• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.105-106
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• 2015

무인 자율 자동차는 사람이 차량 제어에 개입할 수 있는 일반적인 '무인 자동차'와는 달리 센서, 메라와 같은 '장애물 인식장치'와 GPS모듈 과 같은 '자동 항법 장치'를 기반으로 조향, 변속, 가속, 브레이크를 도로환경에 맞춰 스스로 제어해 목적지까지 주행할 수 있는 차량을 의미한다. 따라서 무인 자율 주행 자동차에는 차량제어기술, 차선인식기술, 충돌 회피 기술 등이 필요 하며 이를 위해 각종 센서뿐만 아니라 센서 네트워크, 컴퓨터비전, 인공지능 등의 다양한 기술들이 접목되어야 한다. 본 논문은 소형 무인자동차의 제작을 통한 알고리즘과 그 평가에 대해서 나타낼 것이다.

• Journal of the KSME
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• v.34 no.10
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• pp.764-769
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• 1994

본 연구에서 개발한 KARV-2의특징은 저가의 소형시스템이다. 4인승 소형지프차에 모든 컨트 롤시스템을 장착하고도 외부에 별로 표가 나지 않을 정도임에도 그 성능 면에서는 고속도로를 자율주행할 수 있다는 점이다. 첨단기술의 개발과 더불어 이 차량의 성능도 계속 개선될 것이다. 언젠가는 궤도 위를 달리는 기차와 같이 정확하고 안전하게 주행할 수 있어, 탑승자는 마음놓고 그저 신문을 읽거나 음료수를 마시면서 스쳐 가는 경관을 즐길 수 있는 시기가 곧 도래할 것 으로 믿는 다. 이를 위하여는 차량작동의 신뢰도 향상이 절대 전제조건이다. 앞으로는 일기조건 이나 주야에 관계없이 마치궤도 위를 달리는 기차처럼 안전하게 주행할 수 있는 시스템의 개발이 필요하다. 또한 고속도로가 아닌 시내주행을 위해서는 노면표식인식, 도로표지판 인식, 신호등 인식 등 해결되어야 할 문제들이 산적해 있는 상황이다.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.965-973
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• 2011

Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.

• Journal of the Institute of Convergence Signal Processing
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• v.4 no.1
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• pp.56-63
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• 2003

This paper introduces a vision based autonomous mini mobile robot that is an approach to produce real autonomous vehicle. Previous autonomous vehicles are dependent on PC, because of complexity of designing hardware, difficulty of installation and abundant calculations. In this paper, we present an autonomous motile robot system that has abilities of accurate steering, quick movement in high speed and intelligent recognition as a stand-alone system using a mono camera. The proposed system has been implemented on mini track of which width is 25~30cm, and length is about 200cm. Test robot can run at average 32.9km/h speed on straight lane and average 22.3km/h speed on curved lane with 30~40m radius. This system provides a model of autonomous mobile robot adapted a lane recognition algorithm in odor to make real autonomous vehicle easily.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.493-497
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• 2015

This study was started with concern about problem of increasing physical and personal injury caused by traffic accidents, despite of technological advances in transportation. As the vehicles, which is currently produced, informs the driver only detecting the proximity of an object by the front and rear sensor, this study implemented the color detection algorithm, the circular shape recognition algorithm, and the distance recognition algorithm and built the accident prevention beyond accident perception, which commends to avoid the object or to stop the robot, if object was detected by algorithms. For the simulation, we made the Arduino vehicle robot equipped with compact wireless communication camera and confirmed that the robot successfully avoids an object or stops itself in simulated driving.

