• Journal of Korea Society of Industrial Information Systems
• /
• v.23 no.1
• /
• pp.13-21
• /
• 2018

AGVS (Automated Guided Vehicle System) is a core technology of logistics automation which automatically moves specific objects or goods within a certain work space. Conventional AGVS generally requires the in-door localization system and each AGV equips expensive sensors such as laser, magnetic, inertial sensors for the route recognition and automatic navigation. thus the high installation cost is inevitable and there are many restrictions on route(path) modification or expansion. To address this issue, in this paper, we propose a cost-effective and scalable AGV based on a light-weight pattern recognition technique. The proposed pattern recognition technology not only enables autonomous driving by recognizing the route(path), but also provides a technique for figuring out the loc ation of AGV itself by recognizing the simple patterns(bar-code like) installed on the route. This significantly reduces the cost of implementing AGVS as well as benefiting from route modification and expansion. In order to verify the effectiveness of the proposed technique, we first implement a pattern recognition algorithm on a light-weight MCU(Micro Control Unit), and then verify the results by implementing an MCU_controlled AGV prototype.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.21 no.8
• /
• pp.18-25
• /
• 2020

With the development of water internet technology, data communication between objects is expanding. Research related to data communication technology between vehicles that incorporates related technologies into vehicles has been actively conducted. For data communication between mobile terminals, data stability, reliability, and real-time performance must be guaranteed. The 5 GHz Wi-Fi band, which is advantageous in bandwidth, communications speed, and wireless saturation of the wireless network, was selected as the data communications network between vehicles. This study analyzes how to design and implement a 5 GHz Wi-Fi network in a vehicle network. Considering the characteristics of the mobile communication terminal device, a continuous variable communications structure is proposed to enable high-speed data switching. We simplify the access point access procedure to reduce the latency between wireless terminals. By limiting the Transmission Control Protocol Internet Protocol (TCP/IP)-based Dynamic Host Configuration Protocol (DHCP) server function and implementing it in a broadcast transmission protocol method, communication delay between terminal devices is improved. Compared to the general commercial Wi-Fi communication method, the connection operation and response speed have been improved by five seconds or more. Utilizing this method can be applied to various types of event data communication between vehicles. It can also be extended to wireless data-based intelligent road networks and systems for autonomous driving.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.48 no.6
• /
• pp.88-96
• /
• 2011

Underwater acoustic communication is applicable in various areas, such as ocean data collection, undersea exploration and development, tactical surveillance, etc. Thus, robot control system construction used for underwater-robot like AUV or ROV is essential in these areas. In this paper, we propose the Message Merging MAC($M^2$-MAC) protocol, which is suitable for real time robot control system, considering energy efficiency in important parts of underwater acoustic sensor network constitution. In this proposed MAC protocol, gateway node receives the data from robot nodes according to the time slots that were allotted previously. And messages delivered from base-station are generated to one MAC frame by buffering process. Finally, generated MAC frames are broadcasted to all robot nodes in the cluster. Our suggested MAC protocol can also be hybrid MAC protocol, which is successful blend of contention based and contention-free based protocol through relevant procedure with Maintenance&Sleep (M&S) period, when new nodes join and leave as an orphan. We propose mathematical analysis model concerned about End-to-End delay and energy consumption, which is important factor in constructing real-time robot control system. We also verify the excellence of performance according to comparison of existing MAC protocols with our scheme.

• Journal of Advanced Marine Engineering and Technology
• /
• v.40 no.6
• /
• pp.516-526
• /
• 2016

This paper introduces a hovering-type autonomous underwater vehicle (AUV) developed for research and its fundamental motion performance results obtained by simulation and field test. The AUV can control its motion in four degrees of freedom (DOF) by means of its horizontal and vertical thrusters, and it is designed to provide a test-bed that facilitates ease of operation and experimentation. Prior to the field tests, six DOF equations of motion are developed, and a simulation program is constructed using MATLAB and Simulink to verify the essential motion performance of the designed vehicle. Furthermore, a proportional-integral-derivative (PID) controller and fuzzy PID controller are designed, and their performances are verified through a simulation. Field tests are performed to verify the motion performance of the AUV; way-point tracking is executed by the PID and fuzzy PID controllers. The results confirmed appropriate control performance under current disturbances.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.25 no.2
• /
• pp.126-132
• /
• 2015

Technology forecasting is about understanding a status of a specific technology in the future, based on the current data of the technology. It is useful when planning technology management strategies. These days, it is common for countries, companies, and researchers to establish R&D directions and strategies by utilizing experts' opinions. However, this qualitative method of technology forecasting is costly and time consuming since it requires to collect a variety of opinions and analysis from many experts. In order to deal with these limitations, quantitative method of technology forecasting is being studied to secure objective forecast result and help R&D decision making process. This paper suggests a methodology of technology forecasting based on quantitative analysis. The methodology consists of data collection, principal component analysis, and technology forecasting by logistic regression, which is one of the data mining techniques. In this research, patent documents related to autonomous vehicle are collected. Then, the texts from patent documents are extracted by text mining technique to construct an appropriate form for analysis. After principal component analysis, logistic regression is performed by using principal component score. On the basis of this result, it is possible to analyze R&D development situation and technology forecasting.

