• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.2
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• pp.180-187
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• 2010

In this paper, a global path generation method is suggested using multiple grid maps connected with the mission type of unmanned combat vehicle(UCV). In order to carry out a mission for UCV, it is essential to find a global path which is coincident with the characteristics of the mission. This can be done by considering various combat circumstances represented as grid maps such as velocity map, threat map and communication map. Cost functions of multiple grid maps are linearly combined and normalized to them simultaneously for the path generation. The proposed method is realized using $A^*$, a well known search algorithm, and cost functions are normalized in the ratio of the traverse time which is one of critical information should be provided with the operators using the velocity map. By the experiments, it is checked found global paths match with the mission type by reflecting input data of grid maps properly and the computation time is short enough to regenerate paths in real time as combat circumstances change.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.8
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• pp.1033-1038
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• 2014

Electric vehicles should be connected to power system for charge and discharge of battery. Besides vehicle's battery is charged for a power source, it is also reversibly possible to provide power source from battery to power system. Researches on battery usage for regulation resources have been progressed and could cause cost increase excessively because they distribute regulation capacity equally without considering the battery wear cost of SOC, temperature, voltage and so on. This causes increase of grid maintenance cost and aggravate economical efficiency. In this paper it is studied that the cost could be minimized according to the battery condition and characteristic. The equation is developed in this paper to calculate the possible number of charge and discharge cycle, according to SOC level and weighting factors representing the relation between battery life and temperature as well as voltage. Thereafter, the correlation is inferred between the battery condition and wear cost reflecting the battery price, and the expense of compensation is decided according to the condition on battery wear-out of vehicle. In addition, using realtime error between load and load expectation, it is calculated how much regulation capacity should be provided.

• Journal of Power Electronics
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• v.11 no.4
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• pp.471-478
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• 2011

This paper addresses the establishment of a kVA-range plug-in hybrid electrical vehicle (PHEV) integration test platform and associated issues. Advancements in battery and power electronic technology, hybrid vehicles are becoming increasingly dependent on the electrical energy provided by the batteries. Minimal or no support by the internal combustion engine may result in the vehicle being occasionally unable to recharge the batteries during highly dynamic driving that occurs in urban areas. The inability to sustain its own energy source creates a situation where the vehicle must connect to the electrical grid in order to recharge its batteries. The effects of a large penetration of electric vehicles connected into the grid are still relatively unknown. This paper presents a novel methodology that will be utilized to study the effects of PHEV charging at the sub-transmission level. The proposed test platform utilizes the power hardware-in-the-loop (PHIL) concept in conjunction with high-fidelity PHEV energy system simulation models. The battery, in particular, is simulated utilizing a real-time digital simulator ($RTDS^{TM}$) which generates appropriate control commands to a power electronics-based voltage amplifier that interfaces via a LC-LC-type filter to a power grid. In addition, the PHEV impact is evaluated via another power electronic converter controlled through $dSPACE^{TM}$, a rapid control systems prototyping software.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.5
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• pp.31-37
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• 2012

In this paper, we present a smart grid monitoring system connected with electric vehicle charging system using anti-islanding method. Electric vehicles can be charged through remote control of smart grid monitoring system and the charging process may be more stable and more efficient by wireless communication between the Local Area Module and End Modules. It is illustrated by some experiments that electric vehicle charging process may not be interrupted without any serious fault even though the islanding phenomena occurred in the grid if the presented monitoring system was applied to the smart grid system.

• Ocean Systems Engineering
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• v.4 no.1
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• pp.1-19
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• 2014

Hydrodynamic coefficients strongly affect the dynamic performance of autonomous underwater vehicles (AUVs). A novel kind of underwater vehicle (Heavier-than-water AUV) with higher density than water is presented, which is different from conventional ones. RANS method and overlapping grids are used to simulate the flow field around the vehicle. Lifts, drags and moments of different attack and drift angles in steady state are calculated. The hydrodynamic performances and how the forces change with the attitude are analyzed according to the flow field structure. The steady-state results using overlapping grid method are compared with those of software FLUENT and wind tunnel tests. The calculation results show that the overlapping grid method can well simulate the viscous flow field around the underwater vehicle. Overlapping grid skills have also been used to figure out the planar-motion-mechanism (PMM) problem of Heavier-than-water AUV and forecast its hydrodynamic performance, verifying its effectiveness in dealing with the dynamic problems, which would be quite helpful for design and control of Heavier-than-water AUV and other underwater vehicles.

