• 한국콘텐츠학회논문지
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• 제11권6호
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• pp.26-32
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• 2011

최근 U-health 분야에서는 EEG(Electroencephalograph) 뇌파를 전송하여 환자뿐만 아니라 일반 노약자를 대상으로 졸음운전이나 뇌졸중, 또는 심장마비와 같은 위기상황에 대처하기 위해 실시간으로 뇌파를 모니터링하는 시스템을 연구하고 있다. 이러한 시스템은 병원이나 요양원등 다양한 지역에 적용할 수 있다. 본 논문에서는 자동차 통신망에 적용하여 운전자의 뇌파를 실시간으로 모니터링하고 미연에 사고를 방지할 수 있는 통신망 시스템의 성능을 평가하고자 한다. 이를 위해 VANET환경에서 EEG뇌파 전송을 효율적으로 할 수 있도록 옵넷 시뮬레이터에서 제공하는 모바일 애드혹 노드를 사용하였다. 운전자의 뇌파를 노변기지국으로 전송하는 애드혹한 자동차 통신망을 설계하고 시뮬레이션을 통하여 도심 지역에 적합한 환경을 도출하였다.

• 전기학회논문지
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• 제65권4호
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• pp.689-694
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• 2016

The objective of this study is to identify the requirements for a energy metering device and develop a real-time energy metering device for measuring energy (electricity) consumption of the electric railway vehicle during its operation. The study also evaluated the performance of the AC voltage sensor, current sensor, and data meter for the device and performed EMC tests such as surge and EFT (Burst). The performance tests showed that the percent errors of the AC voltage sensor and current sensor were ${\leq}0.1%$, and ${\leq}0.5%$ under 10~127V, and 10~250A, respectively. The result of surge and EFT (Burst) tests also indicated that the device had no malfunction in any wave (combination and ring waves) under the treat level with 2kV. The result of the field test also confirmed that the device had no malfunction in data metering.

• 한국기계가공학회지
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• 제19권8호
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• pp.81-87
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• 2020

A stable rotational-to-linear motion transformation structure using a driving mechanism with 2 degrees of freedom was developed for an orthogonal mechanism to prevent the interference of each axis in 2D motion. In this mechanism, a step motor was used for precise position control. This structure was developed to maneuver workparts in micro particle blast machining experiments. To determine the real-time performance of micro particle blast machining, the control, input, and output were operated simultaneously and precise position control was implemented, using a timer interrupt with multiple execution codes. The two step motors obtained precise position control by removing backlash with a ball-screw mechanism. The device has menu-type control codes for user-friendliness, and real-time sequence control was simultaneously adopted for user control input.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.179-186
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• 2015

In this paper, a novel lateral control system is proposed for the purpose of improving lane keeping performance which is independent from GPS signals. Lane keeping is a key function for the realization of unmanned driving systems. In order to obtain this objective, a vision sensor based real-time lane detection scheme is developed. Furthermore, we employ a data fusion along with a real-time steering angle of the test vehicle to improve its lane keeping performance. The fused direction data can be obtained by an IMU sensor and vision sensor. The performance of the proposed system was verified by computer simulations along with field tests using MOHAVE, a commercial vehicle from Kia Motors of Korea.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.931-938
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• 2008

In this paper, a novel localization algorithm robust to the unmodeled systematic odometry errors is proposed for low-cost non-holonomic mobile robots. It is well known that the most pose estimators using odometry measurements cannot avoid the performance degradation due to the dead-reckoning of systematic odometry errors. As a remedy for this problem, we tty to reflect the wheelbase error in the robot motion model as a parametric uncertainty. Applying the Krein space estimation theory for the discrete-time uncertain nonlinear motion model results in the extended robust Kalman filter. This idea comes from the fact that systematic odometry errors might be regarded as the parametric uncertainties satisfying the sum quadratic constrains (SQCs). The advantage of the proposed methodology is that it has the same recursive structure as the conventional extended Kalman filter, which makes our scheme suitable for real-time applications. Moreover, it guarantees the satisfactoty localization performance even in the presence of wheelbase uncertainty which is hard to model or estimate but often arises from real driving environments. The computer simulations will be given to demonstrate the robustness of the suggested localization algorithm.