• Journal of Korean Society of Forest Science
• /
• v.106 no.1
• /
• pp.100-109
• /
• 2017

This study was conducted for preliminary survey and management support for Pine Wood Nematode (PWN) suppression. We took areal photographs of 6 areas for a total of 2,284 ha during 2 weeks period from 15/02/2016, and produced 6 ortho-images with a high resolution of 12 cm GSD (Ground Sample Distance). Initially we classified 423 trees suspected for PWN infection based on the ortho-images. However, low accuracy was observed due to the problems of seasonal characteristics of aerial photographing and variation of forest stands. Therefore, we narrowed down 231 trees out of the 423 trees based on the initial classification, snap photos, and flight information; produced thematic maps; conducted field survey using GNSS; and detected 23 trees for PWN infection that was confirmed by ground sampling and laboratory analysis. The infected trees consisted of 14 broad-leaf trees, 5 pine trees (2 Pinus rigida), and 4 other conifers, showing PWN infection occurred regardless of tree species. It took 6 days for 2.3 men from to start taking areal photos using UAV (Unmanned Aerial Vehicle) to finish detecting PNW (Pine Wood Nematode) infected tress for over 2,200 ha, indicating relatively high efficacy.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
• /
• v.8 no.3
• /
• pp.945-953
• /
• 2018

In this paper, we use 3-D LIDAR for obstacle detection and avoidance maneuver for autonomous unmanned operation. It is aimed to avoid obstacle avoidance in unmanned water under marine condition using only single sensor. 3D lidar uses Quanergy's M8 sensor to collect surrounding obstacle data and includes layer information and intensity information in obstacle information. The collected data is converted into a three-dimensional Cartesian coordinate system, which is then mapped to a two-dimensional coordinate system. The data including the obstacle information converted into the two-dimensional coordinate system includes noise data on the water surface. So, basically, the noise data generated regularly is defined by defining a hypothetical region of interest based on the assumption of unmanned water. The noise data generated thereafter are set to a threshold value in the histogram data calculated by the Vector Field Histogram, And the noise data is removed in proportion to the amount of noise. Using the removed data, the relative object was searched according to the unmanned averaging motion, and the density map of the data was made while keeping one cell on the virtual grid map. A polar histogram was generated for the generated obstacle map, and the avoidance direction was selected using the boundary value.

• Journal of the Korea Society of Computer and Information
• /
• v.28 no.10
• /
• pp.1-8
• /
• 2023

If there is a defect in the wheel bearing, which is a major part of the car, it can cause problems such as traffic accidents. In order to solve this problem, big data is collected and monitoring is conducted to provide early information on the presence or absence of wheel bearing failure and type of failure through predictive diagnosis and management technology. System development is needed. In this paper, to implement such an intelligent wheel hub bearing maintenance system, we develop an embedded system equipped with sensors for monitoring reliability and soundness and algorithms for predictive diagnosis. The algorithm used acquires vibration signals from acceleration sensors installed in wheel bearings and can predict and diagnose failures through big data technology through signal processing techniques, fault frequency analysis, and health characteristic parameter definition. The implemented algorithm applies a stable signal extraction algorithm that can minimize vibration frequency components and maximize vibration components occurring in wheel bearings. In noise removal using a filter, an artificial intelligence-based soundness extraction algorithm is applied, and FFT is applied. The fault frequency was analyzed and the fault was diagnosed by extracting fault characteristic factors. The performance target of this system was over 12,800 ODR, and the target was met through test results.

• Journal of Korea Multimedia Society
• /
• v.19 no.2
• /
• pp.252-263
• /
• 2016

Road sign is an important street furniture that gives some information such as road conditions, driving direction and condition for a driver. Thus, road sign is a major target of image recognition for self-driving car, ADAS(autonomous vehicle and intelligent driver assistance systems), and ITS(intelligent transport systems). In this paper, an enhanced road sign recognition system is proposed for MMS(Mobile Mapping System) using the single camera and GPS. For the proposed system, first, a road sign recognition scheme is proposed. this scheme is composed of detection and classification step. In the detection step, object candidate regions are extracted in image frames using hybrid road sign detection scheme that is based on color and shape features of road signs. And, in the classification step, the area of candidate regions and road sign template are compared. Second, a Geo-marking scheme for geo-content that is consist of road sign image and coordinate value is proposed. If the serious situation such as car accident is happened, this scheme can protect geographical information of road sign against illegal users. By experiments with test video set, in the three parts that are road sign recognition, coordinate value estimation and geo-marking, it is confirmed that proposed schemes can be used for MMS in commercial area.

• Korean Institute of Interior Design Journal
• /
• v.22 no.6
• /
• pp.162-172
• /
• 2013

This study focuses on the genealogical analysis of the urban public spaces by the local history of Seoul which is significantly different from western cities. The analysis targets the discourse of the urban street which defines urban space-structure among the urban public spaces. Based on the analysis, we define the progress levels of urban public design policy in Seoul. Firstly, in 1960's and 1970's, 'urban reconstruction' was intensively carried out for the country modernization, and 'vehicle preferred street expansion' resulted in damages to historical inheritance, in-humanized street, and cultural uniformity. 1980's and 1990's would be defined as 'politic acceptance of plural values to the urban street.' There were the Olympic Games held in Seoul in 1988, which were the celebrations of the 600th capital establishment and the autonomous local government system. In the meanwhile, diverse values on the urban street were discussed in terms of globalization. There also were the self-reflection for the urban skyscrapers and high-population rate, the cultural uniformity of urban street, and the commercialization in downtown with urban reconstruction plans. Then, the sense of landscape and amenity was focused. Various urban projects and regulations were held according to the changes of value recognition. 2000's can be defined as 'introduction to the organic integration and the urban public design governance.' In the 21st century, types of recognition have changed significantly, which include publicness, humanism, sustainability, symbolism, artistry, placeness, and communication. They cause the establishment of ordinances and the installation of integrated organization via urban design administration. The legislation has been revised in order to support the various methods for the maintenance and operation of urban landscape in terms of local characteristics. New regulations were established for residents to participate in the processes of the urban planning with street design policy.