• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.2
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• pp.137-148
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• 2014

A multi-rotor is an autonomous flying robot with multiple rotors. Depending on the number of the rotors, multi-rotors are categorized as tri-, quad-, hexa-, and octo-rotor. Given their rapid maneuverability and vertical take-off and landing capabilities, multi-rotors can be used in various applications such as surveillance and reconnaissance in hostile urban areas surrounded by high-rise buildings. In this paper, the unified dynamic model of each tri-, quad-, hexa-, and octo-rotor are presented. Then, based on derived mathematical equations, the operation and control techniques of each multi-rotor are derived and analyzed. For verifying and validating the proposed models, operation and control technique simulations are carried out.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.2
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• pp.177-186
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• 2017

With the latest developments in ICT(Information Communication Technology) technology, research on Intelligent Car, Connected Car that support autonomous driving or services is actively underway. It is true that the number of inputs linked to external connections is likely to be exposed to a malicious intrusion. I studied possible security issues that may occur within the Connected Car. A variety of security issues may arise in the use of CAN, the most typical internal network of vehicles. The data can be encrypted by encrypting the entire data within the CAN network system to resolve the security issues, but can be time-consuming and time-consuming, and can cause the authentication process to be carried out in the event of a certification procedure. To resolve this problem, CAN network system can be used to authenticate nodes in the network to perform a unique authentication of nodes using nodes in the network to authenticate nodes in the nodes and By encoding the ID, identifying the identity of the data, changing the identity of the ID and decryption algorithm, and identifying the cipher and certification techniques of the external invader, the encryption and authentication techniques could be detected by detecting and verifying the external intruder. Add a monitoring node to the CAN network to resolve this. Share a unique ID that can be authenticated using the server that performs the initial certification of nodes within the network and encrypt IDs to secure data. By detecting external invaders, designing encryption and authentication techniques was designed to detect external intrusion and certification techniques, enabling them to detect external intrusions.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.3
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• pp.394-399
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• 2010

This paper presents to study the velocity control method of AGV for heavy material transport. Generally, in the industries, fork-type AGV using path tracking requires high stop-precision with performing operations for 20 hours. To obtain the high stop-precision of AGV for heavy material transport, AGV requires driving technic during low speed. Hence, we use encoder with keeping the speed of AGV and study the velocity control method to improve for the stop-precision of AGV. To experiment the proposed the velocity control method, we performed the experiments engaging the pallet located 4m in front of the AGV. In the experimental result, the maximum error of stop-precision was less than 18.64mm, and we verified that the proposed method is able to control stable.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.699-705
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• 2009

This paper is represented to research of driving control for the forklift AGV. The related works that were studied about AGV as heavy equipment used two methods which are magnet-gyro and wire guidance for localization. However, they have weaknesses that are high cost, difficult maintenance according to change of environment. In this paper, we develop localization system through sensor fusion with laser navigation system and encoder, gyro for robustness. Also we design driving controller using fuzzy and proportional control. It considers distance and angle difference between forklift AGV and pallet for engaging work. To analyze performance of the proposed control system, we experiment in same working condition over 10 times. In the results, the average error was presented with 54.16mm between simulation of control navigation and real control navigation. Consequently, experimental result shows that the performance of proposed control system is effective.

• Korean Journal of Remote Sensing
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• v.37 no.5_1
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• pp.1163-1175
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• 2021

In autonomous driving, road markings are an essential element for object tracking, path planning and they are able to provide important information for localization. This paper presents an approach to update and measure road surface markers with HD maps as well as matching using inverse perspective mapping. The IPM removes perspective effects from the vehicle's front camera image and remaps them to the 2D domain to create a bird-view region to fit with HD map regions. In addition, letters and arrows such as stop lines, crosswalks, dotted lines, and straight lines are recognized and compared to objects on the HD map to determine whether they are updated. The localization of a newly installed object can be obtained by referring to the measurement value of the surrounding object on the HD map. Therefore, we are able to obtain high accuracy update results with very low computational costs and low-cost cameras and GNSS/INS sensors alone.

