• Journal of the Korean Society for Precision Engineering
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• v.23 no.12 s.189
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• pp.46-55
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• 2006

A robust motion controller based on self-organizing fuzzy control(SOFC) and feed-back tracking control technique is proposed for a two-wheel driven mobile robot. The feed-back control technique of the controller guarantees the robot follows a desired trajectory. The SOFC technique of the controller deals with unmodelled dynamics of the vehicle and uncertainties. The computer simulations are carried out to verify the tracking ability of the proposed controller with various driving situations. The results of the simulations reveal the effectiveness and stability of the proposed controller to compensate the unmodelled dynamics and uncertainties.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.20-25
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• 1993

The control of the motion of a mobile robot is studied. The driving and steering motor assembly is located in the front of the mobile robot. The position of the mobile robot is determined by the steering angle and driving distance. For the controller design, a time-series multivariate model of the autogressive exogenous (ARX) type is used to describe the input-output relation. The discounted least square method is used to estimate parameters of the time-series model. A self-tuning controller is so designed that the position of the center of the mobile robot track the given trajectory. Simulation result controlled by a self-tuning controller is presented to illustrate the approach.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.9
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• pp.15-21
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• 1997

In this paper, a self-activated cable spooling system for seaborne winch is developed . The system consists of a hydraulic servo driving unit and a cable position measurement mechanism. To realize the cable spooling system, it is carried out the mathematical modelling of the system and designed the proportional controller through the system aalysis and the simulation. The cable spooling system is tested and evaluated to validate the performance of the controller. The test results shows a good traceability of the cable spooling system under disturbance of cable tension.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.168-172
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• 2014

A new sustain driving method is proposed to improve luminous efficiency by the generation of the self-erasing discharge during a sustain period in AC plasma display panel. As one subfield time in the conventional AC PDP is divided into the reset, address, and sustain period. Among them, as the square sustain waveform is alternately applied to the X and Y electrodes on the front plate during the sustain period, the plasma discharge for displaying the image is continuously produced. Meanwhile, in the conventional driving method, the address waveform applied to the A electrode on the rear plate is only driving during an address period and grounded during a sustain period. In this experiment, the negative pulse is applied to the A electrode at the latter part of the sustain pulse for improving the luminous efficiency producing the self-erasing discharge during the sustain period. The negative pulse on the A electrode can change from the space to the wall charge and induce the additional discharge by the accumulated wall charge when the voltages of three electrodes are grounded. As a result, the luminous efficiency will be measured with changes in the voltage level of the A electrode and the new driving method can be improved to the luminous efficiency about 32 % compared with the conventional driving method.

• Journal of IKEEE
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• v.28 no.2
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• pp.239-242
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• 2024

This paper proposed an ESD protection device that improved the current driving ability through Self-bias than the existing ESD protection device. The new proposed structure is based on the LRSCR structure and adds an N+ diffusion region, and reduces resistance by connecting the gate and the P+ diffusion region. As a result, it was confirmed that the proposed ESD protection device exhibits a trigger voltage of 11.8V and a holding voltage of 5.9V. It can be used in 5V applications for low voltage and is expected to have excellent current driving capability.

• Korean Journal of Culture and Social Issue
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• v.9 no.spc
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• pp.15-34
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• 2003

The present authors had conducted several researches(parking violation, traffic signal violation, speed violation, drunk-driving) on driving behaviors of the Korean people focused on cultural psychological perspective. This paper was designed to summarize these previous results. Although each research had dealt with different violation behaviors on driving, there were lots of similarities on the basis of violation. The results reveal the following rationale for incurring violation behaviors. First, most people reported that they violated the rule to pursuit short-term benefit. Second, the violators' psychological characteristics are described in terms of self-centered and self-justification. In addition, the respondents have justified their violated behaviors since the outcome is disadvantageous for the drivers. Furthermore, the violators' are found to possess a permissive attitude toward the other violators'. Finally, the implications of these studies were proposed. All of these findings were discussed in relation to the Korean culture.

• ETRI Journal
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• v.43 no.4
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• pp.603-616
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• 2021

Over the last few years, autonomous vehicles have progressed very rapidly. The odometry technique that estimates displacement from consecutive sensor inputs is an essential technique for autonomous driving. In this article, we propose a fast, robust, and accurate odometry technique. The proposed technique is light detection and ranging (LiDAR)-based direct odometry, which uses a spherical range image (SRI) that projects a three-dimensional point cloud onto a two-dimensional spherical image plane. Direct odometry is developed in a vision-based method, and a fast execution speed can be expected. However, applying LiDAR data is difficult because of the sparsity. To solve this problem, we propose an SRI generation method and mathematical analysis, two key point sampling methods using SRI to increase precision and robustness, and a fast optimization method. The proposed technique was tested with the KITTI dataset and real environments. Evaluation results yielded a translation error of 0.69%, a rotation error of 0.0031°/m in the KITTI training dataset, and an execution time of 17 ms. The results demonstrated high precision comparable with state-of-the-art and remarkably higher speed than conventional techniques.

• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.81-91
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• 2021

Last year, the Autonomous Vehicle Act was enacted to respond to deployment of autonomous vehicles. But the Act stipulates the operation of autonomous vehicle pilot zones, In addition, in order to analyze autonomous vehicle accidents and establish a reasonable damage compensation system, the Automobile Damage Compensation Guarantee Act was revised. But, It is necessary to seek plans for institutional development such as detailed concepts of self-driving cars and driving, a security certification system for securing safety of autonomous cooperative driving, and enhancement of the effectiveness of special cases related to personal information processing. I would like to seek ways to improve the legal system to respond reasonably to the deployment of autonomous vehicles.

• Journal of the HCI Society of Korea
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• v.14 no.2
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• pp.49-60
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• 2019

With the appearance of self-driving cars and electric cars, the automobile industry is rapidly changing. In the midst of these changes, HMI studies are becoming more important as to how the driver obtains safety and convenience with controlling the vehicle. This study sought to understand how automobile manufacturers understand the driving situation, and how they define and limit driver interaction. For this, prior studies about HMI were reviewed and 15 participants performed an on-road study to drive vehicles from five manufacturers with using their interfaces. The results of the study confirmed that buttons and switches that are easily controlled by the user while driving were different from manufacturer to manufacturer. And there are some buttons that are more intensively controlled and others that are difficult to control while driving. It was able to derive 'selection and concentration' from Audi's vehicle, 'optimization of the driving ' from BMW's, 'simple and minimize' from Benz's vehicle, 'remove the manual distraction' from the vehicle of Lexus, and 'visual stability' from KIA's vehicle as the distinctive keywords for the HMI. This shows that each manufacturer has a different definition and interpretation of the driver's driving control area. This study has a distinct value in that it has identified the characteristics of vehicle-specific HMI in actual driving conditions, which is not apparent in appearance. It is expected that this research approach can be useful to see differences in interaction through actual driving despite changes in driving environment such as vehicle platooning and self-driving technology.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.499-503
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• 1997

In this paper, we present a fuzzy ICC using a self-tuning method. To provide robustness and adaptiveness over the vehicle nonlinearities and changes of the driving environments, an on-line self-tuning scheme based on 'Interior Penalty Function' was developed. Road test and computer simulation results verify the feasible performance of the suggested ICC algorithm.