• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.19 no.5
• /
• pp.162-177
• /
• 2020

The perception of traffic environment based on various sensors in autonomous driving system has a direct relationship with driving safety. Recently, as the perception model based on deep neural network is used due to the development of machine learning/in-depth neural network technology, a the perception model training and high quality of a training dataset are required. However, there are several realistic difficulties to collect data on all situations that may occur in self-driving. The performance of the perception model may be deteriorated due to the difference between the overseas and domestic traffic environments, and data on bad weather where the sensors can not operate normally can not guarantee the qualitative part. Therefore, it is necessary to build a virtual road environment in the simulator rather than the actual road to collect the traning data. In this paper, a training dataset collection process is suggested by diversifying the weather, illumination, sensor position, type and counts of vehicles in the simulator environment that simulates the domestic road situation according to the domestic situation. In order to achieve better performance, the authors changed the domain of image to be closer to due diligence and diversified. And the performance evaluation was conducted on the test data collected in the actual road environment, and the performance was similar to that of the model learned only by the actual environmental data.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.44 no.3
• /
• pp.64-69
• /
• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Composites Research
• /
• v.23 no.6
• /
• pp.7-13
• /
• 2010

Type3 cylinder is a composite pressure vessel fully over-wrapped with carbon/epoxy composite layers over an aluminum liner, which is the most ideal and safe high pressure gas container for CNG vehicles due to the lightweight and the leakage-before-burst characteristics. During service in CNG vehicle, if a fiber cut damage occurs in outer composite layers, it can degrade structural performance, reducing cycling life from the original design life. In this study, finite element modeling and analysis technique for the composite cylinder with fiber-cut crack damage is presented. Because FE analysis of type3 cylinder is path dependant due to plastic deformation of aluminum liner in autofrettage process, method to introduce a crack into FE model affect analysis result. A crack should be introduced after autofrettage in analysis step considering real circumstances where crack occurs during usage in service. For realistic simulation of this situation, FE modeling and analysis technique introducing a crack in the middle of analysis step is presented and the results are compared with usual FE analysis which has initial crack in the model from the beginning of analysis. Proposed analysis technique can be used effectively in the evaluation of influence of damage on composite layers of type3 cylinder and establish inspection criteria of composite cylinder in service.

• Journal of the Korea Society of Computer and Information
• /
• v.18 no.10
• /
• pp.109-119
• /
• 2013

An unmanned ground vehicle(UGV) today plays a significant role in both civilian and military areas. Predominantly these systems are used to replace humans in hazardous situations. To take unmanned ground vehicles systems to the next level and increase their capabilities and the range of missions they are able to perform in the combat field, new technologies are needed in the area of command and control. For this reason, we present war field simulator based on information fusion technology to efficiently control UGV. In this paper, we present the war field simulator which is made of critical components, that is, simulation controller, virtual image viewer, and remote control device to efficiently control UGV in the future combat fields. In our information fusion technology, improved methods of target detection, recognition, and location are proposed. In addition, time reduction method of target detection is also proposed. In the consequence of the operation test, we expect that our war field simulator based on information fusion technology plays an important role in the future military operation significantly.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.40 no.3
• /
• pp.588-594
• /
• 2015

Although GPS technology for location positioning system has been widely used, it is difficult to be used in intelligent transport systems, due to the large positioning error and limited area for receiving radio signals. Thanks to the rapid development of LED technology, LED lights become popular in many applications. Especially, visible light communications (VLC) has raised a lot of interests because of the simultaneous functioning of LED illumination and communication. Recent studies on positioning system using VLC mainly focused on indoor environments and still difficult to satisfy positioning accuracy and simple implementation simultaneously. In this paper, we propose a positioning system based on VLC using the coordinate information of LEDs installed on the road infrastructure. Extracting the LED signal, obtained through VLC, from the easily accessible camera image, it is possible to estimate the position of the car on the road. Simulation results show that the proposed scheme can achieve a high positioning accuracy of 1 m when large number of pixels is utilized and the distance from the LED light is close.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.1
• /
• pp.35-42
• /
• 2020