• KEPCO Journal on Electric Power and Energy
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• v.7 no.2
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• pp.249-254
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• 2021

As the spreading speed of electric vehicles increases rapidly, those are expected to be able to use them as flexible resources in the power system beyond the concern for the supply of its charging power. Especially when the Renewable Energy sources (RES) which have no intrinsic control capability have replaced the synchronous generators more and more, the power system needs to secure the additional frequency control resources to ensure its stability. However, the feasibility of using electric vehicles as the frequency control resources should be analyzed from the perspective of the power system operation and it requires the existing simulation frameworks for the power system. Therefore, this paper proposes the grid connected modeling of the primary frequency control provided by electric vehicles which can be integrated into the existing power system model. In addition, the proposed model is implemented considering technical performances constrained by the characteristics of the Vehicle-Grid Integration (VGI) system so that the simulation results can be accepted by the power utilities operating the power system conservatively.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.152-160
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• 2017

Recent studies on automatic parking have actively adopted the technology developed for mobile robots. Among them, the path planning scheme plans a route for a vehicle to reach a target parking position while satisfying the kinematic constraints of the vehicle. However, previous methods require a large amount of computation and/or cannot be easily applied to different environmental conditions. Therefore, there is a need for a path planning scheme that is fast, efficient, and versatile. In this study, we use a multi-dimensional path grid map to solve the above problem. This multi-dimensional path grid map contains a route which has taken a vehicle's kinematic constraints into account; it can be used with the $A^*$ algorithm to plan an efficient path. The proposed method was verified using Prescan which is a simulation program based on MATLAB. It is shown that the proposed scheme can successfully be applied to both parallel and vertical parking in an efficient manner.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.549-556
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• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• KEPCO Journal on Electric Power and Energy
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• v.7 no.2
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• pp.329-333
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• 2021

V2G (Vehicle to Grid) technology for an EV (Electric Vehicle) has been assumed as so promising in a near future for its useful energy resource concept but still yet to be developed around the world for specific service purposes through various R&BD projects. Basically, V2G returns power stored in vehicle at a cheaper or unused time to the grid at more expensive or highly peaked time, and is accordingly supposed to provide such roles like peak shaving or load levelling according to customer load curve, frequency regulation or ancillary reserves, and balancing power fluctuation to grid from the weather-sensitive renewable sources like wind or solar generations. However, it has recently been debated over its prominent usage as diffusing EVs and the required charging/discharging infrastructure, partially for its addition of EV ownership costs with more frequent charging/discharging events and user inconvenience with a relative long-time participation in the previously engaged V2G program. This study suggests that a Korean DR (Demand Response) service integrated V2G system especially based upon a dynamic charge/pause/discharge scheme newly proposed to ISO/IEC 15118 rev. 2 can deal with these concerns with more profitable business model, while fully making up for the additional component (ex. battery) and service costs. It also indicates that the optimum economic, environmental, and grid impacts can be simulated for this V2G-DR service particularly designed for EV aggregators (V2G service providers) by proposing a specific V2G engagement program for the mediated DR service providers and the distributed EV owners.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.10
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• pp.4698-4716
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• 2017

Wireless signal transmission is influenced by environmental effects. These effects have also been challenging for Vehicular Ad hoc Network (VANET) in real-time communication. More specifically, in an urban environment, with high mobility among vehicles, a vehicle's status from the transmitter can instantly trigger from line of sight to non-line of sight, which may cause loss of real-time communication. In order to overcome this, a deterministic signal propagation model is required, which has less complexity and more feasibility of implementation. Hence, we propose a realistic path loss model which adopts ray tracing technique for VANET in a grid urban environment with less computational complexity. To evaluate the model, it is applied to a vehicular simulation scenario. The results obtained are compared with different path loss models in the same scenario based on path loss value and application layer performance analysis. The proposed path loss model provides higher loss value in dB compared to other models. Nevertheless, the performance of vehicle-vehicle communication, which is evaluated by the packet delivery ratio with different vehicle transmitter density verifies improvement in real-time vehicle-vehicle communication. In conclusion, we present a realistic path loss model that improves vehicle-vehicle wireless real-time communication in the grid urban environment.