• Journal of Advanced Navigation Technology
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• v.19 no.2
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• pp.133-139
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• 2015

This paper surveys vision based autonomous navigation technologies for unmanned systems. Main branches of visual navigation technologies are visual servoing, visual odometry, and visual simultaneous localization and mapping (SLAM). Visual servoing provides velocity input which guides mobile system to desired pose. This input velocity is calculated from feature difference between desired image and acquired image. Visual odometry is the technology that estimates the relative pose between frames of consecutive image. This can improve the accuracy when compared with the exisiting dead-reckoning methods. Visual SLAM aims for constructing map of unknown environment and determining mobile system's location simultaneously, which is essential for operation of unmanned systems in unknown environments. The trend of visual navigation is grasped by examining foreign research cases related to visual navigation technology.

• Journal of the Korean Society for Railway
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• v.17 no.5
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• pp.336-341
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• 2014

The articulated structures seen in train or tram applications are being applied in road transportation systems, for use in mass passenger transit. When articulated vehicles are driven on public roads, they no longer follow a guided track. Therefore, there are a lot of control elements that need to be considered, such as turning radius, swept path width, off-tracking, and swing-out. Some of the currently available articulated vehicles on roads are equipped with an independent drive system; a system that has one motor at each wheel. Through this drive system, each wheel can be independently controlled, making precise and quick dynamic stability control possible. In this paper, we propose a torque distribution algorithm that can reduce the overall turning radius of the articulated vehicle, which has been verified through dynamic simulation.

• Journal of agriculture & life science
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• v.52 no.6
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• pp.127-138
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• 2018

In this study, the operational characteristics of a domestic vegetable transplanter were investigated. The main functional components and power path of the tranplanter were analyzed. The link structure of transplanting device waskinematically analyzed, and 3D modeling and dynamic simulation were performed. Based on this analysis, the trajectory of the bottom end of the transplanting hopper was analyzed. Also, the plant spacing according to the engine speed and the shifting stage of transplanting transmission was analyzed and verified by field test. As main results of this study, the transplanting device is one degree of freedom(DOF) 4-bar link type mechanism which comprises 10 links and 13 rotating joints. The transplanting hopper plants seedlings in a vertical direction while maintaining a constant posture by the links of transplanting device. The power is transmitted to both the driving part and transplanting part from the engine, and the maximum and minimum plant spacing of the transplanting device were 428.97 mm and 261.20 mm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.8C
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• pp.721-730
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• 2012

In this paper the problem of a moving control of an automatic guided vehicle(AGV) which transports a dead body to a designated cinerator safely in a crematorium, an special indoor environment, will be discussed. Since a method of burying guided lines in the floor is not proper to such an environment, a method of moving control of an AGV based on infrared ray sensors is now proposed. With this approach, the AGV emits infrared ray to the landmarks adheres to the ceiling to find a moving direction and then moves that direction by recognizing them. One of the typical problems for this method is that dead zone and/or overlapping zone may exist when the landmarks are deployed. To resolve this problem, an algorithm of recognizing double landmarks at each time is applied to minimize occurrences of sensing error. In addition, at the turning area to entering the designated cinerator, to fit an AGV with the entrance of the designated cinerator, an algorithm of controlling the velocity of both the inner and outer wheel of it. The functional correctness of our proposed algorithm has been verified by using a prototype vehicle. Our real AGV system has been applied to a crematorium and it moves automatically within an allowable range of location error.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.2
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• pp.133-140
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• 2017

In this paper, we has proposed an automatic vehicle monitoring system based on computer vision technology. The real-time display system has displayed a system that can be performed in automatic monitoring and control while meeting the essential requirements of ITS. Another advantage has that for a powerful vehicle tracking, the main obstacle handing system, which has the shadow tracking of moving objects. In order to obtain all kinds of information from the tracked vehicle image, the vehicle must be clearly displayed on the surveillance screen. Over time, it's necessary to precisely control the vehicle, and a three-dimensional model-based approach has been also necessary. In general, each type of vehicle has represented by the skeleton of the object or wire frame model, and the trajectory of the vehicle can be measured with high precision in a 3D-based manner even if the system has not running in real time. In this paper, we has applied on segmentation method to vehicle, background, and shadow. The validity of the low level vehicle control tracker was also detected through speed tracking of the speeding car. In conclusion, we intended to improve the improved tracking method in the tracking control system and to develop the highway monitoring and control system.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.3
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• pp.73-87
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• 2023