Electromechanical Actuator(EMA) for flight vehicles generally serves to control the fin deflection angle or the thrust vector angle. This paper deals with design and development of EMA for both aerodynamic control and thrust vector control. In this paper, a novel compact EMA is proposed that can simultaneously control both the tail fin and the jet vane with one actuator and detach the jet vane after vertical launch and rapid turn of the flight vehicle so as to increase efficiency during flying to target. To do this, we designed the EMA using a push-push link mechanism and derived a mathematical model. The mathematical model is validated by comparing simulation result and experimental data. The performance and reliability of the proposed EMA have been verified through performance test, environmental test and ground test. The proposed EMA is expected to be useful as an EMA for flight vehicles because of its simple and compact structure, as well as its performance and reliability.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.1
• /
• pp.369-377
• /
• 2013

This paper deals with the state of charge(SOC) and life cycle evaluation algorithm for lead-acid battery, which is essential factor of the electric vehicle(EV) and the stabilization of renewable energy in the smart grid. In order to perform the effective operation of the lead-acid battery, SOC and life cycle evaluation algorithm is required. Specific gravity with the change of electrolyte temperature inside battery case should be obtained to evaluate the SOC of lead-acid battery, however it is difficult to measure the electrolyte temperature of sealed type lead-acid battery. To overcome this problem, this paper proposes the equation of thermal transmission to compensate internal temperature of the lead-acid battery. Also, it is difficult to exactly evaluate the life cycle of battery, depending on the operation conditions of lead-acid battery such as charging and discharging state, self discharging rate and environmental issue. In order to solve the problem, this paper presents the concept for gravity accumulation of charge and discharge cycle, which is the value converted at $20^{\circ}C$. By using the proposed algorithm, this paper propose the test device based on the Labview software. The simulation results show that it is a practical tool for the maintenance of lead-acid battery in the field of industry.

• Journal of Advanced Navigation Technology
• /
• v.22 no.6
• /
• pp.530-536
• /
• 2018

Recently, many studies for interoperability of UAV in the NAS has been performed since the application range and demand of UAV are continuously increased. For the interoperation of UAV in the NAS, technical standards and certification system for UAV which is equivalent to the commercial aircraft are required and test and evaluation methodology must be presented by standards. In this paper, qualification test and evaluation methodology aboutfor the UAV navigation system is proposed. For the research, the mission profile and operation environment of UAV were analyzed. Thereafter the test criteria were derived and the test methodology were established. Finally, the simulation and demonstration using test-bed UAV were performed. As a result of the test, it was confirmed that the navigation system of test UAV has a position accuracy about 1.4 meters at 95% confidence level in the entire flight stage.

• Journal of the Korea Convergence Society
• /
• v.10 no.9
• /
• pp.37-45
• /
• 2019

In recent years, the emergence of virtual reality (VR Virtual Reality) technology has provided a new model of safety education, enabling users to learn and respond to disasters in a virtual safety education environment. However, the related VR products related to domestic and foreign R & D are relatively simple, there is no practical training on specific accident, and it is not practical enough to play a sufficient role in safety education. In this paper, the problems and disadvantages of VR technology applied in the field of automobile safety education as an example of automobile accident among the types of disasters are examined, and a system framework of automotive safety education based on VR technology is proposed. The vehicle safety education system proposed in this paper will help users to improve driving safety consciousness, to acquire safety knowledge in driving, and to acquire driving safety skill which is very important for automobile safety education. In addition, the design and production methods of safety education based on VR technology are considered to have important reference implications for the application of modern teaching and teaching theory by integrating with VR technology and developing related teaching materials products and finally introducing education.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.34 no.3
• /
• pp.137-149
• /
• 2021

Cable-stayed bridges are infrastructure facilities of a highly public nature; therefore, it is essential to ensure operational safety and prompt response in the event of a collapse or damage caused by natural and social disasters. Among social disasters, impact accidents can occur in bridges when a vehicle collides with a pier or when crashes occur due to aircraft defects. In the case of offshore bridges, ship collisions will occur at the bottom of the pylon. In this research, a procedure to evaluate the structural behavior of a cable-stayed bridge for aircraft impact is suggested based on a numerical analysis approach, and the feasibility of the procedure is demonstrated by performing an example assessment. The suggested procedure includes 1) setting up suitable aircraft impact hazard scenarios, 2) structural modeling considering the complex behavior mechanisms of cable-stayed bridges, and 3) structural behavior evaluation of cable-stayed bridges using numerical impact simulation. It was observed that the scenario set in this study did not significantly affect the target bridge. However, if impact analysis is performed through various scenarios in the future, the load position and critical load level to cause serious damage to the bridge could be identified. The scenario-based assessment process employed in this study is expected to facilitate the evaluation of bridge structures under aircraft impact in both existing bridges and future designs.