• 한국정보통신학회논문지
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• 제25권3호
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• pp.396-402
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• 2021

최근 스마트 도시를 구축하기 위해 무인 차량 관제 시스템의 보급이 활성화 되고 있다. 본 논문은 적응적 배경영상 모델링 방법을 이용한 불법주정차 무인단속시스템에 관한 것으로서, 적응적 가우시안 혼합 모델로 배경 영상을 모델링할 때, 이동 물체의 상황 변화에 따라 전역적으로 배경 영상을 업데이트하거나 국소적으로 배경 영상을 업데이트하는 방법에 대해 기술한다. 특히, 이동 물체가 배경 영상에 미치는 영향을 최소화하는 방법과 배경 영상을 정확하게 업데이트하기 위한 방법을 제안한다. 본 논문에서는 시스템의 구현을 통해 제안하는 시스템이 이동하고 있는 물체 또는 정지상태의 물체를 신속하고 정확하게 구분할 수 있음을 증명하였다.

• 한국건축시공학회지
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• 제14권1호
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• pp.1-10
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• 2014

The SC structure can have relatively liberal sectional surfaces, and allows modularization for pre-forming in factories and structural stability. It can be used for the shear walls in the core of general buildings or the structural members for parking buildings. In the future, it could be applied to moving large bus terminals, and widely used for general industrial structures as it can expedite the process compared to other methods. This study examined the applicability of SC structures to the retaining walls of a parking building and reviewed its economic value by comparing its construction term, quality control benefits, and cost compared to RC structures. It was found that SC structures are about 1.6-1.7 times more expensive than RC structures in terms of the cost of fabrication and installation. However, the construction term can be reduced by 27% to save indirect costs for constructors, as well as the cost of removing molds and material loss required when installing RC structures.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.413-416
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• 1996

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.15-18
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• 2003

This paper presents an adaptive control scheme for parking or regulating a nonholonomic mobile robot of an unicycle type with parameter uncertainty. The kinematics can be described with Brockett's nonholonomic integrator. The control law is designed in cylindrical coordinates together with the estimation law for the uncertain parameters such that the controlled signals converge to zero while guaranteeing the boundedness of the estimation errors. The effectiveness of the proposed scheme is demonstrated using simulations.

• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1256-1265
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• 2011

Automated parking assist systems are being commercialized and rapidly spread in the market. In order to improve odometry accuracy, we proposed a practical odometry calibration scheme of Car-Like Mobile Robot (CLMR). However, there were some open problems in our prior work. For example, it was not clear whether the kinematic parameters always converged or not using the proposed calibration scheme. In addition, test driving had to be carried out "twice" without detailed explanation. This research aims to provide answers for the addressed questions though the convergence property analysis of the calibration scheme. In this paper, we evaluate on the effect of the kinematic parameter error on the odometry error at the final pose by numerical computation. The evaluation will show that the wheel diameter and tread of the CLMR can be calibrated by iterative test drives. In addition, the region of convergence in the parametric space will be discussed. Presented experimental results clearly showed that the proposed calibration scheme would be useful in practical applications.

• 융합신호처리학회논문지
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• 제2권2호
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• pp.103-110
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• 2001

기존 도로시설과 주차시설의 이용율을 높이기 위해 높이가 높고 폭이 좁은 차량의 이용에 관심이 증대되고 있다. 그러나 이러한 종류의 차량은 선회시 안쪽으로 기울어짐으로 안정도 문제가 중요하다. 직접 기울임 제어 방법과 스티어링 기울임 제어 방법이 폭이 좁은 차량의 안정도를 위해 제안되고 있다. 본 논문에서는 직접 기울임 제어법과 스티어링 기울임 제어법의 장점을 이용한 새로운 제어법을 제안한다. 즉 서로 상반된 제어 특징을 갖는 두 제어 법을 스위칭 제어 방식으로 제어하게 되며, 제안된 제어기의 원활한 스위칭 전환을 위해 적당한 제어이득이 제안된다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.160.1-160
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• 2001

In this study, control technique of two types of automatic snowplow was experimentally investigated. One is a remote-controlled snowplow used for removing snow around houses, and the other is an autonomous snowplow for use in wide, open spaces such as a parking lot of a large-scale retail store. A commercially available snowplow was modified to enable remote control by the use of a personal handy-phone system. The autonomous controller utilizes a vision sensor that consists of a CCD video camera and a computer for image processing. In addition, design of a practical landmark was examined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1777-1781
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• 2003

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.99.6-99
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• 2002

$\textbullet$ Contents 1 introduction $\textbullet$ Contents 2 The system implementation $\textbullet$ Contents 3 low \ulcornerlevel image processing $\textbullet$ Contents 4 scene sequence interpretation $\textbullet$ Contents 5 Implementation experimental result

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1464-1467
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• 2005

In this research, we developed a system, which can find the location of vehicle when people park their cars in a big parking lot or large area. People can find their cars readily through this simple device and they can save their time and effort. This is the purpose of this research. Performing this, detection of electromagnetic wave's direction is needed and we used shielding effectiveness of electromagnetic waves for the method of it. An absolute coordinate indicates four directions (E, W, S, N) by using an electronic compass module, and it is needed for the localization. The device can check the received count of the electromagnetic waves coming from all other directions through the system, which is installed in the vehicle. The direction recorded the least received count would be the location of the parked vehicles. We can add on the function of this research by using the same frequency of cars alarm goods. Also, it is useful in the huge indoor parking lot.