• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1074-1081
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• 2010

Today, the research related to the robot is achieved in various part. With the high interest in means of transport, various researches about autonomous mobile robot and next generation transport is continuing. The unicycle robot among these needs much control technique like balance control model and driving model. For autonomous driving of this unicycle robot, from the basic balance control to direction switching control and velocity control are needed. But the environment elements like a gradient and frictional force or unbalanced elements from the structural feature. The unicycle needs the real time balance control so more complex, harder to control. And when functional addition is made, the problem that fall entire reaction velocity or accuracy would be happen. This paper introduces entire dynamics modeling of the unicycle robot and reduced model. And propose the new balance control algorithm using fuzzy controller. Also the evaluation about performance would be made through the test.

• 한국산업정보학회논문지
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• 제11권1호
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• pp.69-76
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• 2006

텔레매틱스란 통신과 정보과학의 합성어로 운전경로 안내, 차량 사고나 도난감지, 교통상황 및 각종 생활 편의 정보를 운전자에게 실시간으로 제공한다. 본 논문에서는 텔레매틱스 서 비스를 위하여 내장형 리눅스 기반의 CDMA 및 GPS를 장착한 텔레매틱스 단말기를 제작하고, 휴대 전화를 이용하여 원격지에서 인터넷에 연결된 텔레매틱스 서버와 차량 단말기간의 통신을 통해 차량의 상태를 확인하고, SMS(Short Message Service)를 이용하여 차량을 제어하는 방법을 제안하고 구현한다. 이를 위해 JAVA 기반의 휴대 전화 단말 플랫폼인 SK-VM을 이용하여 제안하는 시스템을 설계 및 구현하고 이를 검증한다.

• 한국물환경학회지
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• 제29권1호
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• pp.19-28
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• 2013

Artificial neural networks were used for time series modelling of algal dynamics of whole year and by season at the Paldang dam station (confluence area). The modelling was based on comprehensive weekly water quality data from 1997 to 2004 at the Paldang dam station. The results of validation of seasonal models showed that the timing and magnitude of the observed chlorophyll a concentration was predicted better, compared with the ANN model for whole year. Internal weightings of the inputs in trained neural networks were obtained by sensitivity analysis for identification of the primary driving mechanisms in the system dynamics. pH, COD, TP determined most the dynamics of chlorophyll a, although these inputs were not the real driving variable for algal growth. Short-term prediction models that perform one or two weeks ahead predictions of chlorophyll a concentration were designed for the application of Harmful Algal Alert System in Lake Paldang. Short-term-ahead ANN models showed the possibilities of application of Harmful Algal Alert System after increasing ANN model's performance.

• 로봇학회논문지
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• 제15권3호
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• pp.233-239
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• 2020

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

• 제어로봇시스템학회논문지
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• 제18권8호
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• pp.787-793
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• 2012

This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제6권6호
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• pp.628-634
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• 2000

본 논문에서는 LCD(Liquid Crystal Display) 컨트롤러와 LCD 구동 칩 사이의 신호 전송에서 전력 소비 및 전자기 장애(EMI)를 줄이기 위한 데이타 코딩 방법을 제안하였다. 제안한 방식은 컴퓨터의 일반적인 텍스트 화면에 대한 데이타 천이(transition)를 감소시키는 방식으로 하드웨어 구조가 간단하여 실시간 처리가 요구되는 LCD 구동 시스템에 적용하기 용이하다. 제안한 방식의 성능 분석을 위해 컴퓨터를 이용한 시뮬레이션을 수행하였으며 기존의 코딩 방식과의 성능 비교 및 평가를 하였다. 시뮬레이션을 통해 제안한 방식이 기존 방식에 비하여 텍스트 화면과 그림 화면에 대해서 switching activity를 현저히 줄일 수 있음을 확인하였다.