Furnishing traffic safety information can contribute to providing hazard warnings to drivers, thereby avoiding crashes. A smart road lighting platform that instantly recognizes road conditions using various sensors and provides appropriate traffic safety information has therefore been developed. This study analyzes the short-term traffic safety improvement effects of the smart road lighting's tunnel traffic safety information service using surrogate safety measures (SSM). Individual driving behavior was investigated by applying the vehicle trajectory data collected with RADAR in the Anin Avalanche 1 and 2 tunnel sections in Gangneung. Comparing accumulated speeding, speed variation, time-to-collision, and deceleration rate to avoid the crash before and after providing traffic safety information, all SSMs showed significant improvement, indicating that the tunnel traffic safety information service is beneficial in improving traffic safety. Analyzing potential crash risk in the subdivided tunnel and access road sections revealed that providing traffic safety information reduced the probability of traffic accidents in most segments. The results of this study will be valuable for analyzing the short-term quantitative effects of traffic safety information services.

• 한국체육학회지인문사회과학편
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• v.57 no.6
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• pp.293-308
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• 2018

This study was carried out to investigate the current trends in skiing-related research from existing literature in the field of kinematics, measurement sensor and computer simulation. In the field of kinematics, research is being conducted on the mechanism of ski turn, posture analysis according to the grade and skill level of skiers, friction force of ski and snow, and air resistance. In the field of measurement sensor and computer simulation, researches are being conducted for researching and developing equipment using IMU sensor and GPS. The results of this study are as follows. First, beyond the limits of the existing kinematic analysis, it is necessary to develop measurement equipment that can analyze the entire skiing area and can be deployed with ease at the sports scene. Second, research on the accuracy of information obtained using measurement sensors and various analysis techniques based on these measures should be carried out continuously to provide data that can help the sports scene. Third, it is necessary to use computer simulation methods to clarify the injury mechanism and discover ways to prevent injuries related to skiing. Fourth, it is necessary to provide optimized ski trajectory algorithm by developing 3D ski model using computer simulation and comparing with actual skiing data.

• Journal of Korean Society of Transportation
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• v.20 no.3
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• pp.115-128
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• 2002

Dislike the tangent sections, the horizontal curve sections of roads should be designed, considering several factors : one of such factors is widening. In other words, since widening results from that when a vehicle runs on the horizontal curve sections, the rear wheels of the vehicle run not along with tracks of the front wheels but out of that, such offtracking should be exactly investigated and reflected in design of the curve sections. Especially in the case of industrial roads which semi-trailers and large trucks run frequently or arterial roads with small curve radiuses in mountainous regions. serious offtracking Phenomenons result in increasing the risk of accidents. decreasing the capacities and jeopardizing pedestrians' safety on the curve sections. For the offtracking, widening amounts of roads has been determined under the traditional presumption that vehicles run at a low speed and there is no superelevation. In fact, however, since the vehicles run at a high speed as well as at a low speed and the superelevation is installed on the horizontal curve sections in the structural aspect of roads, the existing standards for installing widening have a limitation to reflect exactly actual Phenomenons. In particular, for articulated wheel axles of a tractor and a trailer and long articulated vehicles, not only the offtracking degree is very high but also the interpretation shows different aspects from one of single axles. Comparing and reviewing the results of Korean and foreign studies related to the trailer offtracking model theory and the standards for installing widening, this study developed a realistic dynamic offtracking model which considers geometric structures of roads and speeds of vehicles, suggested how to measure widening with this model and examined applicability of the model. The findings of this study are as follows ; First. a dynamic offtracking model. which considers dynamic movements of a tractor and a trailer and the superelevation, was developed. Second, a new method to measure widening with the developed dynamic offtracking model was developed and a method to measure widening with swept path width was suggested as well. Finally, validity of the current standards for installing widening was examined by determining actual offtracking and widening amounts with the developed model and the applicability was investigated through the case studies. Compared with the existing offtracking models, the dynamic offtracking model developed in this study can reflect practically vehicle speed. dimension and geometric structural aspects of roads. In conclusion, the meaning of this study is that it reviews validity of the current standards for installing widening and provides a base to establish such standards by suggesting new methods to measure the widening with this dynamic offtracking model.