• Journal of Institute of Control, Robotics and Systems
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• v.16 no.6
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• pp.592-600
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• 2010

The problem of motion control for AUV (Autonomous Underwater Vehicles) is addressed. The utilization of such robotic vehicles has gained an increasing importance in many marine activities. In this paper the objective is to describe how to design and apply FGS (Fuzzy Gain Scheduling) PD (Proportional Derivative) controller for an AUV (Autonomous Underwater Vehicle) to control the yaw and depth of the vehicle by keeping the path of the navigation to a desired point, and/or changing the path according to a set point.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.3
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• pp.154-163
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• 2013

In this paper, we propose a formation control algorithm for underactuated autonomous underwater vehicles (AUVs) with parametric uncertainties using the approach angle. The approach angle is used to solve the underactuated problem for AUVs, and the leader-follower strategy is used for the formation control. The proposed controller considers the nonzero off-diagonal terms of the mass matrix of the AUV model and the associated parametric uncertainties. Using the state transformation, the mass matrix, which has nonzero off-diagonal terms, is transformed into a diagonal matrix to simplify designing the control. To deal with the parametric uncertainties of the AUV model, a self-recurrent wavelet neural network is used. The proposed formation controller is designed based on the dynamic surface control technique. Some simulation results are presented to demonstrate the performance of the proposed control method.

• Journal of Korea Multimedia Society
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• v.19 no.8
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• pp.1505-1515
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• 2016

The age of autonomous vehicles has come according to development of high performance sensing and artificial intelligence technologies. And importance of the vehicle's surrounding environment sensing and observation is increasing accordingly because of its stability and control efficiency. In this paper we propose an integrated platform for efficient networking, analysis and monitoring of multiple sensing data on the vehicle that are equiped with various automotive sensors such as GPS, weather radar, automotive radar, temperature and humidity sensors. From simulation results, we could see that the proposed platform could perform realtime analysis and monitoring of various sensing data that were observed from the vehicle sensors. And we expect that our system can support drivers or autonomous vehicles to recognize optimally various sudden or danger driving environments on the road.

• International Journal of Computer Science & Network Security
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• v.23 no.1
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• pp.11-16
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• 2023

Vehicular networks are part of the next generation wireless and smart Intelligent Transportation Systems (ITS). In the future, autonomous vehicles will be an integral part of ITS and will provide safe and reliable traveling features to the users. The reliability and security of data transmission in vehicular networks has been a challenging task. To manage data transmission in vehicular networks, road networks are divided into clusters and a cluster head is selected to handle the data. The selection of cluster heads is a challenge as vehicles are mobile and their connectivity is dynamically changing. In this paper, a novel secure cluster head selection algorithm is proposed for secure and reliable data sharing. The idea is to use the secrecy rate of each vehicle in the cluster and adaptively select the most secure vehicle as the cluster head. Simulation results show that the proposed scheme improves the reliability and security of the transmission significantly.

• Journal of Auto-vehicle Safety Association
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• v.15 no.2
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• pp.28-34
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• 2023

The Republic of Korea aims to complete the commercialisation of Level 4+ cooperative autonomous driving in 2027. It also plans to include V2X OBU in the K-NCAP evaluation items. Therefore, communication performance safety evaluation criteria for V2X OBU need to be established, and an OBU with necessary functions is needed to develop V2X communication performance safety evaluation technology for vehicles. In this study, we implemented a V2X OBU control board prototype that can be used to develop a V2X communication performance safety evaluation technology for Level 4+ autonomous vehicles, and confirmed that the control board prototype works normally.

• Convergence Security Journal
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• v.22 no.2
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• pp.77-90
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• 2022

Domestic and foreign automakers compete to lead the autonomous vehicle industry through continuously developing self-driving technologies. These self-driving technologies are evolving with dependencies on the connection between vehicles and other objects such as the environment of cars and roads. Therefore, cyber security vulnerabilities become more likely to occur in the self-driving environment, so it is necessary to prepare for them carefully. In this paper, we model the threats in autonomous vehicles and make the checklist to securely countermeasure them.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2980-2988
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• 2000

In this paper, H(sub)$\infty$ depth and course controllers of autonomous underwater vehicles using H(sub)$\infty$ servo control are proposed. An H(sub)$\infty$ servo problem is foumulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H(sub)$\infty$servo problem is as follows; firest, this problem is modified as an H(sub)$\infty$ control problem for the generalized plant that includes a reference input mode, and than a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach, The H(sub)$\infty$depth and course controllers are designed to satisfy the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(was force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controlled are evaluated with computer simulations, and finally these simulation results show the usefulness and applicability of the propose H(sub)$\infty$ depth and course control systems.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.215-215
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• 2000

In this paper, depth and course controllers of autonomous underwater vehicles using H$_{\infty}$ servo control are proposed. An H$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the H$_{\infty}$ servo problem is as follows: first, this problem is modified as an H$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The H$_{\infty}$ depth and course controllers ate designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances(the robustness to the uncertainties, depth and course tracking properties) of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed H$_{\infty}$ depth and course control systems.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.91-99
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• 2013

An autonomous unmanned underwater vehicle is a type of marine self-propelled robot that executes some specific mission and returns to base on completion of the task. In order to successfully execute the requested operations, the vehicle must be guided by an effective navigation algorithm that enables it to avoid obstacles and follow the best path. Architectures and principles for intelligent dynamic systems are being developed, not only in the underwater arena but also in related areas where the work does not fully justify the name. The problem of increasing the capacity of systems management is highly relevant based on the development of new methods for dynamic analysis, pattern recognition, artificial intelligence, and adaptation. Among the large variety of navigation methods that presently exist, the dynamic window approach is worth noting. It was originally presented by Fox et al. and has been implemented in indoor office robots. In this paper, the dynamic window approach is applied to the marine world by developing and extending it to manipulate vehicles in 3D marine environments. This algorithm is provided to enable efficient avoidance of obstacles and attainment of targets. Experiments conducted using the algorithm in MATLAB indicate that it is an effective obstacle avoidance approach for marine vehicles.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.2
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• pp.135-141
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• 2004

This paper proposes a new heuristic search technique for obstacle avoidance of autonomous underwater vehicles equipped with a looking ahead obstacle avoidance sonar. We suggest the fuzzy relation between the sonar sections and the properties of real world environment. Bandler and Kohout's fuzzy relational method are used as the mathematical implementation for the analysis and synthesis of relations between the partitioned sections of sonar over the real-world environmental properties. The direction of the section with optimal characteristics would be selected as the successive heading of AUVs for obstacle avoidance. For the technique using in this paper, sonar range must be partitioned into multi equal sections; membership functions of the properties and the corresponding fuzzy rule bases are estimated heuristically. With the two properties Safety, Remoteness and sonar range partitioned in seven sections, this study gives the good result that enables AUVs to navigate through obstacles in the optimal way to goal.