• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.1
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• pp.31-37
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• 2001

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the dynamics of each vehicle within the platoon. The external disturbances such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicles's acceleration. The proposed controller guarantees to recover platoon stability in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. It is shown that the proposed observer is exponentially stable, and the at the robust adaptive controller is stable. The simulation results demonstrate excellent tracking even in the presence of disturbances.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.10a
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• pp.189-196
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• 1996

Vibration of a beam translating over supports in vertical motion is investigated in this paper. Equations of motion are formulated using the virtual work principle by regarding the supports as kinematical constraints imposed on an unrestrained beam and by discretizing the beam via the assumed mode method. Differential-algebraic equations of motion are derived and reduced to differential equations in independent generalized coordinates by the generalized coordinate partitioning method. Geometric stiffness of the beam due to translating motion is considered and how the geometric stiffness of beam affects dynamic stability is also investigated. Instability of the beam. in various conditions is also investigated using Floquet theory and then the results are verified through the dynamic response analysis. Results of numerical simulation are presented for various prescribed motions of the beam.

• Proceedings of the Korean Institute of Surface Engineering Conference
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• 2003.05a
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• pp.56-56
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• 2003

플라즈마 식각에서 물리적 손상과 전기적 손상은 차세대 Nanoscale 소자와 Deep - Submicron 반도체공정에서 해결되어야 할 가장 큰 문제 중 하나이다. 이 중 전기적인 손상을 줄이기 위한 몇 가지 무손상 공정이 제시되고 있으며, 그러한 기술 중의 하나가 이온빔의 Low Angle Forward Reflection을 이용한 식각방법이다. Low Angle Forward Reflection방법은 이온소오스로부터 발생시킨 이온을 Low Angle 에서 Reflection-시켜 이온빔을 중성화되도록 하는 방법으로, 이전 연구를 통해 Reflection시 입사각이 5도일 경우 대부분의 이온들이 중성화되는 결과를 얻었다. 또한, 실험에 사용된 $SF_6,{\;}NF_3,{\;}CF_4$와 같은 모든 가스종에서 유사한 값의 중성화 정도를 관찰할 수 있었으며, 이러한 가스를 이용하여 $Si0_2$ 식각시 Vertical한 Profile 결과를 얻었다. 본 연구에서는 기존 Grid 장치에서 이온소오스 부분에 Low Angle Forward Reflected Neutral Beam을 위한 판형 Reflector를 부착하였으며, 이에 따라 중성빔의 Flux가 크게 향상되며 Beam의 직진성을 향상시킬 수 있었다. 또한, F계열 가스를 이용한 실험을 통해 $Si0_2$ 식각율과 식각특성 면에서 향상된 실험결과를 얻을 수 있었다.

• Journal of Korean Society of Transportation
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• v.16 no.4
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• pp.127-138
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• 1998

본 논문에서는 기존의 교통정보 시스템의 단점을 보완하는 중앙집중형 교통정보 시스템의 구축에 관하여 설명한다. 이 시스템은 중앙의 교통정보센터에서 전자지도 및 교통정보를 관리한다. 따라서, 사용자는 전자지도 및 교통정보 갱신의 필요가 없어지며, 교통정보 수신장치를 통해서 경로 정보를 원하는 시기에 제공받는다. 교통정보 수신장치는, 휴대용 노트북과 개인휴대 통신기기인 Cellular Phone이나 PCS Phone이 결합된 형태로 구현함으로서 대중적으로 널리 보급될 수 있는 교통정보시스템을 구축한다. 본 논문에서는 정확한 교통정보의 생성을 위하여 실시간 교통정보를 저장하는 새로운 교통데이터베이스의 구조를 제시하고 직진,우회전,좌회전,유턴 차량의 흐름을 모두 표현할 수 있는 새로운 교통 네트워크 모델을 제시한다. 많은 수의 노드와 아크로 이루어진 교통 네트워크 내에서, 경로계획 시간이 길어지는 문제 해결 방법으로 전체를 여러 개의 지역으로 나누는 방법을 제시하고, 각 지역 내의 경로계획에는 교통데이터베이스를 참조하는 Dijkstra 알고리즘을 사용한다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2022.07a
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• pp.305-306
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• 2022

본 논문에서는 5G 스마트폰을 활용하여 사용자가 로봇 청소기의 위치 추정을 도울 수 있는 방안을 소개한다. 로봇 청소기는 다양한 알고리즘을 활용하여 자신의 위치를 추정하며, 때로는 오차가 발생하기도 한다. 현재 많은 사람들은 5G 스마트폰을 소유하고 있으며, 이 5G 스마트폰을 활용하여 로봇 청소기의 위치 추정을 보조할 수 있는 방안을 제안한다. 5G 스마트폰은 MIMO 안테나를 사용하여 통신을 하는데, MIMO 안테나는 기존의 전 방향성 안테나와는 달리 방향성을 가지고, 고주파를 사용하기 때문에 신호의 직진성을 보장받는다. 이러한 특성을 활용하여 스마트폰을 참조 노드로 하여 로봇 청소기는 측위를 보조할 수 있다. 본문에서 제안하는 아이디어를 소개하며, Matlab을 활용하여 아이디어의 효용성을 검증하였다.

