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차량 모델 및 LIDAR를 이용한 맵 매칭 기반의 야지환경에 강인한 무인 자율주행 기술 연구
박재웅(Jae-Ung Park),김재환(Jae-Hwan Kim),김정하(Jung-Ha Kim) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.5
Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.
적층각도에 따른 단방향 CFRP에서의 중앙 크랙의 파괴 거동에 관한 연구
박재웅 ( Jae-woong Park ),전성식 ( Seong-sik Cheon ),조재웅 ( Jae-ung Cho ) 한국복합재료학회 2016 Composites research Vol.29 No.6
경량화 소재 중 CFRP(Carbon Fiber Reinforced Plastic)는 카본 섬유를 이용한 섬유구조물이다. 카본과 플라스틱의 특성을 갖는 복합소재이다. 섬유구조는 섬유방향으로 큰 강도를 갖는다. 이러한 경량 소재인 CFRP로 가장 많이 사용되는 것은 직조된 CFRP이다. 직조된 CFRP는 단방향 CFRP에 비하여 구조가 안정적이기 때문이다. 단직조된 CFRP는 고가이다. 따라서 본 연구는 단방향 CFRP의 섬유 구조 특성을 파악하고자 하였다. 본 연구에서는 적층각도 [0/X/-X/0]로 X를 변수로 갖는다. X의 각도 위상이 반전되어 적층된 단방향 CFRP이다. 이러한 단방향 CFRP를 이용하여 중앙 크랙을 갖는 두께 2 mm 판재 형태의 해석 모델을 이용하였다. 해석에서는 핀으로 연결된 상부와 하부에서 하중이 가해지고 있으며 중앙 크랙부분에서 파단을 연구한다. 해석 모델은 CATIA를 이용한 3D Surface 모델로 설계하였다. CFRP 적층을 위해, ANSYS프로그램에서 ACP를 이용한 적층 방향을 결정하여 2개의 적층들을 갖는 해석 모델을 만들었다. 이후 구조해석을 진행하였다. Carbon fiber reinforced plastic (CFRP), one of lightweight materials, is the fiber structure using carbon fiber. It is the composite material that has the characteristics of carbon and plastic. As for the fiber structure, it has the great strength due to fiber direction. CFRP for woven type is used mostly as such a CFRP with lightweight. Woven type is more stable when compared with unidirectional type. On the other hand, woven type is highly priced. Therefore, this study aims to analyze the fiber structure of unidirectional CFRP. In this study, as the stacking angle [0/ X/-X/0], X is the variable. This is unidirectional CFRP in which the angle phase of X has been reversed and stacked. By using such a unidirectional CFRP, the analysis model which had a crack at the center as the form of panel with the thickness of 2 mm was used. On analysis, the load is applied on the upper and lower parts being connected with a pin. The damage in the area near center crack was investigated. As for the analysis model, 3D surface model was designed by using CATIA. For CFRP stacking, the stacking direction was determined by using ACP in ANSYS program and the analysis model with two stacks was made. Afterwards, the structural analysis was carried out.
박재웅(Jae-Ung Park),신태우(Tai-Woo Shin),최진성(Jin-Sung Choi),최한열(Han-Yeol Choi),민병욱(Byeong-Wook Min) 대한전기학회 2010 전기학회논문지 Vol.59 No.3
345㎸ Incheon Thermal Power Plant Transmission Line Collapse Analysis and Countermeasures. The Typhoon Galmaegi which had been formed in July 15, 2008 diminished into a tropical cyclone and cooled the air above the West Sea. The cooled air colliding with the warm inland air caused a strong whirlwind at some places in the west seaside; the whirlwind battered the 345㎸ Incheon Thermal Power Plant Transmission Line to be collapsed. The resistance of transmission towers against wind pressure, one of the key elements in transmission line engineering, is designed to endure the pressure corresponding to the maximum instantaneous wind speed. Before the above accident happened, no transmission line has ever been collapsed by a whirlwind. So this paper is aimed to analyze causes that collapsed 345㎸ Incheon Thermal Power Plant transmission line and to introduce countermeasures.
LiDAR 기반 차량-인프라 연계 상황인지를 통한 사고다발지역에서의 차량 종방향 능동제어 시스템 연구
김재환(Jae-Hwan Kim),이제욱(Je-Wook Lee),윤복중(Bok-Joong Yoon),박재웅(Jae-Ung Park),김정하(Jung-HaKim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.5
This is a research of an adaptive longitudinal control system for situated cognition in wide range, traffic accidents reduction and safety driving environment by integrated system which graft a road infrastructure"s information based on IT onto the intelligent vehicle combined automobile and IT technology. The road infrastructure installed by laser scanner in intersection, speed limited area and sharp curve area where is many risk of traffic accident. The road infra conducts objects recognition, segmentation, and tracking for determining dangerous situation and communicates real-time information by Ethernet with vehicle. Also, the data which transmitted from infrastructure supports safely driving by integrated with laser scanner"s data on vehicle bumper.