• ICROS
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• v.19 no.1
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• pp.32-48
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• 2013

최근 보행자와 차량의 항법 정보(위치, 속도, 자세, 방위각, 등)는 기존의 편의(convenience) 목적의 활용뿐 아니라 안전(safety) 보장을 위한 기반 정보로 활용되고 있으며 이에 대한 원천기술 및 활용기술의 연구개발이 활발하게 이루어지고 있다. 본 고에서는 인프라 기반 및 센서 기반의 다양한 보행자/차량용 항법 기술과 항법용 융합 필터 기술을 설명하고 연구사례를 살펴보고자 한다.

• ICROS
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• v.15 no.1
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• pp.29-36
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• 2009

무인차량의 야지 자율주행에 있어서 지형 및 환경 인식기술은 다양한 지형/지물에 대한 인식, 분류 및 융합을 통하여 최종적인 자율주행 및 임무 목적용 인식 맴을 제작하기 위한 기술이다. 병렬기구는 조립, 포장, 기계가공, 크레인, 수중공학, 항공 및 해양구조, 비행 및 3D 시뮬레이션, 위성 접시안테나 위치제어, 망원경 자세제어, 그리고 정형외과 수술 등 여러 분야에 사용되고 있다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Journal of Korea Society of Industrial Information Systems
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• v.18 no.4
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• pp.37-41
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• 2013

A balance maintain system of Stewart platform using AHRS(Attitude and Heading Reference System) sensor is introduced. The Stewart platform is used for controlling a standing plate to keep up horizontal level at any slopes. To know current leaned degrees, AHRS sensor is used. We made feed-back system that AHRS sensor sends current status and the Stewart platform revises top plate to be equilibrium state.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.7
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• pp.937-943
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• 2013

An independently driven electric corner module cannot be applied to an actual vehicle without some difficulty, because of vehicle safety problems in the case of malfunctions and degraded ride and handling performance owing to the increase in the unsprung mass. In this study, a simulator is developed to evaluate the vehicle driving performance in order to solve ride and handling problems. Component modeling of a small-sized electric vehicle with an independently driven electric corner module is performed using MATLAB/Simulink. The vehicle is modeled by using CarSim, which can be used to analyze the vehicle maneuvers with 27 DOFs. The control algorithm for the improvement of vehicle driving safety and ride and handling performance is validated by using the developed simulator.

• 한국항공운항학회:학술대회논문집
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• 2004.11a
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• pp.302-307
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• 2004

무인 항공기는 지상 조종 또는 자동 비행으로 원격제어, 각종 정찰, 수송, 및 공격 등의 다양한 임무를 수행할 수 있는 비행체 및 이를 포함한 시스템을 의미한다. 무인기의 자율 운항을 위해서는 위치, 속도 및 자세 등의 항법 정보를 제공하는 항법 시스템이 반드시 필요하며 크기가 작은 무인기를 위해서는 탑재체의 중량이 적은 항법 시스템이 반드시 필요하다. 최근에는 반도체 MEMS 기술을 이용한 저가형 관성 센서들이 많이 개발 되고 있으며 이를 이용한 소형, 저전력, 고정밀 항법 시스템들이 많이 연구 개발되고 있다. GPS/AHRS 결합 시스템은 자세각, 각속도, 가속도 정보 및 GPS를 이용한 위치, 슥도 정보 제공이 가능한 시스템으로 비행체의 자율비행을 위한 정보 제공이 가능한 시스템이다. 본 논문에서는 MEMS 센서를 기반으로한 GPS/AHRS 결합 항법 시스템 설계하고 차량을 이용하여 성능을 평가한 결과를 보여준다.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.9
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• pp.43-52
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• 1998

In this paper, a novel type of an integrated controller is designed for vehicles equipped with active classis systems to improve vehicle stability, handling, and ride comfort. The hybrid fuzzy logic controller consists of a fuzzy logic controller, a skyhook controller, an attitude controller, and a roll moment distribution controller, and these controllers are used with a proper combination which is determined by the integrated control logic based on driving conditions of a vehicle. It is shown by simulations using MATRIXx/SYSTEMBBUILD software that ride comfort, handling, and active safety are improved for a 16 degree-of-freedom vehicle dynamic model.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.2
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• pp.73-82
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• 1994

Low-band type active suspension system is implemented on a passenger car. Level. roll, pitch and bouncing motion of body are controlled by a digital controller. Sky-hook damper is applied to control bouncing motion. This paper describes overall construction of the system, design of hydraulic system, sensor system, controller, and control scheme. Performance of prototype car has been evaluated on a test track and reported in the second paper.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.7
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• pp.127-134
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• 2014

Active body control system is an important system for determining the driving stability and ride comfort of the vehicle. Active body control system is composed of a cylinder unit power supply unit, and control valve unit. Control valve is a proportional pressure control valve, the dynamic characteristics of the valve affects the performance of the active body control system. We have developed an analytical model, we analyzed the design parameters of the proportional pressure control valve. Further, by knowing the design parameters effect on the system and to optimize the design parameters, and improved performance of the dynamic properties.

• Journal of Auto-vehicle Safety Association
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• v.14 no.3
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• pp.71-76
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• 2022

In autonomous driving cars, 3D pose estimation can be one of the effective methods to enhance safety control for OOP (Out of Position) passengers. There have been many studies on human pose estimation using a camera. Previous methods, however, have limitations in automotive applications. Due to unexplainable failures, CNN methods are unreliable, and other methods perform poorly. This paper proposes robust real-time multi-human 3D pose estimation architecture in vehicle using monocular RGB camera. Using particle filter, our approach integrates CNN 2D/3D pose measurements with available information in vehicle. Computer simulations were performed to confirm the accuracy and robustness of the proposed algorithm.