http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Trajectory Generation for a Car-Like Mobile Robot using Closed-Loop Prediction
Byungjae Park,Woo Yong Han 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper proposes a trajectory generation method using the closed-loop prediction to follow reference path, which are provided by a global path planner. Using the proposed method, smooth trajectories can be generated by considering the position of a mobile robot and its kinematic properties. The feasibility of the proposed method was verified by simulations in various situations.
Sampling-Based Retraction Method for Improving the Quality of Mobile Robot Path Planning
Byungjae Park,Wan Kyun Chung,정완균 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.5
This paper presents a method for improving the quality of the initial path produced by the probabilistic roadmap (PRM)-based mobile robot path planner. The sampling-based retraction method modifies the initial path to achieve approximate maximum safety by removing unsafe and redundant sections. The updated directions and distances of the waypoints on the initial path are determined by approximately modeling clearances around the initial paths using random samples. The proposed me-thod can control the update speed to induce smooth convergence. The performance of the proposed method was verified by simulation.
Polynomial Curve-based Longitudinal Motion Planning for Safe Deceleration
Byungjae Park,Woo Yong Han 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper proposes a longitudinal motion planning method to reduce the velocity of an unmanned ground vehicle safely when it encounters stopped vehicles or obstacles on the road. The proposed method can generate the smooth velocity and acceleration profiles using the quintic polynomial curve. The optimal quintic polynomial curve can be determined by a numerical optimization approach. The performance of the proposed method is verified by simulations.
최병재(Byungjae Choi),한인규(In-kyu Han),조정욱(Jeong-wook Cho) 한국소음진동공학회 2015 한국소음진동공학회 학술대회논문집 Vol.2015 No.10
This paper presents an investigation into the reduction of steering wheel vibration in large commercial vehicles. Since commercial vehicles have a complex steering system unlike passenger cars, there are limitations in approaching them with the old simple experimental methods or analytical modeling methods to simplify the system. In the present study, the investigators thus employed the Muller-BBM O.T.P.A. (Operational Transfer Path Analysis). The problems with the steering wheel vibration stem from excessive vibration in the loading- and driving-based engine blast and idle state. Those vibrations make the palms of the driver feel a tickle or stinging sensation. The investigators experimentally acquired the transfer function of complex steering wheel vibrations as a source or path according to the vibration size at each location of measurement with a source in case of large vibration size and a path in case of small vibration size. The transfer functions were then compared, and the contribution of each vehicle system was analyzed in the problematic sections. The physical properties of a system whose contribution was the biggest were changed to test the O.T.P.A. results and reduce the vibrations in the problematic sections of steering vibration.
최병재(Byungjae Choi),한인규(In-kyu Han),조정욱(Jeong-wook Cho) 한국소음진동공학회 2014 한국소음진동공학회 학술대회논문집 Vol.2014 No.10
Abnormal cab vibrations in the Y direction in commercial vehicles during driving(70~90kph) are not common vibrations that happen to vehicles during driving and can be an obstacle to normal driving. This study conducted Operation Deflection Shape(ODS) testing to identify the causes of those abnormal cab vibrations and find solutions for them and also a sine sweep test to find resonance and frequency in the cab suspension system and set directions for improvement. The study also altered the shape of the bush inner part for changes to the rigidity features of the cab bush in the Y direction and revised the design with optimal rigidity in the Y direction, thus improving abnormal cab vibrations in the Y direction during driving.
랩스케일 브레이크 다이나모메터를 이용한 패드각도 별 스퀼소음 실험연구
조병제(Byungjae Cho),남재현(Jaehyun Nam),강재영(Jaeyoung Kang) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
In this study, squeal noise test was conducted by using the lab-scaled brake dynamometer. Squeal conditions with respect to the angle of the brake pads (34°30°26°), were studied. Squeal frequency of the In-plane-like mode was confirmed by hammering test and finite element analysis. This Squeal mode was difficult to control by the pad angle variation. Also the squeal sound was found to be periodic signal which has higher harmonic components. It implies that squeal noise can reach the stick-slip oscillation.
Ad hoc 망에서 경로 설정 시 균형적인 전력 사용 방안
진병재(Byungjae Jin),김기천(Keecheon Kim) 한국정보과학회 2003 한국정보과학회 학술발표논문집 Vol.30 No.2Ⅲ
자율적으로 구성 되는 Ad-hoc 망에서 에너지원의 특성이 다른 노드들 간의 다른 우선순위를 주어서 라우팅에 참여 하게 한다. 즉 전력 면에서 풍부한 노드는 전력 소비가 큰 작동인 라우팅 동작에 적극적으로 참여하고 전력 면에서 부족한 노드는 라우팅 동작에 참여 비율을 낮추어서 전력을 아낀다. 이러한 방법은 전체적인 노드의 사용가능 지속 시간을 높일 수 있다. 특히 소규모의 Ad-hoc 망의 경우 노드 하나 하나가 계속해서 통신에 참여해야 하기 때문에 전체 적으로 전력 소비에 균형을 맞추는 방법이 필요하다.