• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.406-413
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• 2007

This paper proposes a self-recurrent wavelet neural network(SRWNN) based adaptive backstepping control technique for the robust steering control of autonomous underwater vehicles(AUVs) with unknown model uncertainties and external disturbance. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the steering model of AUV. The adaptation laws for the weights of SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for the on-line control of AUV. Finally, simulation results for steering control of an AUV with unknown model uncertainties and external disturbance are included to illustrate the effectiveness of the proposed method.

• Journal of the Korea Convergence Society
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• v.3 no.1
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• pp.7-11
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• 2012

Intellgent Vehles network capabilities can cause a lots of security issues such as data hacking, privacy violation, location tracking and so on. Some possibilities which raise a breakdown or accident by hacking vehicle operation data are on the increase. In this paper, we propose a security module which has user authentication and encryption functionalities and can be used for vehicle network system.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.10
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• pp.720-726
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• 2004

The data transmission over MVB(Multifunction Vehicle Bus) of TCN(Train Communication Network) is divided into the periodic transmission phase and the sporadic transmission phase. TCN standard recommends the event-polling method as the message transfer in the sporadic phase. However, since the event-polling method does not use pre-scheduling to the priority of the messages, it is inefficient for the real-time systems. To schedule message transmission, a master node should know the priority of message to be transmitted by a slave node prior to the sporadic phase, but the existing TCN standard does not support any protocol for this. This paper proposes the slave frame bit-stuffing algorithm, with which a master node gets the necessary information for scheduling and includes the simulation results of the event-polling method and the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.428-428
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• 2000

A robust intelligent algorithm for AGV navigation control is presented here based on both magnetic and gyro sensors to track a reference trajectory. Since the proposed system uses an intermittent array of short magnetic tape strips, it lends itself to a very easy installation and maintenance compared to other types of positioning references such as electric wire, magnets, RF and laser beacons. The neural network is to predict the lateral deviation of the AGV in the intervals where no magnetic tape references are available. Further, the use of intelligent control ensures a robust and flexible control performance. Computer simulation of AGV control demonstrates its adequate tracking performances even where the sensor information is not available. Real experiments using Samsung AGV are also on the way for real verification

• Journal of Digital Convergence
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• v.10 no.11
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• pp.365-369
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• 2012

M2M has shown the advantages of better coverage and lower network deployment cost. Intelligent vehicle section shows severe changes in position between vehicles and has numerous large scales of networks in its components, therefore, it is required to provide safety by exchanging information between vehicles equipped with wireless communication function via biometric information in VANET(Vehicular Ad hoc Network). This thesis is to propose scheme that mutually authenticates between vehicles by composing vehicle movement as biometric information.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.4
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• pp.387-393
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• 2021

This paper proposes a system to synchronize the time of computers over an unmanned aerial vehicle (UAV) network. With the proposed system, the UAVs can perform missions that require precise relative time. Also, data collected by UAVs can be fused precisely with synchronized time. In the system, to synchronize the time of all computers over the UAV network, two-step synchronization is performed. In the first step, the mission computers of the UAVs are synchronized through the server of the system. After the first step, the mission computers measure time offset between the time of the mission computers and the flight computers. The offset values are delivered to the server. In the second step, virtual time is determined by the server from the collected time offset. The measured offset is compensated by moving the synchronized time of mission computers to the reasonable virtual time. Since only the time of mission computers are controlled, any flight computers that use micro air vehicle link (MAVLink) protocol can be synchronized in the proposed system.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.2
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• pp.119-128
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• 2022

Recently, due to the development of related technologies for autonomous vehicles, driving work is changing more safely. However, the development of support technologies for level 5 full autonomous driving is still insufficient. That is, even in the case of an autonomous vehicle, the driver needs to drive through forward attention while driving. In this paper, we propose a method to monitor driving tasks by recognizing driver behavior. The proposed method uses pre-trained deep convolutional neural network models to recognize whether the driver's face or body has unnecessary movement. The use of pre-trained Deep Convolitional Neural Network (DCNN) models enables high accuracy in relatively short time, and has the advantage of overcoming limitations in collecting a small number of driver behavior learning data. The proposed method can be applied to an intelligent vehicle safety driving support system, such as driver drowsy driving detection and abnormal driving detection.

• International Journal of Computer Science & Network Security
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• v.23 no.1
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• pp.11-16
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• 2023

Vehicular networks are part of the next generation wireless and smart Intelligent Transportation Systems (ITS). In the future, autonomous vehicles will be an integral part of ITS and will provide safe and reliable traveling features to the users. The reliability and security of data transmission in vehicular networks has been a challenging task. To manage data transmission in vehicular networks, road networks are divided into clusters and a cluster head is selected to handle the data. The selection of cluster heads is a challenge as vehicles are mobile and their connectivity is dynamically changing. In this paper, a novel secure cluster head selection algorithm is proposed for secure and reliable data sharing. The idea is to use the secrecy rate of each vehicle in the cluster and adaptively select the most secure vehicle as the cluster head. Simulation results show that the proposed scheme improves the reliability and security of the transmission significantly.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.3
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• pp.225-232
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• 2008

Overload vehicles operate damage to road, bridge, and then increasing in maintenance and repair cost because structures are reduced durability. The existing regulation systems have many problems and need coping measure. Therefore, this paper organized Ubiquitous sensor network system for development of intelligent auto overload vehicle regulation system about high speed vehicles, also axial load WIM sensor was selected by indoor experiment through wireless protocol. And we examined possibility U-load auto overload vehicle regulation system through experiment of the transmission and reception distance. If this system will apply to road and bridge, might be effective for economy and convenience through establishment of U-IT system. And high speed vehicle that was amalgamate IT technology and existing overload regulation problems, also tested wireless sensor for USN organization. This experiment aim to organize system interface for user through perfection man-less, wireless system of Internal/External Network from high speed WIN sensor with USN organization. Accordingly, it is necessary experimentation through Test Bed for constitution External network and application of actually regulations using WCDMA/HSDPA.

• Journal of Korea Spatial Information System Society
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• v.10 no.3
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• pp.45-54
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• 2008

This paper designs and Implements a connectivity analyzer for the hybrid vehicular network based on the real-life movement history data achieved from the Taxi telematics system currently in operation, aiming at providing a useful guideline and information to build a telematics network. The simulator traces the location of each vehicle, sets the vehicle type, either gateway or normal, decides whether it can be connected to a mobile gateway, keeps track of status of the vehicle, and calculates the duration of disconnected state. With this analysis considering the transmission range and gateway ratio, we can decide the cost-effective number of mobile gateways having both cellular and ad-hoc network interfaces, and buffer space requirement based on the measured disconnection time and message generation ratio.