• Journal of Korea Port Economic Association
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• v.39 no.3
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• pp.33-46
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• 2023

The Autonomous ships are equipped with a function to judge and navigate the sea conditions on their own, so the job of the ship officer who operates it changes. The educational curriculum to nurture ship officer with the ability to operate and manage autonomous ships must also be changed. This study aimed to develop the curriculum for training autonomous ship officer by using the Delphi survey method suitable for predicting the uncertain future. Among the current 61 subjects for training ship officer identified in the Delphi survey, 32 subjects with high importance should be maintained in the training for autonomous ship officer, and subjects with low importance should be abolished or integrated into other subjects. These subjects were collectively referred to as 'general courses'. The expert panel of the Delphi survey suggested 42 items as new subjects, with 18 items of 'high', 14 items of 'middle', and 10 items of 'low'. Through in-depth analysis of these items by experts, 27 subjects were adjusted and three courses were proposed : 1)'Basic course(10 courses)' for developing basic capabilities such as basic theories for understanding advanced technology and information applied to autonomous ships, 2)'Job course(10 courses)' for practical competency directly related to autonomous ship operation, 3)'Intensive course(7 subjects)' for fostering land remote operators of autonomous ships. Since the introduction and spread of autonomous ships will progress rapidly, research to develop and supplement autonomous ship pilot training courses should be continued by reflecting the level of autonomous navigation of autonomous ships.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.5
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• pp.30-42
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• 2023

Various studies have been conducted using microtraffic simulation (VISSIM) to analyze the safety of traffic flow when introducing autonomous vehicles. However, no studies have analyzed traffic safety in mixed traffic while considering the driving behavior of general vehicles as a parameter in VISSIM. Therefore, the aim of this study was to optimize the input variables of VISSIM for non-autonomous vehicles through genetic algorithms to obtain realistic behavior. A traffic safety analysis was then performed according to the penetration rate of autonomous vehicles. In a 640 meter section of US highway I-101, the number of conflicts was analyzed when the trailing vehicle was a non-autonomous vehicle. The total number of conflicts increased until the proportion of autonomous vehicles exceeded 20%, and the number of conflicts decreased continuously after exceeding 20%. The number of conflicts between non-autonomous vehicles and autonomous vehicles increased with proportions of autonomous vehicles of up to 60%. However, there was a limitation in that the driving behavior of autonomous vehicles was based on the results of the literature and did not represent actual driving behavior. Therefore, for a more accurate analysis, future studies should reflect the actual driving behavior of autonomous vehicles.

• Journal of the Ergonomics Society of Korea
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• v.36 no.5
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• pp.421-435
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• 2017

Objective: In this research, the literatures on the autonomous vehicles were surveyed and classified from the viewpoint of human factors. Technological development on the information interaction between user and the vehicle was discussed. Background: The studies on the human factors in the autonomous vehicles have been less actively carried out than those on the technological aspects, but human factors are becoming more important in the autonomous vehicles. Method: This study examined the papers published in domestic journals, as well as the papers presented in conferences from 1996 to 2016 through DBPIA. Results: The literatures were classified into those about basic functions and convenience. The papers on the convenience were much less. Conclusion: Human factors are projected to be actively applied, in communication and in device control, in addition to conventional application areas. Application: This study would be of help to find future research areas of human factors in autonomous vehicles.

• Electronics and Telecommunications Trends
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• v.35 no.6
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• pp.1-11
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• 2020

Recently, autonomous things, which are pieces of equipment or devices that grasp the context of circumstances on their own and perform actions appropriate for the situation in the surrounding environment, are attracting much research interest. This is because autonomous things are expected to be able to interact with humans more naturally, supersede humans in many tasks, and further solve problems by themselves by collaborating with each other without human intervention. This prospect leans heavily on AI as deep learning has delivered astonishing breakthroughs recently and broadened its range of applications. This paper surveys application trends in deep learning-based AI techniques for autonomous things, especially autonomous driving vehicles, because they present a wide range of problems involving perception, decision, and actions that are very common in other autonomous things.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1126-1130
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• 2004

This paper describes the design, development, and performance testing of an autonomous ground vehicle that was developed to participate in the DARPA Grand Challenge that was held in March 2004. The authors of this paper are members of Team CIMAR which was one of twenty five teams selected by DARPA to participate in a competition to develop an autonomous vehicle that can navigate from near Los Angeles to near Las Vegas at speeds averaging twenty miles per hour. Most of the event was held on open terrain and trails in a rocky desert environment. This paper describes the overall system design and the performance of the system at the event.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.2
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• pp.97-103
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• 2016

In this paper, a smartphone-controlled personal mobility system (PMS) with semi-autonomous navigation is developed. The proposed PMS moves to waypoints and then reaches the destination where the waypoints and destination are selected by the user using Google maps in a smartphone. The hardware environment consists of a GPS (Global Positioning System) in the smartphone and a compass sensor. In addtion, while it is moving in autonomous mode, the user can intervene and change the direction and speed of the PMS in order to avoid obstacles that may be encountered accidentally in a dynamic environment. That is why it is called "semi-autonomous navigation". Experimental results showed that the proposed PMS is effectively able to migrate to the waypoints and destination in both autonomous and manual modes.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.9
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• pp.402-412
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• 2002

The navigation algorithms enable autonomous mobile robots to reach given target points without collision against obstacles. To achieve safe navigations in unknown environments, this paper presents an effective navigation algorithm for the autonomous mobile robots with ultrasonic sensors. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The fuzzy-based decision maker combines the steering angles from the target-reaching behavior and the obstacle-avoidance behavior in order to steer the autonomous mobile robot appropriately. Simulational and experimental results show that the proposed navigation algorithm is very effective in unknown environments.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.54 no.3
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• pp.231-238
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• 2018

In this study, a ship motion control system design method is introduced for autonomous ships. Some related research results and technologies for autonomous ships have already been developed and applied to ships. For example, the Norwegian Maritime Authority and the Coastal Administration have signed an agreement that allows to test of autonomous ships in the defined area (port to port). Many countries and industries are pursuing to realize the autonomous vessel in the real world. In this paper, the authors try to develop related technology. As basic research, a ship model of the pilot vessel is developed and physical parameters are identified by experiment and simulations. Using the mathematical ship model, a control system is designed and control performance is evaluated by simulations.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.4
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• pp.121-128
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• 2000

In this paper, the control algorithm fur an autonomous vehicle is studied and applied to an actual 2 wheel-driven vehicle system. In order to control a nonholonomic system, the kinematic model for an autonomous vehicle is constructed by relative velocity relationship about the virtual point at distance from the vehicle's frame. And the optimal controller that based on the kinematic model is operated on purpose to track a reference vehicle's path. The actual system is designed with named 'HYAVI' and the system controller is applied. Because all the results of simulation don't satisfy the driving conditions of HYAVI, a reformed control algorithm that satisfies an actual autonomous vehicle is applied at HYAVI. At the results of actual experiments, the path tracking works very well by the reformed control algorithm. An autonomous vehicle that applied this control algorithm can be easily used for a path generation algorithm.

• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.292-297
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• 2013

This paper presents a new method of kinematic modeling for autonomous bicycle by using the differential motion transformation. Kinematic model is indispensable to trajectory planning and control for an autonomous mobile robot. The conventional methods of kinematic modeling for an autonomous bicycle depend on intuition by geometry. On the contrary, the proposed method in this paper is based on the systematic differential motion transformation, thus applicable to various types of autonomous bicycles. The differential motion transformation gives Jacobian between two coordinate frames and the velocity kinematics as a result.