• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1479-1480
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• 2010

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.153-153
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• 2017

본 연구에서는 농작업지내 모서리 점을 이용하여 자율주행 트랙터의 경로점을 생성하는 알고리즘을 개발하였다. 작업지는 직사각형의 형태에서 거리가 긴 방향으로 직선주행 경로로 하고, 직선경로의 수는 작업폭에 의해 결정되며 홀수 또는 짝수 개일 수 있다. 또한 TM좌표계에서 직선주행 경로의 기울기는 양수 또는 음수 일 수 있으며, 선회시 전체적으로 좌회전 또는 우회전하는 경우로 구분하여, 즉 총 8가지의 경우에 대하여 조건이 주어지면 경로점을 구할 수 있도록 프로그램하였다. 선회를 위한 곡선경로 생성에는 트랙터의 최소 회전반경 데이터를 사용하였으며, 이때 새로 진입할 다음 경로가 충분히 떨어져 있는 경우에는 선회 구간에서도 직선 경로 구간이 생길 수 있음을 고려하였다. 한 주기의 경로점은 직선 경로 구간의 시작점과 끝점, 선회 구간의 시작점과 끝점, 다음 직선경로로 진입을 위해 선회하기 직전까지의 직선 구간에 대한 시작점과 끝점 등 6가지의 경우로 구분할 수 있다. 이때 어떤 끝점 경로점은 다음 조작 구간의 시작점 경로점이 되므로 최종적인 경로점 데이터는 4개가 된다. 여기서, 첫 번째 경로점 생성에서는 직선구간 진입을 위한 선회구간의 시작점과 끝점은 제외하였으며, 작업지로 진입할 수 있는 입구와 출구는 동일한 것으로 가정하여, 작업이 완료되는 지점에서 선회하여 다시 출발점으로 돌아올 수 있도록 추가 구성하였다. 실제 상황에서는 직선주행 경로의 수가 정수가 되지 않을 수 있으며, 이때는 작업 구간이 약간씩 오버랩되도록 작업폭을 조정하여 경로의 수가 항상 정수가 되도록 하였다. 알고리즘 평가에 사용된 작업 패턴은 관행적인 방법으로서 작업 포장을 반으로 나누어 8자형 패턴을 이용하였다.

• Journal of the Korea Society of Computer and Information
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• v.19 no.12
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• pp.187-196
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• 2014

In this paper, Minimize driving energy for operation within a defined distance yeokgan fixed time-resolved and determine the nature of the train is traveling, and to model mathematically. Urban rail car cruise in general by the PID controller is used instead of automatically tracking a target value while traveling in energy consumption to be minimized by using optimal control model railroad charyangreul was designed under real operating conditions the same. The actual track conditions apply to the minimum value or a separate listing of cars around the track facility without a driving energy of the automatic operation and to reduce the driving energy. Therefore, actual route chosen straight line 8 / gradient segment / curve for the measured data analysis, such as sections within the city-minute drive each section and presented how the trains to save energy, depending on the pattern of the train station in the region.

• Journal of Korea Society of Industrial Information Systems
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• v.23 no.1
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• pp.13-21
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• 2018

AGVS (Automated Guided Vehicle System) is a core technology of logistics automation which automatically moves specific objects or goods within a certain work space. Conventional AGVS generally requires the in-door localization system and each AGV equips expensive sensors such as laser, magnetic, inertial sensors for the route recognition and automatic navigation. thus the high installation cost is inevitable and there are many restrictions on route(path) modification or expansion. To address this issue, in this paper, we propose a cost-effective and scalable AGV based on a light-weight pattern recognition technique. The proposed pattern recognition technology not only enables autonomous driving by recognizing the route(path), but also provides a technique for figuring out the loc ation of AGV itself by recognizing the simple patterns(bar-code like) installed on the route. This significantly reduces the cost of implementing AGVS as well as benefiting from route modification and expansion. In order to verify the effectiveness of the proposed technique, we first implement a pattern recognition algorithm on a light-weight MCU(Micro Control Unit), and then verify the results by implementing an MCU_controlled AGV prototype.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2018.06a
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• pp.332-333
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• 2018

본 논문에서는 딥러닝 기반의 주행 차로 인식 기법을 활용한 차선 변경 검출 기술을 제안한다. 제안한 방법은 주행 차로, 좌우 차로, 차량 등 3 종의 이미지 데이터를 학습, 검증, 실험 데이터로 나눠 활용하였다. 주행 차로 및 차선 변경 인식을 위하여 변형된 AlexNet 모델을 개발하였다. 실험 결과 주행 차로 69.45%, 좌우 차로 66.9%, 차량 76.4%의 인식률 결과를 보여 기존 패턴인식 방법과 비교하여 우수한 결과를 보였다.

