• ETRI Journal
• /
• v.37 no.3
• /
• pp.617-625
• /
• 2015

In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.

• ETRI Journal
• /
• v.26 no.1
• /
• pp.13-20
• /
• 2004

We propose a new optical code division multiple access (OCDMA) scheme for reducing multiple access interference (MAI) and enhancing performance for optical subscriber access networks using modified pseudorandom noise (PN)-coded fiber Bragg gratings with bipolar OCDMA decoders. Through the bipolar OCDMA decoder and the modified PN codes, MAI among users is effectively depressed. As the data are encoded either by a unipolar signature sequence of the modified PN code or its complement according to whether the data bit is 1 or 0, the bit error ratio (BER) can be more improved with the same signal to interference plus noise ratio over the conventional on-off shift keying-based OCDMA system. We prove by numerical analysis that the BER of the proposed bipolar OCDMA system is better than the conventional unipolar OCDMA system. We also analyze the spectral power distortion effects of the broadband light source.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1995.10b
• /
• pp.71-77
• /
• 1995

In this paper are proposed robust iterative learning control(ILC) algorithms for both linear continuous time-invariant system and linear discrete-time system. In contrast to conventional methods, the proposed learning algorithms are constructed based on both time domain performance and iteration-domain performance. The convergence of the proposed learning algorithms is proved. Also, it is shown that the proposed method has robustness in the presence of external disturbances and the convergence accuracy can be improved. A numerical external disturbances and the convergence accuracy can be improved. A numerical example is provided to show the effectiveness of the proposed algorithm.

• Carbon letters
• /
• v.27
• /
• pp.12-17
• /
• 2018

We fabricated a Li-S battery with post-treated carbon nanotube (CNT) films which offered better support for sulfur, and investigated the effect of the surface properties and pore structure of the post-treated CNT films on Li-S battery performance. Post-treatments, i.e., acid treatment, unzip process and cetyltrimethylammonium bromide (CTAB) treatment, effectively modified the surface properties and pore structure of the CNT film. The modified pore structure impacted the ability of the CNT films to accommodate the catholyte, resulting in an increase in initial discharge capacity.

• Journal of the Korean Ceramic Society
• /
• v.56 no.3
• /
• pp.325-330
• /
• 2019

Band convergence is known to be effective in improving thermoelectric performance by increasing the Seebeck coefficient without significantly reducing electrical conductivity. Decoupling of the Seebeck coefficient and electrical conductivity in converged bands is the key requirement. Yet, the degree of decoupling depends on the band parameters of the converging bands. Herein, we report theoretical transport properties of two valence bands as their energy difference changes from 0.25 eV to 0 eV. In order to demonstrate the effect of band parameters in transport, we first conducted calculations for the case where the two bands have the same parameters. Then, we conducted the same calculation by doubling the density-of-states effective mass of one valence band. Given that there are two bands, each band's effective mass was doubled one at a time while the other band's effective mass remained constant. We found that the decoupling was strongest when the bands participating in convergence had the same band parameters.

• The Journal of Korea Robotics Society
• /
• v.13 no.4
• /
• pp.205-212
• /
• 2018

This paper deals with the paddle type end of arm tool for rescue robot instead of rescue worker in dangerous environments such as fire, earthquake, national disaster and defense. It is equipped at the dual arm manipulator of the rescue robot to safely lift up an injured person. It consists of the paddle for lifting person, sensors for detecting insertion of person onto the paddle, sensor for measuring the tilting angle of the paddle, and mechanical compliance part for preventing incidental injuries. The electronics is comprised of the DAQ module to acquire the sensors data, the control module to treat the sensors data and to manage the errors, and the communication module to transmit the sensors data. After optimally designing the mechanical and electronical parts, we successfully made the paddle type end of arm tool and evaluated its performance by using specially designed jigs. The developed paddle type end of arm tool is going to be applied to the rescue robot for performance verification through field testing.

• ETRI Journal
• /
• v.43 no.3
• /
• pp.538-548
• /
• 2021

This paper proposes an approach to improve the performance of no-reference video quality assessment for sports videos with dynamic motion scenes using an efficient spatiotemporal model. In the proposed method, we divide the video sequences into video blocks and apply a 3D shearlet transform that can efficiently extract primary spatiotemporal features to capture dynamic natural motion scene statistics from the incoming video blocks. The concatenation of a deep residual bidirectional gated recurrent neural network and logistic regression is used to learn the spatiotemporal correlation more robustly and predict the perceptual quality score. In addition, conditional video block-wise constraints are incorporated into the objective function to improve quality estimation performance for the entire video. The experimental results show that the proposed method extracts spatiotemporal motion information more effectively and predicts the video quality with higher accuracy than the conventional no-reference video quality assessment methods.

• Journal of the Microelectronics and Packaging Society
• /
• v.27 no.4
• /
• pp.39-45
• /
• 2020

The Cu/Cu2O/CuO photoelectrode has been successfully fabricated by Rapid Thermal Annealing technique. The structural characterization of fabricated photoelectrode was performed using X-Ray diffraction, while elemental composition of the prepared material has been checked with X-Ray Photoelectron Spectroscopy. The synthesis parameters are optimized on the basis of photoelectrochemical performance. The best photoelectrochemical performance has been observed for the Cu/Cu2O/CuO photoelectrode fabricated at 550 ℃ oxidation temperature and oxidation time of 50 seconds with highest photocurrent density of -3 mA/㎠ at -0.13 V vs. RHE.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.17 no.3
• /
• pp.816-839
• /
• 2023

In a random vector functional link (RVFL) network, shortcomings such as local optimal stagnation and decreased convergence performance cause a reduction in the accuracy of illumination correction by only inputting the weights and biases of hidden neurons. In this study, we proposed an improved regularized random vector functional link (RRVFL) network algorithm with an optimized grey wolf optimizer (GWO). Herein, we first proposed the moth-flame optimization (MFO) algorithm to provide a set of excellent initial populations to improve the convergence rate of GWO. Thereafter, the MFO-GWO algorithm simultaneously optimized the input feature, input weight, hidden node and bias of RRVFL, thereby avoiding local optimal stagnation. Finally, the MFO-GWO-RRVFL algorithm was applied to ameliorate the performance of illumination correction of various test images. The experimental results revealed that the MFO-GWO-RRVFL algorithm was stable, compatible, and exhibited a fast convergence rate.

• Journal of the Korean Society of Industry Convergence
• /
• v.27 no.4_2
• /
• pp.953-960
• /
• 2024

The purpose of this study was to examine the factors affecting adults' confidence in performing CPR. As for the research method, a survey was conducted from August to October 2022, and 146152 subjects were. The collected data were analyzed by the SPSS 24.0 program. Factors influencing confidence in performing CPR were gender, age, education level, economic activity, smoking or not, drinking or not, subjective health status, marital status, CPR education experience, and accident addiction experience. It is hoped that this will be used as basic data for the development of related education programs to increase CPR performance and to provide a theoretical basis for the appropriate CPR education method for adults by grasping the effect of the degree of CPR education on their performance confidence.