• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.9
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• pp.752-761
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• 2014

With increasing of interest in quad-rotor which has excellent maneuverability recently, a various types of multi-rotor aircraft was developed and commercialized, and there are many kinds of leisure products to be easily operated. In these products, the AR.Drone manufactured by Parrot has an advantage that it is easily operated by user due to the its internal stabilization loop in the on-board computer. Thus it is possible to design the unmanned UAV system easily by using this AR.Drone and its inner loop for the stabilization. For this advantage, KARI(Korea Aerospace Research Institute) has been developing the indoor swarming flight system by using multiple AR.Drones. For this indoor swarming flight, it is necessary that not only the position controller for each AR.Drone, but also the collision avoidance algorithm. Therefore, in this paper, the collision avoidance controller is provided for the swarm flight by using these AR.Drones.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.6
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• pp.182-193
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• 2000

Several metrics have been used in crash discrimination algorithms in order to have timely air bag deployment during all frontal crash modes. However, it is still challengine to have timely air bag deployment especially during the oblique, the pole and the underride crash mode. Therefore, in this paper a new crash discrimination algorithm was proposed, using the absolute value of the deceleration change multiplied by the velocity change as a metric, and processing the metric as a function of the velocity change. The new algorithm was applied for all frontal crash modes of a minivan and a sports utility vehicle, and it resulted in timely air bag deployment for all frontal crash modes including the oblique, the pole and the underride crash mode. Moreover, it was proposed that an accelerometer be installed at each side of the rails, rockers or pillars to assess the crash severity of each side and to deploy the frontal air bags at different time especially during an asymmetric crash such as an oblique and an offset crash. As an example, the deceleration pulses measured at the left and right B-pillar·rocker locations were processed through the new algorithm, and faster time-to-fires were obtained for the air bag at the struck side for the air bag at the other side.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.4
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• pp.193-203
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• 2001

The Monte Carlo method was used to evaluate the reliability of crash discrimination algorithms. Through the Fast Fourier Transformation, crash pulses obtained during frontal crash tests of a mini van and a sports utility vehicle were transformed to signals in the frequency domain, and the signals were divided into basic signals and changeable signals. The changeable signals were modified through random generation, and they were combined with the basic signals. Then, the combined signals were transferred back to the time domain. In this way numerous crash pulses could be generated. For the generated pulses, crash discrimination algorithms were evaluated by examining whether they did not result in air bag deployment for the pulses requiring no air bag deployment and whether they resulted in time-to-fires faster than required time-to-fires for the pulses requiring air bag deployment. The crash discrimination algorithm in which the absolute value of the deceleration change multiplied by the velocity change or the summation of the absolute value of the deceleration change was used as a metric was Proven to be highly reliable.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1389-1390
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• 2015

본 논문에서는 선도-추종자 로봇의 대형을 유동적으로 변형하며 장애물을 효과적으로 회피하는 방법을 제안한다. 로봇이 장애물을 회피함에 있어서 고정된 대형으로 이동하는데 어려운 문제가 발생한다. 본 논문에서는 이러한 문제점을 해결하기위해 장애물 회피시 선도로봇의 방향각과 위치, 선도로봇과 추종자 로봇의 거리를 이용하여 대형을 유동적으로 변형하여 장애물과의 충돌을 회피하는 방법을 사용하고 로봇의 경로계획을 위하여 포텐셜 필드 알고리즘을 사용하였다. 본 논문에서는 Matlab을 이용한 모의실험을 통하여 제안된 방법의 성능을 확인하였다.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.5
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• pp.240-248
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• 1999

This paper presents a lane-change collision avoidance control algorithm for autonomous vehicles that will be used in AHS(Automated Highway System). In the proposed control algorithm, nominal control inputs are generated by solving the inverse vehicle dynamic equations of motion for a lane-change maneuver. In addition, a corrective steering input from preview as well as DYC (Direct Yaw Moment Control) may be included to reduce unpredictable errors and to insure yaw directional stability, respectively. The performance of the algorithm is evaluated with an ABS HILS system which consist of 17 DOF vehicle model and real ABS hardware parts. The HILS simulation results show that the proposed algorithm may be used for emergency lane-change maneuvers for autonomous vehicles.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.37 no.3
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• pp.27-38
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• 2000

This paper proposes how the recurrent neural network controller for a Khepera mobile robot with an obstacle avoiding ability can be determined by co-adaptation of the evolution and learning, The proposed co-adaptation scheme consists of two folds： a population of NN controllers are evolved by the genetic algorithm so that the degree of obstacle avoidance might be reduced through the global searching and each NN controller is trained by CRBP learning so that the running behavior is adapted to its outer environment through the local searching. Experimental results shows that the NN controller coadapted by evolution and learning outperforms its non-learning equivalent evolved by only genetic algorithm in both the ability of obstacle avoidance and the convergence speed reaching to the required running behavior.

• Proceedings of the Korea Multimedia Society Conference
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• 1998.10a
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• pp.112-117
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• 1998

CERN에서 1992년 웹이 발표된 이후 기업내 정보 환경에 많은 변화중 가장 두드러진 부분이 인트라넷/익스트라넷 환경으로 대표되는 기업내 정보시스템이다. 이 환경을 통하여 수많은 사용자에게 내부의 정보를 지역과 클라이언트에 관계없이 제공하고 있으므로 기업내 데이터베이스를 연동하는 것이 중요한 비중을 차지했다. 그러나 과거의 기술로는 데이터베이스 연동시 상태정보를 지속적으로 유지할 수 없었고, 이로 인해 웹을 통한 서버와 다수의 클라이언트의 공동 작업 수행시 데이터에 대한 일관성 관리할 수 없었다. 본 논문에서는 새로운 웹과 데이터베이스의 연동을 사용하여 지속적인 상태유지를 가능하게 하고 여기에서 발생하는 공유데이터에 대한 일관성 유지를 기존 낙관적 병행제어 알고리즘인 후진(Backward) 및 전지(Foreword) 방법 대신 실시간 공유데이터의 공동작업에 적합한 점증적 갱신 알고리즘을 제안한다. 이 방법은 검증단계에서 충돌연산으로 인한 재시작을 줄이며, 사전에 불필요한 재시작을 방지하는 방법으로 자료갱신시 다른 클라이언트들에게 변경을 통보하며, 무효화 작업을 각 클라이언트에서 수행함으로써 서버의 부하를 줄일 수 있다.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.6
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• pp.586-595
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• 2022

In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.

• Journal of IKEEE
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• v.22 no.2
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• pp.440-445
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• 2018

The work presented in this paper deals with a navigation problem for a multiple mobile robots in unknown dynamic environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots' bodies must be used to detect information about the surroundings. In order to guide the robots along collision-free paths to reach their goal positions, a navigation method based on a combination of primary strategies has been developed. Most of these strategies are achieved by means of fuzzy logic controllers, and are uniformly applied in every robot. In order to improve the performance of the proposed fuzzy logic, the genetic algorithms were used to evolve the membership functions and rules set of the fuzzy controller. The simulation experiments verified that the proposed method effectively addresses the navigation problem.

• 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.