• The Journal of Bigdata
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• v.6 no.2
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• pp.139-149
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• 2021

Ddareungi, a public bicycle service in Seoul, establishes itself as a means of daily transportation for citizens in Seoul. We speculated that the pattern of using Ddareungi may have changed since COVID-19. This study explores changes in using Ddareungi after COVID-19 with descriptive statistical analysis and network analysis. The analysis results are summarized as follows. The average traveling distance and average traveling speed have decreased over the entire time in a day since COVID-19. The round trip rate has increased at dawn and morning and has decreased in the evening and night. The average weighted degree and average clustering coefficient have decreased, and the modularity has increased. The clusters, located north of the Han River in Seoul, had a similar geographic distribution before and after COVID-19. However, the clusters, located south of the Han River, had different geographic distributions after COVID-19. Traveling routes added to the top 5 traffic rankings after COVID-19 had an average traveling distance of fewer than 1,000 meters. We expect that the results of this study will help improve the public bicycle service in Seoul.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.4
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• pp.60-67
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• 2012

Most of a driving cycle is used to measure fuel consumption (FC) and emissions for a specified vehicle. A driving cycle was reflected geography and traffic characteristics for each country, also, driving pattern is affected these parameters such as vehicle dynamics, FC and emissions. Therefore, this study is an attempt to develop a driving cycle for military operational area. The proposed methodology the driving cycle using micro-trips extracted from real-world data. The methodology is that the driving cycle is constructed considering important parameters to be affected FC. Therefore, this approach is expected to be a better representation of heterogeneous traffic behavior. The driving cycle for the military operational area is constructed using the proposed methodology and is compared with real-world driving data. The running time and total distance of the final cycle is 1461 s, 13.10 km. The average velocity is 32.25 km/h and average grade is 0.43%. The Fuel economy in the final cycle is 5.93 km/l, as opposed to 6.10 km/l for real-world driving. There were about 3% differences in driving pattern between the final driving cycle and real-world driving.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.5
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• pp.503-508
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• 2012

Recently green house gas emission problem has been issued because $CO_2$ emission is known to cause global warming. Hence, introduces more stringent emission and fuel economy requirements in various countries, including Korea. In this research, $CO_2$ emission factor characteristics of in-use cars, which are the most dominant vehicle type in Korea, were studied, and 129 gasoline vehicles, 100 diesel vehicles, and 34 LPG vehicles were tested on a chassis dynamometer. In the tests, CO and $CO_2$ emissions as well as fuel reduction rates weremeasured. The tests were conducted in the CVS-75 mode, which has been considered for developing emission factors for regulating emissions from light-duty vehicles in Korea. Through experiments, correlations among displacement, fuel consumption efficiency, fuel type, mileage, driving pattern, and $CO_2$ emission were investigated.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.123-128
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• 2014

This paper presents the study about MGV(Magnetic guidance vehicle) with up-and-down rotating type differential drive unit. Previous MGV needs the landmarks to get the driving information and additional sensor to recognize the landmarks except for localization sensor. Previous MGV requires at least 2 drive units when common fixed differential drive unit is used because it occurs the problems with driving control and localization error from imbalance of the MGV's weight. To solve such problems, we propose the MGV using up-and-down rotating type differential drive unit. Proposed MGV recognizes the driving information from the pattern which is consisted of both pole of magnet without landmarks and additional sensors, and it control the backward movement using up-and-down rotating type differential drive unit instead of common drive units. Proposed MGV considers KF(Kalman filter) to improve the localization accuracy. To verify the performance of proposed method, we designed MGV for the experiment. As the results, we can confirm the performance of propoesed method to recognize the pattern and to control the backward movement. With respect to localization, proposed method has the less RMSE about 5.6904 mm than previous method.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.5
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• pp.344-350
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• 2004

This paper proposes the train control system for the LRT(light rail transit). With regard to information processing in car, we build a computer network in the car, turned the hardware required for train control into software, and developed the train control monitoring system(TCMS) and ATC. Drive type of train control system car can drive with driverless mode basically, and this paper applied special communication type for car control, data analysis, the propulsion efforts and breaking effort can control the cars. It is used vector control in propulsion control and proposed operating pattern for propulsion control thinking operating data of rubber tire LRT.