• Journal of the Computational Structural Engineering Institute of Korea
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• v.18 no.4 s.70
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• pp.361-372
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• 2005

In the previous study(Kim 등, 2004), the finite element method was used for the vortical vibration analysis of suspension bridge with the effects of the shear deformation and the rotary inertia under moving load considering the bridge-vehicle interaction. The purpose of this study is to investigate the effect of an eccentric vehicle and shear deformation. So we firstly performs the eigenvalue analysis for the free vortical and the torsional vibration of suspension bridges using FEM analysis. Next the equations of motion considering interaction between suspension bridges and vehicles/trains are derived using the mode superposition method. And then dynamic analysis was performed using the Newmark method. Finally through the numerical examples, the dynamic responses of bridges are investigated according to the proposed procedure.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.12
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• pp.95-101
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• 2009

s economic development has been achieved and society gets complicated, problems of traffic system have been also exposed. Due to these problems, drivers have to endure economic loss and delayed time. A web-based parking lot management system has been proposed to solve this problem. Because a parking lot is an important resource of traffic system, efficient management of parking lots can be means to solve critical problems of traffic system. In this study a simple method is introduced to detect moving vehicles with geometric information of moving objects that has been computed from surveillance cameras installed in a parking lot. Statistical information processed from image data is also stored on a server side, such as total number of parking lots, a number of parked cars and a number of available parking spots. A client who wants to know the nearest parking place can share the information via a mobile device and shorten his or her driving time. Great benefit to both drivers and society is expected if many parking lots are equipped with this system.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.1
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• pp.40-49
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• 2007

In a visual driver-assistance system, separating moving objects from fixed objects are an important problem to maintain multiple hypothesis for the state. Color and edge-based tracker can often be 'distracted' causing them to track the wrong object. Many researchers have dealt with this problem by using multiple features, as it is unlikely that all will be distracted at the same time. In this paper, we improve the accuracy and robustness of real-time tracking by combining a color histogram feature with a brightness of Optical Flow-based feature under a Sequential Monte Carlo framework. And it is also excepted from Tracking as time goes on, reducing density by Adaptive Particles Number in case of the fixed object. This new framework makes two main contributions. The one is about the prediction framework which separating moving objects from fixed objects and the other is about measurement framework to get a information from the visual data under a partial occlusion.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.2
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• pp.178-185
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• 2011

In this paper, we propose the position estimation algorithm based on the multisensor fusion using equalization of state variables and feedback structure. First, the state variables measured from INS of main sensor with large error and DVL of assistance sensor with small error are measured before prediction phase. Next, the equalized state variables are entered to each filter and fused the enhanced state variables for prediction and update phases. Finally, the fused state variables are returned to the main sensor for improving the position estimation of UUV. For evaluation, we create the moving course of UUV by simulation and confirm the performance of position estimation by applying the proposed algorithm. The evaluation results show that the proposed algorithm is the best for position estimation and also possible for robust position estimation at the change period of moving courses.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.591-597
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• 1996

To straighten the path that farm machinery follows in paddy fields, it is necessary to measure and evaluate the tracks that these machines leave behind. However, there are no known methods for making such measurements and evaluations since it is difficult to accurately trace the paths that the machine make in paddy fields. Therefore, a measuring system has been developed which can accurately recored the path of a farm machinery in a field by measuring the horizontal straight-line distance from the side of the field to the machine. This system consists of a track subsystem on the machine and a range finder system. A measuring appraratus is installed on a flatcar which runs on rails over 50 m long at the side of the filed. The track subsystem uses a CCD camera to track the movement of the machine in the field which is following a lengthwise path. The range finder subsystem measures the distance that the measuring apparatus has traveled on the rails and the distance from the app ratus to the machine in the field. This system makes it possible to record the path that the machine travels. Even though differences in traveling distance arise between the measuring apparatus and the farm machine, these differences are detected by image processing , which allows the machine in the field to be located accurately. The short(0.05 second) time required for image processing is enough to follow an object . In the present study, this system was able to measure the path that a moving tractor makes. Even though a lag of up to 0.4 meters occurred, this system did not miss its target during operation of the track subsystem. Thus the path measuring system developed here is able to record vehicle paths automatically by following the movement of vehicles in the field and measuring the distance to them. It is expected to come into use in such applications as unmanned moving vehicle tests.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.24-30
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• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.170-178
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• 2017

This paper proposes an improved path-planning technique based on the $A^*$ algorithm. The conventional $A^*$ algorithm only considers the optimality of the planned path and sometimes produces a path that an unmanned underwater vehicle (UUV) cannot navigate due to its dynamic constraint such as the limit of the radius of gyration. It is because that the previous method evaluate the moving cost based on the straight distance between nodes. We enhance the conventional method by evaluating the moving cost on the basis of the practically navigable trajectory, which is generated by the waypoint-tracking control of the UUV dynamics. The simulation examples indeed show the effectiveness of the proposed technique.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.8B
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• pp.695-705
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• 2012

Due to recent advances in wireless devices and the automotive industry, Vehicular Ad hoc Networks (VANETs) have emerged as a very promising technology for transferring data collected on the road by moving cars. The delivered data may contain emergency information which affects the safety of passengers and drivers as well as the traffic congestion, and the routing protocols have thus a significant impact on the performance of VANETs. In this paper, we study the impact of movement direction of the participating cars which forward data packets on the performance of data delivery and present a new approach which extends the contention-based forwarding (CBF). The proposed reliable CBF (R-CBF) increases the reliability of data deliver on the traffic lights installed roads and reduces the overall propagation delay without routing loops or interruption of data forwarding that may be caused by changes of relative positions of involving cars in routing. Simulation demonstrates that the R-CBF diminishes propagation delay by 38% in comparison to G-SRMB which forwards data to moving cars in the backward direction and eliminates unnecessary retransmissions.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.10 no.6
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• pp.32-39
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• 2011

Even if the traffic light is green, if vehicles enter a jammed intersection, they are violation of the law. The police is enforcing law as a part of a nation wide campaign. Because, using the camcorder, the police can not do enforcement the offending vehicle, there are other techniques. Our research group proposed automated photographic equipment enable to enforce moving violation in intersection. Using new license plate recognition technology and backtracking technology to trace the offending vehicle, once the system detects a violator, it records 8 wide pictures and 1picture from the front vehicle, showing it enter and proceed through the intersection. Field experimental results obtained in the system, the following conclusions. The three measures of effectiveness investigated were recognition rate 83.5, mis-match recognition rate 1.5%.

• Journal of the Korean Society for Railway
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• v.16 no.4
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• pp.298-304
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• 2013

This paper systematically analyzes the dynamic effects of structure approaches which are expected to have direct effects on train loads - according to the train's acceleration as the area under consideration is located in a section where acceleration of high speed railway vehicles and the train's operating speed happens. In addition, through an examination of the dynamic train loads, dynamic behavioral characteristics of embedded structures and structure approaches were analyzed and a numerical analysis has been carried out in order to evaluate the performance of track subgrade and the safety of the structure. As a result, we reach the conclusion that the dynamic effects by train loads is low, but somewhat high vertical acceleration occurs.