• Journal of the Korea Society of Computer and Information
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• v.26 no.4
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• pp.161-168
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• 2021

In this paper, it is a system that informs people who take medication periodically to facilitate the convenience of the elderly and the disabled. It is a system that measures the full weight of pills that need to be taken for a week using a weight sensor, and then determines whether or not the pills are taken by measuring the weight of the reduced pills again when the user takes them. For people with disabilities who are unable to move, it includes the function of automatically transporting medicine to the user-set location at the time of use using a line tracer based autonomous vehicle. It is also configured to inform users who have not taken the pill through an alarm that includes visual and auditory functions at a specific time to inform them of this. This work attempts to help users take their medication without forgetting by segmenting the task performance process of such a system through simulations.

• Tunnel and Underground Space
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• v.29 no.1
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• pp.1-11
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• 2019

This study investigated use cases of machine learning technology in domestic medical, manufacturing, finance, automobile, urban sectors and those in overseas mining industry. Through a literature survey, it was found that the machine learning technology has been widely utilized for developing medical image information system, real-time monitoring and fault diagnosis system, security level of information system, autonomous vehicle and integrated city management system. Until now, the use cases have not found in the domestic mining industry, however, several overseas projects have found that introduce the machine learning technology to the mining industry for improving the productivity and safety of mineral exploration or mine development. In the future, the introduction of the machine learning technology to the mining industry is expected to spread gradually.

• Journal of the Korea Society of Computer and Information
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• v.24 no.1
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• pp.73-83
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• 2019

In this paper, we propose the augmented reality(AR) based driving navigation based on robust lane detection method to dynamic environment changes. The proposed technique uses the detected lane position as a marker which is a key element for enhancing driving information. We propose Symmetrical Local Threshold(SLT) algorithm which is able to robustly detect lane to dynamic illumination environment change such as shadows. In addition, by using Morphology operation and Connected Component Analysis(CCA) algorithm, it is possible to minimize noises in the image, and Region Of Interest(ROI) is defined through region division using a straight line passing through several vanishing points We also propose the augmented reality aided visualization method for Interchange(IC) and driving navigation using reference point detection based on the detected lane coordinates inside and outside the ROI. Validation experiments were carried out to assess the accuracy and robustness of the proposed system in vairous environment changes. The average accuracy of the proposed system in daytime, nighttime, rainy day, and cloudy day is 79.3% on 4600 images. The results of the proposed system for AR based IC and driving navigation were also presented. We are hopeful that the proposed research will open a new discussion on AR based driving navigation platforms, and thus, that such efforts will enrich the autonomous vehicle services in the near future.

• Journal of Advanced Navigation Technology
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• v.22 no.2
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• pp.168-172
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• 2018

HACCP is scientific Sanitary control system to ensure food safety with autonomous, systematic and effective way by analysing hazard element that can be occurred in each steps until an end consumer takes food including raw material status, manufacturing, processing, storing, distributing, cooking and specifying the critical control point. In this paper, the temperature and humidity are measured during the transport of food, the stage of its distribution, to ensure systematic and effective management of HACCP, and we designed a monitoring terminal that uses this information to send it to servers periodically and a firmware that implements it. We have confirmed that the data transmitted by the terminal, including the information measured in sub-net, was well stored on the server and the response from the server is well received by the terminal. It is expected to be used for the management of food history, data tracking and statistical data in the future. This system is also considered to be an applicable system for group cafeteria such as schools or workplaces and logistics warehouses for raw materials or food storage and so on.

• Journal of Drive and Control
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• v.17 no.4
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• pp.23-30
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• 2020

Driving on irregular and inclined roads using agricultural machinery such as spraying machines or trucks in orchards causes farmer casualties associated with the overturning of agricultural machinery. In addition, the harm to agricultural workers caused by the excessive inhalation of the scattered pesticide frequently occurs during pest control processes. To address these problems, we introduced precision agricultural technology that could selectively spray pesticides only where the fruit is present by recognizing the presence or shape of the fruit in the orchard. In this paper, a 16-channel LIDAR (VLP-16) made of Velodyne was used to identify the shape of fruit trees. Solenoid valves were attached to the end parts of 12 nozzles of the orchard spraying machine for on/off control. The smart spraying machine implemented in this way was mounted on a vehicle capable of autonomous travel and performed selective control depending upon the shape of the fruit trees while traveling in the orchards. This is expected to significantly reduce the amounts of pesticides used in orchards and production costs.