• International Journal of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.70-74
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• 2018

In order to ensure the flow of goods available and more flexible, reduce labor costs, many factories and industrial zones around the world are gradually moving to use automated solutions. One of them is to use Automated guided vehicles (AGV). Currently, there are a line tracing method as an AGV operating method, and a method of estimating the current position of the AGV and matching with a factory map and knowing the moving direction of the AGV. In this paper, we propose ceiling Light and guided line based moving direction estimation algorithm using multi-camera on the AGV in smart factory that can operate stable AGV by compensating the disadvantages of existing AGV operation method. The proposed algorithm is able to estimate its position and direction using a general - purpose camera instead of a sensor. Based on this, it can correct its movement error and estimate its own movement path.

• Management Science and Financial Engineering
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• v.5 no.1
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• pp.1-25
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• 1999

There is a worldwide trend to automate the handling operations in port container terminals in an effort to improve productivity and reduce labor cost. This study iscusses how to apply an AGV(automated guided vehicle) system to the handling of containers in the yard of a port container ter-minal. The main issue of this paper is how to assign tasks of container delivery to AGVs during ship operations in an automated port container terminal. A dual-cycle operation is assumed in which the loading and the discharging operation can be performed alternately. Mixed integer linear program-ming formulations are suggested for the dispatching problem. The completion time of all the dis-charging and loading operations by a quayside crane is minimized, and the minimization of the total travel time of AGVs is also considered as a secondary objective. A heuristic method using useful properties of the dispatching problem is suggested to reduce the computational time. The perfor-mance of the heuristic algorithm is evaluated in light of solution quality and computation time.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.17-17
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• 2000

In this paper, we design a hybrid controller for a safe lane change maneuver in automated highway systems(AHS). The proposed hybrid controller consists of a supervisor which controls the behaviors of discrete-event dynamic systems, and a regulator which controls the operations of continuous-variable dynamic systems. The supervisor determines whether the system starts a maneuver or not, via a condition for a safety, and gives orders to the regulator for performing the maneuvers. And the regulator tracks the planned path generated in the supervisor. The conditions for a safe lane change maneuver are proposed using the velocity, the acceleration, and geometrical relationship of vehicles.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.5
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• pp.162-171
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• 1999

The most important part in automated transport systems is steering control for lane keeping Most of systems developed so far have used the visual information for steering control. In this study, the steering control algorithm based on visual servoing has been developed and tested by applying it on Radio Controlled(R/C) model car equipped with one CCD camera. We also demonstrated the feasibility of using it as a pre-test car before the real car experiment in developing automated vehicles. In order to solve the problem of the limited spave and load of a model car, remote-brained approach has been taken. For steering control of a model car, the PD controller which uses the look ahead offset to generate control input has been implemented and the characteristics of the controller has been explained in view of kinematics. Some experimental results have been also illustrated so as to show the control performance and stability.

• International Journal of Automotive Technology
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• v.6 no.5
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• pp.461-466
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• 2005

With the growing traffic density and increasing comfort requirements, the automation of the drive train has gained importance in vehicles. The automatic clutch actuation relieves a driver especially in urban and stop-and-go traffic environments. In this paper, an electro-mechanical actuator for clutch-by-wire (CBW) system is implemented as the first stage for the development of automated manual transmissions. The prototype of the automatic clutch actuator is designed systematically, which is composed of the electric motor, worm and worm wheel, and crank mechanism. A test rig is developed to perform the basic function test for the automatic clutch actuation. The developed prototype is validated by the experimental results performed on the test rig.

• Journal of Auto-vehicle Safety Association
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• v.11 no.2
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• pp.44-52
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• 2019

In this study a safety evaluation method is presented for a ADAS vehicle to be tested in collision situation when multiple vehicles are present on a single lane. Test scenarios are developed based on Euro-NCAP assessment scenarios, accident database and related simulation results in previous works. An automated evaluation system that is called as the K-target mover is used for active safety evaluation experiments. The experiments are conducted with two types of tests. First, the rear-end collision tests with 25% and 50% overlap for the test vehicle and target vehicle are conducted with the two kinds of test vehicles. On the other hand, the rear-end collision tests which include multiple vehicles in a single lane with 25% and 50% overlaps, are also conducted. Experimental results show that the test vehicles with ADAS cannot recognize the collision situation sometimes in the developed test scenarios, even in the case that the test vehicle showed stable performance in the simple overlap scenarios.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 1996.11a
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• pp.167-176
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• 1996

Flaw classification and sizing are very essential issues in quantitative ultrasonic nondestructive evaluation of various materials and structures including weldments. For performing of these tasks in an automated fashion, we are developing an intelligent ultrasonic evaluation system with a multi-axis portable scanner which can do consistent and efficient acquisition and processing of ultrasonic flaw signals. Here we present our efforts to develop of this intelligent system including design of the portable scanner, acquisition and processing of ultrasonic flaw signals, display of pseudo 3-D image of flaws, and classification and sizing of flaws in weldments.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.113-113
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• 2000

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the vehicle dynamics of each vehicle within the platoon. The external disturbance 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 vehicle's acceleration. It is shown that platoon stability can be recovered in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. The simulation results demonstrate excellent tracking even in the presence of disturbances.

• 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 Korean Society of Industrial and Systems Engineering
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• v.14 no.23
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• pp.47-55
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• 1991

In automated assembly line, an automatic guided vehicle system(AGVS) represents a mire versatile means of moving materials automatically. In this paper, the vehicles not only provide the transportation medium between workstations but also as mobile workstations. The objective for the developed model is the determination of the appropriate time to control AGV based assembly line in order to minimize production makespan while maximizing the efficient use of vehicles. In this paper, we consider the finished goods of two types which are produced in assembly line. The assembly line is considered with and without queue. Because no buffer are present in case 1. this model seeks to determine the point in time at which vehicles should be launched in the assembly line without experiencing a delay. The case 2 model also seek to determine the vehicle launch times while minimizing production makespan. The assumption in this model is that the maximum queue size cannot exceed 1 at any time.