• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.2
• /
• pp.169-178
• /
• 1997

This paper presents a new solution approach to moving obstacle avoidance problem of a robot. A new concept, avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of three state variables: the distance from the obstacle to the robot, outward speed of the obstacle relative to the robot, and outward speed of the robot relative to the obstacle. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF, an artificial potential is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid a moving obstacle in real time. Since the algorithm considers the mobility of the obstacle and robot as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• Proceedings of the Korea Contents Association Conference
• /
• 2006.11a
• /
• pp.626-630
• /
• 2006

In this paper, I proposed the algorithm that realize scheduler of WRR method in mobile network and analyze the performance of the proposed algorithm. The need for providing quality of service(QoS) for real-time applications in wireless networks has been driving research activities and standardization efforts for some time. In particular, there have been considerable research of scheduling algorithm for wireless environments. The BSW algorithm of WRR method that is suited to wireless environment is developed to the results of these effort. But BSW algorithm is deteriorated the performance by realization complexity in wireless environment is necessary to fast scheduling. To solve of these problem this paper proposed the scheduling algorithm which degrades of implementation complexity and which improves the performance and analysis of the performance of the proposed algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.10a
• /
• pp.576-579
• /
• 2004

Recently, using GPS and equipment that recognizes the position of the car such a computer system inside the car are very universalized. Specially, the technique that diagnoses troubles and prevents troubles through scanning engine ECU is very popularized also. However, because these data have to be directly transferred and received from the car, in cases of traffic accident such as serious damage or car theft, it is impossible to receive the data at the time of accident. In order to receive and preserve the data safely regardless of these situations, it is possible to provide data for analyzing reasons of accident and prevent accidents from occurring by using wireless communication to receive the transferred information of the car, then saving into a Database system DB, or grasping the situation of the car and the driving pattern of drivers through analyzing stored data. Moreover, due to developing some related services such as providing the information about the real time of the accident, diagnoses of the car and alarms, etc. It is expected to contribute to creating added values.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.19 no.2
• /
• pp.92-97
• /
• 2011

Vehicle lightings are very important for safe driving during night time. Since the eye recovery time after an exposure to oncoming headlights would take after several seconds, the aiming point of vehicle head lamps have to pass safety requirements. Despite the fact that vehicle inclination is variable with vehicle load conditions, the head lamps aiming point is usually fixed at a constant position which is set by car manufacturer. Consequently, vehicle head lamps under varying load conditions often make people in the opposing vehicle uncomfortable, and even worse, can cause an accident. This paper presents an active vehicle lighting mechanism to automatically adjust its aiming point, or cut-off line, in order to compensate the change in vehicle inclination resulting from load variations. The effectiveness of the proposed method is demonstrated through a set of simulations and experiments with a real vehicle.

• Journal of Applied Reliability
• /
• v.11 no.4
• /
• pp.343-356
• /
• 2011

This paper proposes an accelerated life evaluation of drive shaft. The life test of drive shaft for independent suspension type AWD vehicle should be performed by use of the least test sample because many number of samples can't be used for the test because of its mass capacity and high price. We calculated the no failure test time by application of no failure test concept, and the already performed test data for drive shaft are applied for some kinds of reliability coefficients which are needed for calculation of life test time. And, for analysis of real driving condition of vehicle, the load spectrum is prepared using the needed road condition and vehicle data. The inverse power model is used for accelerated life test. The equivalent torque of load spectrum is achieved by use of Miner's Rule, and then the final accelerating condition is determined by decision of the accelerated test torque. This paper shows that the accelerated life test results corresponds with the target life and the proposed life test method can be very well applied to no failure life test for mass capacity machinery components.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2007.06a
• /
• pp.323-326
• /
• 2007

When traveling on real road network, it generally takes less travel time in a near straight path than a zig-zaged path with same source and destination. In order to making a left(right/u) turn, the delay should be required to decrease the speed. The traffic signal waiting time of left(right/u) turn is probably longer than straight driving. In this paper, we revise the previous hierarchical path finding algorithm to reduce the number of turns. The algorithm proposed in this paper complied with a hierarchical $A^*$ algorithm, but has a distinct strategy for edge weight. We define an edge that makes a turn as a turn-edge and give the turn-edge lower weight to maintain the straightness of the whole path.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.22 no.3
• /
• pp.136-142
• /
• 2014

Distinct features in heart rate signals during the driver's wake and sleep states could provide an initiative for the development of a safe driving systems such as drowsiness detecting sensor in a smart wheel. We measured ECG from health subjects ($23.5{\pm}2.5$ in age) during the wake and drowsiness states. The proposed method is able to detect R waves and R-R interval calculation in the ECG even when the signal includes in abnormal signals. Heart rate variability(HRV) was investigated for the time domain and frequency domains. The STD HR(0.029), NN50(0.044) and VLF power(0.0018) of the RR interval series of the subjects were significantly different from those of the control group (p < 0.05). In conclusion, there are changes in heart rate from wake to drowsiness that are potentially to be detected. The results in our study could be useful for the development of drowsiness detection sensors for effective real-time monitoring.

• Journal of Aerospace System Engineering
• /
• v.8 no.2
• /
• pp.21-26
• /
• 2014

The aircraft manufacturers are constantly driving to reduce manufacturing lead times and cost at the same time as the product complexity increases and technology continues to change. Integrated Modular Avionics (IMA) is a solution that allows the aviation industry to manage their avionics complexity. IMA defines an integrated system architecture that preserves the fault containment and 'separation of concerns' properties of the federated architectures. In software side, the air transport industry has developed ARINC 653 specification as a standardized Real Time Operating System (RTOS) interface definition for IMA. It allows hosting multiple applications of different software levels on the same hardware in the context of IMA architecture. This paper describes a study that provided the avionics software design for separation of fault and backup of core function to reduce workload of pilot with cost efficiency.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.67-69
• /
• 2007

PMSM (Permanent Magnet Synchronous Motor) current control is a most inner loop of electromechanical driving systems and it plays a foundation role in the hierarchy's control loop of several mechanical machine systems. In this paper, a simple RMRAC control scheme for the PMSM is proposed in the synchronous frame. In the synchronous current model, the input signal is composed of as a calculated voltage by adaptive laws and system disturbances. The gains of feed-forward and feed-back controller are estimated by the proposed e-modification methods respectively, where the disturbances are assumed as filtered current tracking errors. After the estimation of the disturbances from the tracking errors, the corresponding voltage is fed forward to control input to compensate for the disturbances. The proposed method is robust to high frequency disturbances and has a fast dynamic response to time varying reference current trajectory. It also shows a good real-time performance duo to it's simplicity of control structure. Through the simulations considering several cases of external disturbances and experimental results, efficiency of the proposed method is verified

• Proceedings of the KIEE Conference
• /
• 1998.07g
• /
• pp.2360-2362
• /
• 1998

This paper presents a new collison-free trajectory problem for SCARA robot manipulator. we use artificial potential field for collison detection and avoidance. The potential function is typically defined as the sum of attractive potential pulling the robot toward the goal configuration and a repulsive potential pushing the robot away from the obstacles. In here, end-effector of manipulator is represented as a particle in configuration space and moving obstacles is simply represented, too. we consider not fixed obstacle but moving obstacle in random. So, we propose new distance function of artificial potential field with moving obstacle for SCARA robot. At every sampling time, the artificial potential field is update and the force driving manipulator is derived from the gradient vector of artificial potential field. To real-time path planning, we apply very simple modeling to obstacle. Some simulation results show the effectiveness of the proposed approach.