• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.183-183
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• 2007

Bimodal Tram is a new public transportation system combined subway with bus and consists of variable electric equipment to accomplish the comfortness, reliability, safety and so on. One of them is VCU(Vehicle Control Unit) for Performing driver's cmmand and monitoring the state of other equipment. To lessen the wiring and the interference of outer electromagnetic noises is very important things for bimodal tram with complicated configuration of electric equipments. This paper has investigated the application of CAN(Controller Area Network) communication method for VCU which has display, central unit and several nodes that are connected with other electric equipments(HVAC, door controller etc). We designed and manufactured the prototype of VCU which eventually will be installed on bimodal tram being developed in KRRI at present.

• Review of KIISC
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• v.33 no.4
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• pp.47-55
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• 2023

자동차 산업에서 전자제어장치 (Electronic Controller Unit, ECU)를 활용한 혁신으로 운전자들은 안전하고 편리한 운전경험을 누리고 있다. 그러나 이와 동시에, 차량 내부 ECU 간의 통신을 지원하는 CAN (Controller Area Network)을 대상으로 한 악의적인 침입과 사이버 공격의 위협 역시 증가하고 있다. 이러한 문제에 대응하기 위해 많은 연구가 진행 중이며, 특히 자동차 침입 탐지 시스템 (Intrusion Detection System, IDS)의 발전이 주목받고 있다. 그러나 대부분의 IDS는 주로 공격을 탐지하는 데 집중되어 있으며, 실제 악의적인 메시지를 전송한 ECU를 정확히 식별하는 데에는 한계점이 있다. 악의적인 ECU를 식별하는 기술은 공격 ECU를 격리시키거나 펌웨어 업데이트 등의 보안 패치를 적용하는데 필수적인 기술이다. 본 고에서는 현재까지 제안된 CAN에서의 악의적인 ECU를 식별하기 위한 기술들에 대해 살펴보고, 비교 분석 및 한계점에 대해 분석하고자 한다.

• Journal of Navigation and Port Research
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• v.29 no.6 s.102
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• pp.555-560
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• 2005

Recently, many control systems are replaced with digital control systems in an effort to optimize the overall performance. In order to operate these systems efficiently, the conventional point-to-point connection method must be changed to the signal exchange via a communication network. This paper investigates the technical feasibility of the crane system using CAN protocol which is a part NMEA 2000 by implementing a network-based control system emulating the crane control system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.8C
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• pp.711-720
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• 2012

In this paper, we introduce the implementation of driver fatigue monitering system and its result. Input video device is selected commercially available web-cam camera. Haar transform is used to face detection and adopted illumination normalization is used for arbitrary illumination conditions. Facial image through illumination normalization is extracted using Haar face features easily. Eye candidate area through illumination normalization can be reduced by anthropometric measurement and eye detection is performed by PCA and Circle Mask mixture model. This methods achieve robust eye detection on arbitrary illumination changing conditions. Drowsiness state is determined by the level on illumination normalize eye images by a simple calculation. Our system alarms and operates seatbelt on vibration through controller area network(CAN) when the driver's doze level is detected. Our algorithm is implemented with low computation complexity and high recognition rate. We achieve 97% of correct detection rate through in-car environment experiments.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.5
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• pp.577-585
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• 2015

This paper deals with development of an autopilot system for leisure yacht based on NMEA 2000 network and android platform. The developed system can operate both for manual steering and automatic navigation mode. In automatic steering mode, after manipulation of commands which are NMEA 0183 sentences by android platform, the developed system translates and sends the packets through NMEA 2000 network. Then the controller which is connected to NMEA 2000 network receives the commands and controls the boat's rudder system automatically. The automatic steering mode is achieved by cooperation of two controllers; one for controlling the rudder system, and the other for controlling the vessel's heading. To control the vessel's rudder and heading angle two PID controllers are developed with an adjustable dead-band gain. Also, in order to eliminate the steady-state error occurred by applying dead-band, an integral controller which specifically supervises the system's behavior inside the dead-band area is developed. In this paper, at the first stage, simulations are accomplished using computer in order to examine the feasibility of the proposed based on simulation results. In the next step, the system on a real hydraulic steering model is implemented and at the end the performance examination by implementing it on a real boat and doing test navigation is executed.

• Journal of Advanced Navigation Technology
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• v.14 no.3
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• pp.321-327
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• 2010

This paper deals with the design and development of the motorized valve control system using CANopen protocol. The CAN network protocol is used in the physical layer(layer 1) and data link layer(layer 2), and other upper network layer above that layer 1 and 2 utilize the CANopen protocol in this paper. The motorized valve controller is implemented by a PIC microprocessor, and the server application software for the control system user is written in C# language. In particular the CANopen protocol is widely used int the area such as ship automation systems and marine transportation systems. The experimental result of the proposed control system implemented in this paper is evaluated via real-time experiments, which works well as designed.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.898-904
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• 2010

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control and so on. Implementation, which is often neglected, is one of practical issues in developing such an autonomous device. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. Another requirement on the integration is that the system should allow changes in the system design so that modification and addition of system components can be accommodated without too much effort. This paper presents a network-based distributed approach where system components are connected to a shared CAN network, and control functions are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. This approach is successfully applied to develop an unmanned forklift.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1051-1058
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• 2011

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. Especially, automation of pallet loading and unloading technique is useful for enhancing performance of logistics and reducing cost for automation system. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control, and so on. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. This paper presents a vision sensorbased autonomous loading and unloading for network-based unmanned forklift where system components are connected to a shared CAN network. Functions such as image processing and control algorithm are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. And the experimental results show that proposed architecture can be an appropriate choice for autonomous loading in the unmanned forklift.

• Journal of IKEEE
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• v.5 no.1 s.8
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• pp.35-42
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• 2001

This paper deals with an architecture of network-based control system using the CAN(Controller Area Network) protocol and its traffic analysis. It is difficult to determine an optimal network-based control architecture for a specific AGV(Autonomous Guided Vehicle) system with a manipulator arm. The fixed number of periodic messages to be occurred is pre-defined in the system. To determine whether the proposed system architecture is effective or not, we perform traffic analysis for the real-time communication of all messages. Through simulations, the range of transmission speed is found satisfying required conditions and the permissible number of additional sensors is investigated for improving the system performance, when the sampling periods of analog sensors are determined under fixed condition that the transmission speed is over 500Kbps.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2296-2300
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• 2005

This paper deals with the real-time message network system by a CAN (controller area network) based on the real-time distributed control scheme to integrate actuators and sensors in a humanoid robot. In order to apply the real-time distributed processing for a humanoid robot, each control unit should have the real-time efficient control method, fast sensing method, fast calculation and real-time valid data exchange method. Moreover, the data from sensors and encoders must be transmitted to the higher level of control units in maximum time limit. This paper describes the real-time message network system design and the performance of the system.