• Journal of Digital Convergence
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• v.12 no.10
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• pp.283-289
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• 2014

Personal rapid transit(PRT) systems have been highlighted in future transportation developments as a result of their potential as sustainable and eco-friendly transport solutions that provide demand-responsive mobility services. One of the most important characteristics of the personal rapid transit system(PRT) is that it can be constructed and operated at a low cost. A fundamental study on the alignment of the PRT guideway considering running stability was conducted in the present study. In addition, a parameter analysis of the major alignment design variables such as curve radius, transition curve length and cant was performed by vehicle dynamic analysis and optimum guideway alignments were proposed. The analysis results suggested that the theoretical values were satisfied and also confirmed the possibility of reducing the standard.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.21 no.11
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• pp.1285-1294
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• 2010

This study describes the design and verification of short range UWB(Ultra Wideband) imaging radar that is able to display high resolution radar image for front area of a UGV(Unmanned Ground Vehicle). This radar can help a UGV to navigate autonomously as it detects and avoids obstacles through foliage. We describe the relationship between bandwidth of transmitting signal and range resolution. A vivaldi antenna is designed and it's radiation pattern and reflection are measured. It is easy to make array antenna because of small size and thin shape. Aperture size of receiving array antenna is determined by azimuth resolution of radar image. The relation of interval of receiving antenna array, image resolution and aliasing of target on a radar image is analyzed. A vector network analyzer is used to obtain the reflected signal and corner reflectors as targets are positioned at grass field. Applicability of the proposed radar to UGV is proved by analysis of image resolution and penetrating capability for grass in the experiment.

• Ceramist
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• v.19 no.1
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• pp.62-67
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• 2016

지금까지 고용량 MLCC를 제조하기 위한 목적으로, MLCC용 유전체 재료의 기술 개발 동향을 재료적인 관점에서, 주로 BT 미립화에 따른 장점에 대해서 논하였다. 지금까지는 set 업체의 경박단소화, 다기능화 추세에 맞추어서 제품 개발이 이루어져 왔고, 이러한 제품을 완성시키기 위해서 재료 측면에서는 미립화가 지속적으로 이루어져 왔고, 미립화에 따른 유전율 감소 등의 부효과를 상쇄시키기 위한 미세구조 제어, 표면 개질 등의 기술개발도 동반하여 이루어져 왔다. 최근에는 이러한 추세가 전장 부품쪽에도 옮겨져서, 자동차에 채용되는 부품수 증가에 따른 소형화 needs가 지속적으로 커지고 있는 상황이다. 차량용 엔포테인먼트 시스템, 무인 주행 차량 등의 기술 상용화 시점이 얼마 남지 않은 시점에서 재료단에서 일반 IT 기기 대비, 신뢰성 특성이 강화되어야 하는 점을 고려해 보았을 때, 재료 개발의 중요성은 아무리 강조해도 지나치지 않을 것이다.

• The Journal of the Convergence on Culture Technology
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• v.4 no.3
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• pp.213-220
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• 2018

The objective of this study was to estimate the optimum spacing of rail joint for a personal rapid transit(PRT) track system, and to compare the results with the normal rail and rail joint by performing the finite element analysis(FEA) and field measurements using actual vehicles. Based on the FEA and field measurement results compared, the optimum spacing of the rail joints was calculated to be maximum of 1.20m based on the rail displacement. The vertical displacement of the normal rail was higher than that of the rail joint at a spacing of 1.0m, but it was considered that the vehicle riding performance and serviceability of track would be improved in terms of the stability of the train due to similar to rail defection between normal rail and rail joint. Also, because of the proposed rail joint spacing in this study was longer than the current rail joint spacing, the economic effect would be expected by decreasing the amount of sleepers.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.224-226
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• 2016

With the technical development and rapid increase of private demand, the new market for unmanned vehicle combined with the characteristics of 'unmanned automation' and 'vehicle' is rapidly growing. Even though the pilot driving is currently allowed in some countries, there is no country that has institutionalized the formal driving of self-driving cars. In case of the existing vehicles, safety incidents are frequently happening due to the frequent malfunction of the rear sensor, blind spot of the rear camera, or drivers' carelessness. Once such minor flaws are complemented, the relevant regulations for the commercialization of self-driving car and small drone could be relieved. Contrary to the ultrasonic and laser sensors used for the existing vehicles, this paper aims to attempt the distance measurement by using the depth sensor. A depth camera calculates the distance data based on the TOF method calculating the time difference by lighting laser or infrared light onto an object or area and then receiving the beam coming back. As this camera can obtain the depth data in the pixel unit of CCD camera, it can be used for collecting depth data in real-time. This paper suggests to solve problems mentioned above by using depth data in real-time and also to design the obstacle avoidance system through distance measurement.