• Journal of Korean Society of Transportation
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• v.34 no.1
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• pp.81-94
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• 2016

The Korean real-time traffic responsive control systems, Cycle Offset Split Model of Seoul (COSMOS), employs a single theoretical model to estimate the degree-of-saturation (DS) on approaches. However, the deployment of the system has been accomplished without practical consideration of its field performance. This paper delivers a diagnosis study performed to find the relationships yet known on the DS values against the operational conditions unproved in theory but ordinarily observed in field practice. Based on the analysis of the historical log data (476,505 cycles) obtained from the COSMOS server, it was found; (1) full coverage of lane detections should perform better than the sample coverage of detection in ordinary conditions, (2) the sample coverage of detection perform better than the other case with an exclusive bus lane, (3) detection in which a shared lane is involved provide poor estimation of DS, (4) poor DS estimation when a detection lane is adjacent to a shared lane, and (5) the DS values obtained during a day can hardly be stable all time. The findings suggest traffic engineers a progressive direction to move forward for the next real-time traffic control systems.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.7
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• pp.224-236
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• 2017

This study analyzed the characteristics of traffic accidents among elderly drivers according to area type in Gyeonggido(urban areas, urban-rural complex areas, and rural areas). Traffic accidents caused by unsafe driving are common in all three types of areas. In urban areas and urban-rural complex areas, traffic accidents were more frequent due to traffic violations and intersection accidents, while rural areas were more affected by central lines. Urban areas and urban-rural complex areas require simpler signal exposures, such as a simple straight line, left turn, or straight line and left turn signal rather than complex signal operations, such as overlaps in a signal operation. Improvement of non-signal intersections and unprotected traffic signal processing is also needed. In order to prevent the intrusion of the central line in rural areas, the center line guard rail should be prevented from penetrating the center line, and the influence of the vehicle headlamp should be reduced in the opposite direction. It is necessary to improve the visibility by using fluorescent letters to enlarge the font size of traffic signs and road signs, particularly to increase visibility at night and prevent traffic accidents at sunset. Minimal, simplified should be provided rather than complex phrases and information.

• Journal of Korean Society of Transportation
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• v.29 no.2
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• pp.111-121
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• 2011

This paper discusses a method for optimizing the semi-actuated traffic signal control system by adjusting the initial interval according to the number of vehicles waiting for the green light in the actuated phase. We also present a Left-Turn actuated traffic signal control strategy that examines the vehicular noise in the detection area and determines the phase extension and the gap-out. In order to detect the vehicles in real-time, an image detector's Video Image Tracking technology was adopted. A 'Zone in Zone'method was implemented, and the image detection area is segmented into three zones: 1) Zone1 for verifying a vehicles obligatory presence, 2) Zone2 for counting the standby vehicles, and 3) Zone3 for examining the number of vehicles that have passed. The on-site assessment of the Left Turn Actuated Control is carried out using CORSIM, and the results show that the Control Delay decreased by 23.10%, 15.06%, and 4.34% compared to the delays resulted from pre-timed control, semi-actuated control-1 and semi-actuated control-2 traffic signal control systems respectively. The Queue Time also decreased by 36.24%, 20.10% and the Total Time by 14.36%, 7.02% for the same scenario. Which clearly demonstrates the operational efficiency. A sensitivity analysis reveals that the improvement from the propose traffic control strategy tends to increase as the through traffic volume reaches a saturated condition and the left-turn traffic volume decreases.

• Journal of KIISE:Computer Systems and Theory
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• v.32 no.11_12
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• pp.682-691
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• 2005

We present a two-step evolution system that produces controllable virtual creatures in physically simulated 3D environment. Previous evolutionary methods for virtual creatures did not allow any user intervention during evolution process, because they generated a creature's shape, locomotion, and high-level behaviors such as target-following and obstacle avoidance simultaneously by one-time evolution process. In this work, we divide a single system into manageable two sub-systems, and this more likely allowsuser interaction. In the first stage, a body structure and low-level motor controllers of a creature for straight movement are generated by an evolutionary algorithm. Next, a high-level control to follow a given path is achieved by a neural network. The connection weights of the neural network are optimized by a genetic algorithm. The evolved controller could follow any given path fairly well. Moreover, users can choose or abort creatures according to their taste before the entire evolution process is finished. This paper also presents a new sinusoidal controller and a simplified hydrodynamics model for a capped-cylinder, which is the basic body primitive of a creature.

• Journal of Korean Society of Transportation
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• v.14 no.2
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• pp.59-88
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• 1996

This study has determined optimal type, and location of loop detector to measure accurately traffic condition influenced by traffic variation with real time. Optimal type of loop detector for through vehicle at stop bar was determined by confidences of occupancy period, and nonoccupancy period, and so appropriate detector type for application to real time traffic control system has been decided on special loop detector.