commercial vehicle standards.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.235-241
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• 2007

This paper proposes a self-calibration method of robots those are used in industrial assembly lines. The proposed method is a position compensation using laser sensor and vision camera. Because the laser sensor is cross type laser sensor which can scan a horizontal and vertical line, it is efficient way to detect a feature of vehicle and winding shape of vehicle's body. For position compensation of 3-Dimensional axis, we applied block interpolation method. For selecting feature point, pattern matching method is used and 3-D position is selected by Euclidean distance mapping between 462 feature values and evaluated feature point. In order to evaluate the proposed algorithm, experiments are performed in real industrial vehicle assembly line. In results, robot's working point can be displayed 3-D points. These points are used to diagnosis error of position and reselecting working point.

• Proceedings of the IEEK Conference
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• 2002.06c
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• pp.119-122
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• 2002

The paper proposed the intelligent inference method which keeps MV(Mobile vehicle) a little way off from men and makes it follow them using fuzzy controller Recognizing positions of MV and Men and distance between them was used to infer movement angle and speed of the MV with multi-ultrasonic sensor and USB camera The very important thing Is that the MV needs to obtain surrounding Information from the sensor and the camera, then It needs to represent those circumstances MV was controlled by inference from the speed and angle which are obtained from sensor and camera. Traveling simulation with a real MV was performed repeatedly to verify the usefulness of the fuzzy logic algorithm which was proposed in this paper. And a successful result of the experiment demonstrated the excellence of the fuzzy logic controller.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.5
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• pp.152-157
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• 2012

In this paper, smoothing plane connector have been proposed as the vehicle connector for the wireless access in vehicular environments (5.925GHz) communication. This smoothing plane connector is designed by considering the properties of critical parameter like smoothing distance of start to end point of contact area. The design simulation and results can be used to determine the most suitable smoothing plane wire dimensions for vehicle communication connector. The optimized WAVE connector inserted the smoothing plane wire has insertion loss less than-0.17dB at 5.925GHz. It provides 20% of insertion loss with good performance. Therefore, the simulated results can be effectively used for optimum design of high frequency connector for vehicle communication.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.104-104
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• 2000

Among durability tests, the accelerated durability test has been widely used to evaluate the durability of vehicle structure and chassis pans in a shon period of time on the designed road which has severe surface conditions. However it increases the drivers fatigue mainly caused by the severe driving conditions. The drivers difficulty of maintaining constant speed and controlling the steering wheel reduces the reliability of test results. The durability test includes the position and distance sensing system for the recognition of the absolute and relative driving position, the driving control system for the control of whole driving circumstance, the emergency system for responding to system errors. AGVDS (Autonomous Guided Vehicle Driving System) was Proved to facilitate the development of now car projects. Therefore the AGVDS we propose will help make the fundamentals for all future traffic systems.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.14 no.5
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• pp.74-79
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• 2000

This paper presents the test result of electric vehicle to evaluate a point of difference between maximizing efficiency control and conventional constant flux control(CFX) strategy of induction motor driver. A proposed maximizing efficiency control(MEC) strategy is compared with th constant flux control strategy. The comparison test is carried out with two types of F.T.P-72 and E.P.A driving schedule. This research shown the effectiveness of an enlargement of driving distance of the electric vehicle when a maximizing efficiency control strategy adopted.