• 제어로봇시스템학회논문지
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• 제3권2호
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• pp.169-178
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• 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.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2006년도 추계 종합학술대회 논문집
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• pp.626-630
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• 2006

본 논문에서는 이동통신 망에 적합한 WRR 기법의 스케쥴링 알고리즘을 제안하였고 그 성능을 분석하였다. 이동통신 네트워크에서 실시간 응용 서비스를 제공하기 위한 서비스품질(QoS)에 대한 요구는 상당기간 많은 연구와 표준화 활동을 독려해왔다. 특히, 무선 환경에서의 스케줄링 알고리즘에 대한 많은 연구가 진행되었다. 이러한 연구 결과로, WRR 기법의 BSW 스케쥴링 알고리즘이 무선 환경에 적합한 알고리즘으로 개발되었다. 그러나 BSW 알고리즘은 구현의 복잡성으로 인해 빠른 스케쥴링을 요구하는 무선 환경에서는 그 성능이 저하된다. 이러한 문제를 해결하기 위해서 본 논문에서는 BSW 알고리즘의 구현 복잡성을 감소시키며 성능을 향상시키는 알고리즘을 제안하고 그 성능을 분석하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.576-579
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• 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.

• 한국자동차공학회논문집
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• 제19권2호
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• pp.92-97
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• 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.

• 한국신뢰성학회지:신뢰성응용연구
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• 제11권4호
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• pp.343-356
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• 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.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2007년도 춘계종합학술대회
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• pp.323-326
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• 2007

실제 도로에서 목적지까지 이동할 때, 일반적으로 직선 경로가 방향전환이 잦은 경로보다 이동시간이 적게 걸린다. 왜냐하면, 방향을 바꾸기 위해서는 속도를 줄여야 하기 때문이다. 또한, 교차로에서 좌회전(우회전, U턴)을 하려면 직진의 경우보다 신호 대기 시간이 길 가능성이 높다. 이 논문에서는 방향전환을 줄이기 위해서 기존의 경로 탐색 알고리즘을 개선한 알고리즘을 제안한다. 제안하는 알고리즘은 기본적으로 기존의 계층적 $A^*$ 알고리즘을 따르지만, 간선에 대한 가중치 부여 방법이 다르다. 즉, 방향이 바뀌는 간선에 대해서 가중치를 낮게 주어 전체 경로의 직진성을 유지한다.

• 한국자동차공학회논문집
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• 제22권3호
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• pp.136-142
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• 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.

• 항공우주시스템공학회지
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• 제8권2호
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• pp.21-26
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• 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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.67-69
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• 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

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2360-2362
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• 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.