• Proceedings of the ESK Conference
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• 1994.04a
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• pp.75-84
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• 1994

A control panel layout method based on the constraint satisfaction problem(CSP) technique was developed to generate an ergonomically sound panel design. This control panel layout method attempts to incorporate a variety of relevant ergonomic principles and design constrains, and generate an optimal or, at least, a "satisfactory" solution through the efficient search algorithm. The problem of seeking an ergonomically sound panel design should be viewed as a multiple criteria problem, and most of the design objectives should be understood as constraints. Hence, a CSP technique was employed in this study for dealing with the multi-constraiants layout problem. The efficient search algorithm using "preprocess" and "look ahead" procedures was developed to handle the vast amount of computational effort. In order to apply the CSP technique to the panel layout procedure, the ergonomic principles such as spatial compatibility, frequency-of- use, importance, functional grouping, and sequence-of-use were formalized as CSP terms. The effectiveness of the developed panel layout method was evaluated by example problems, and the results clearly showed that the generated layouts took various ergonomic design principles into account.esign principles into account.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.11
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• pp.979-987
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• 2012

This paper implements and integrates algorithms for terrain following of UCAVs (Unmanned Combat Aerial Vehicles): trajectory generation, guidance, and navigation. Terrain following is very important for UCAVs because they perform very dangerous missions such as Suppression of Enemy Air Defences while the terrain following can improve the survivability of UCAVs against from the air defence systems of the enemy. To deal with the GPS jamming, terrain referenced navigation based on nonlinear filter is chosen. For the trajectory generation, Voronoi diagram is adopted to generate horizontal plane path to avoid the air defense system. Cubic spline method is used to generate vertical plane path to prevent collisions with ground while flying sufficiently close to surface. Follow-the-Carrot and pure pursuit tracking methods, which are look-ahead point based guidance algorithms, are applied for the guidance. Numerical simulation is performed to verify the performance of the integrated terrain following algorithm.

• Journal of Korean Institute of Industrial Engineers
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• v.20 no.4
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• pp.85-97
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• 1994

An interactive and iterative control panel layout method based on the constraint satisfaction problem (CSP) technique was developed to generate an ergonomically sound panel design. This control panel layout method attempts to incorporate a variety of relevant ergonomic principles and design constraints, and generate an optimal or, at least, a "satisfactory" solution through an efficient search algorithm. The problem of seeking an ergonomically sound panel design should be viewed as a multi-criteria design problem and most of the design objectives should be understood as constraints. Hence, a CSP technique was employed in this study for dealing with the multi-constraints layout problem. The efficient search algorithm using "preprocess" and "look_ahead" procedures was developed to handle vast amount of computation. In order to apply the CSP technique to the panel layout procedure, the ergonomic principles such as spatial compatibility, frequency-of-use, importance, functional grouping, and sequence-of-use were formalized as CSP terms. The effectiveness of the proposed panel layout method was evaluated by example problems and the results clearly showed that the generated layouts properly considered various ergonomic design principles.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.165-168
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• 2001

This paper presents a design of a divide unit supporting IEEE-754 floating point standard single-precision with 32-bit word length. Its functions have been verified with ALTERA MAX PLUS II tool. For a high-speed division operation, the radix-4 non-restoring algorithm has been applied and CLA(carry-look -ahead) adders has been used in order to improve the area efficiency and the speed of performance for the fraction division part. The prevention of the speed decrement of operations due to clocking has been achieved by taking advantage of combinational logic. A quotient select block which is very complicated and significant in the high-radix part was designed by using P-D plot in order to select the fast and accurate quotient. Also, we designed all division steps with Gate-level which visualize the operations and delay time.

• ETRI Journal
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• v.31 no.4
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• pp.393-398
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• 2009

The operation of a first-order 2-bit adaptive sigma-delta modulation system is described and discussed in this paper. The system operation is based on the combination of both "memory" and "look-ahead" estimation in the employed step-size adaptation algorithm of the basic quantizer. In comparison to simple systems and other adaptive sigma-delta systems, computer simulation results show that these features of the described system are responsible for the high SNR values and the extended dynamic range achieved for AC signals as well as the noise power reduction of almost 10 dB and the complete elimination of the idle tones for DC signals. However, such an advantageous performance requires the least possible multiplicative error accumulation, and this cannot be achieved without analog circuits of the highest possible accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.347-347
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• 2000

Nowadays, the Laser image is used to realize multi-media show for events, an advertising media and 3D simulation, realization of video image and so on. It is a hot issue to realize the laser image like computer graphic image. The image used in laser projector is vector graphic image that is described by linking point to point. A computer makes this continuous vector graphic images so that the image shows as an animation. A control signal converted by a computer makes the laser projector draw image. Two motors and universal joint are used to realize 2D laser image in this study. Developing a controller applied Look-ahead algorithm and software to interface with personal computer, This study is the chief aim of improving difference of moving velocity that is appeared from edge of vector graphic image and disparity of graphic density.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.5
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• pp.162-171
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• 1999

The most important part in automated transport systems is steering control for lane keeping Most of systems developed so far have used the visual information for steering control. In this study, the steering control algorithm based on visual servoing has been developed and tested by applying it on Radio Controlled(R/C) model car equipped with one CCD camera. We also demonstrated the feasibility of using it as a pre-test car before the real car experiment in developing automated vehicles. In order to solve the problem of the limited spave and load of a model car, remote-brained approach has been taken. For steering control of a model car, the PD controller which uses the look ahead offset to generate control input has been implemented and the characteristics of the controller has been explained in view of kinematics. Some experimental results have been also illustrated so as to show the control performance and stability.

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

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.142-151
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• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.6
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• pp.194-207
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• 2000

In this paper, we suggest a vision-based lane change control system, which can be applied on the straight road, without additional sensors such as a yaw rate sensor and a lateral accelerometer. In order to reduce the image processing time, we predict a reference line position during lane change using the lateral dynamics and the inverse perspective mapping. The sliding mode control algorithm with a boundary layer is adopted to overcome variations of parameters that significantly affects a vehicle`s lateral dynamics and to reduce chattering phenomenon. However, applying the sliding mode control to the system with a long sampling interval, the stability of a control system may seriously be affected by the sampling interval. Therefore, in this paper, a look ahead offset has been used instead of a lateral offset to reduce the effect of the long sampling interval due to the image processing time. The control algorithm is developed to follow the desired trajectory designed in advance. In the design of the desired trajectory, we take account of the constraints of lateral acceleration and lateral jerk for ride comfort. The performance of the suggested control system is evaluated in simulations as well as field tests.