• 음성과학
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• 제11권2호
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• pp.181-192
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• 2004

This paper presents an efficient speech interactive agent rendering smooth car navigation and Telematics services, by employing embedded automatic speech recognition (ASR), distributed speech recognition (DSR) and text-to-speech (ITS) modules, all while enabling safe driving. A speech interactive agent is essentially a conversational tool providing command and control functions to drivers such' as enabling navigation task, audio/video manipulation, and E-commerce services through natural voice/response interactions between user and interface. While the benefits of automatic speech recognition and speech synthesizer have become well known, involved hardware resources are often limited and internal communication protocols are complex to achieve real time responses. As a result, performance degradation always exists in the embedded H/W system. To implement the speech interactive agent to accommodate the demands of user commands in real time, we propose to optimize the hardware dependent architectural codes for speed-up. In particular, we propose to provide a composite solution through memory reconfiguration and efficient arithmetic operation conversion, as well as invoking an effective out-of-vocabulary rejection algorithm, all made suitable for system operation under limited resources.

• 제어로봇시스템학회논문지
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• 제4권1호
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• pp.68-75
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• 1998

The Intelligent Cruise Control system, ICC, is a driver assisting system for controlling relative speed and distance between two vehicles in the same lane. The ICC may be considered as an extension of a traditional cruise control, not only keeping a fixed speed of the vehicle, but correcting the speed also to that of a slower one ahead. This paper presents a real-time self-tuning fuzzy control algorithm to develop ICC. The self-tuning fuzzy control law is adopted to reduce the effects of nonlinearities of the vehicle and various road environments. In the self-tuning algorithm an interior penalty method is applied to preserve the inherent order of membership functions and is modified as an on-line algorithm for real time application. Via simulations, the performance of the suggested control algorithm is compared with a PID and a fuzzy control without self-tuning. The suggested control algorithm is implemented on PRV III and the results of the test driving on a local road are given.

• Journal of Information Processing Systems
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• 제16권5호
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• pp.1214-1222
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• 2020

Pervasive augmented reality (AR) technology can be used to efficiently search for the required information regarding products in stores through text augmentation in an Internet of Things (IoT) environment. The evolution of context awareness and image processing technologies are the main driving forces that realize this type of AR service. One of the problems to be addressed in the service is that augmented objects are fixed and cannot be replaced efficiently in real time. To address this problem, a real-time mobile AR framework is proposed. In this framework, an optimal object to be augmented is selected based on object similarity comparison, and the augmented objects are efficiently managed using distributed metadata servers to adapt to the user requirements, in a given situation. To evaluate the feasibility of the proposed framework, a prototype system was implemented, and a qualitative evaluation based on questionnaires was conducted. The experimental results show that the proposed framework provides a better user experience than existing features in smartphones, and through fast AR service, the users are able to conveniently obtain additional information on products or objects.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 추계학술대회
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• pp.103-107
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• 2013

본 논문에서는 차선 이탈 경고 장치 시스템에서 사용되는 실시간 차선 추적 방법을 제안한다. 먼저 입력 영상의 원근효과를 제거하기 위해 역투영 변환을 이용하여 조감도 영상을 생성한다. 그 다음 차선의 사전 정보를 이용하여 차선 검출에 적합한 특징들을 추출한다. 블록단위의 관심영역에 해당하는 차선 특징과 RANSAC(RANdom Sample Consensus) 알고리즘을 사용하여 차선 후보군을 검출하고 클러스터링 과정을 수행하여 주행 차선을 결정한다. 마지막으로 칼만 필터를 사용하여 현재 검출된 주행 차선을 추적한다. 제안하는 알고리즘을 주간, 야간 등의 다양한 고속도로 환경에서 실험한 결과 실시간 환경에서 사용가능한 30ms 이내의 처리 속도와 90% 가량의 추적률을 얻을 수 있었다.

• 한국자동차공학회논문집
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• 제22권7호
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• pp.107-116
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• 2014

This paper presents camera-based road surface marking detection methods suited to sensor fusion-based positioning system that consists of low-cost GPS (Global Positioning System), INS (Inertial Navigation System), EDM (Extended Digital Map), and vision system. The proposed vision system consists of two parts: lane marking detection and RSM (Road Surface Marking) detection. The lane marking detection provides ROIs (Region of Interest) that are highly likely to contain RSM. The RSM detection generates candidates in the regions and classifies their types. The proposed system focuses on detecting RSM without false detections and performing real time operation. In order to ensure real time operation, the gating varies for lane marking detection and changes detection methods according to the FSM (Finite State Machine) about the driving situation. Also, a single template matching is used to extract features for both lane marking detection and RSM detection, and it is efficiently implemented by horizontal integral image. Further, multiple step verification is performed to minimize false detections.