• 조명전기설비학회논문지
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• 제19권8호
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• pp.109-115
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• 2005

이 논문은 자동차에서 제어 네트워크로 이미 신뢰성이 확인된 CAN(Controller Area Network) 필드버스를 산업계 복수전동기 제어에 적용하기 위하여 지능형 제어모듈로 CAN이 내장된 DSP2812 프로세서를 이용하여 제어 및 모니터링기술을 개발하였다. 산업계에 광범위하게 사용되고 있는 유도전동기를 대상으로 여러 대의 유도전동기를 제어하기 위한 제어 알고리즘과 CAN 기반제어네트워크 구축방법을 개발하였다. 이 시스템 성능을 평가하기 위하여 2대의 유도전동기 인버터 구동시스템에 적용하여 CAN 기반 네트워크 제어 실험을 수행하였다. 그 결과 광범위한 속도와 정역회전에서 실시간 네트워크 기반 제어성능을 확인하였다.

• 한국ITS학회 논문지
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• 제11권4호
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• pp.131-143
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• 2012

본 논문은 지역적 특징을 빠르게 추출할 수 있는 SURF(Speed Up Robust Features) 알고리즘을 이용해 안경과 조명 등 자동차 환경에 적응적인 새로운 눈 상태 검출방법을 제안하였다. 또한, 베이지안 추론을 이용하여 각 운전자에 대해 세 가지 고유의 눈 상태 템플릿을 실시간적으로 생성함으로써 눈 상태 검출 성능을 향상시켰다. 주 야간, 안경 착용 시, 미착용 시 등 여러 환경에 대한 성능 실험 결과 주 야간 환경에서 각각 평균 98.1%와 96.0%의 검출률을, 공개된 ZJU데이터베이스에 대한 실험 결과 평균 97.8%의 검출률을 보임으로써 제안된 방법의 우수성을 보였다.

• Journal of Multimedia Information System
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• 제9권1호
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• pp.11-20
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• 2022

In this paper, we have recently created self-driving cars and self-parking systems in human-friendly cars that can provide high safety and high convenience functions by recognizing the internal and external situations of automobiles in real time by incorporating next-generation electronics, information communication, and function control technologies. And with the development of connected cars, the ITS (Intelligent Transportation Systems) market is expected to grow rapidly. Intelligent Transportation System (ITS) is an intelligent transportation system that incorporates technologies such as electronics, information, communication, and control into the transportation system, and aims to implement a next-generation transportation system suitable for the information society. By combining the technologies of connected cars and Internet of Things with software features and operating systems, future cars will serve as a service platform to connect the surrounding infrastructure on their own. This study creates a research methodology based on the Enhanced Security Model in Self-Driving Cars model. As for the types of attacks, Availability Attack, Man in the Middle Attack, Imperial Password Use, and Use Inclusive Access Control attack defense methodology are used. Along with the commercialization of 5G, various service models using advanced technologies such as autonomous vehicles, traffic information sharing systems using IoT, and AI-based mobility services are also appearing, and the growth of smart transportation is accelerating. Therefore, research was conducted to defend against hacking based on vulnerabilities of smart cars based on artificial intelligence blockchain.

• Journal of Multimedia Information System
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• 제9권1호
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• pp.33-42
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• 2022

In this paper, we have recently created self-driving cars and self-parking systems in human-friendly cars that can provide high safety and high convenience functions by recognizing the internal and external situations of automobiles in real time by incorporating next-generation electronics, information communication, and function control technologies. And with the development of connected cars, the ITS (Intelligent Transportation Systems) market is expected to grow rapidly. Intelligent Transportation System (ITS) is an intelligent transportation system that incorporates technologies such as electronics, information, communication, and control into the transportation system, and aims to implement a next-generation transportation system suitable for the information society. By combining the technologies of connected cars and Internet of Things with software features and operating systems, future cars will serve as a service platform to connect the surrounding infrastructure on their own. This study creates a research methodology based on the Enhanced Security Model in Self-Driving Cars model. As for the types of attacks, Availability Attack, Man in the Middle Attack, Imperial Password Use, and Use Inclusive Access Control attack defense methodology are used. Along with the commercialization of 5G, various service models using advanced technologies such as autonomous vehicles, traffic information sharing systems using IoT, and AI-based mobility services are also appearing, and the growth of smart transportation is accelerating. Therefore, research was conducted to defend against hacking based on vulnerabilities of smart cars based on artificial intelligence blockchain.