• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.57-62
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• 2004

This paper deals with a waypoint trajectory following problem for the tilt-rotor UAV under development in Korea (TR-KUAV). In this problem, dynamic model inversion based on the linearized model and Sigma-Phi neural network with adaptive weight update are involved to realize the waypoint following algorithm for the vehicle in the helicopter flight mode (nacelle angle=0 deg). This algorithms consists of two main parts: outer-loop system as a command generator and inner-loop system as stabilizing controller. In this waypoint following problem, the position information in the inertial axis is given to the outer-loop system. From this information, Attitude Command/Attitude Hold logic in the longitudinal channel and Rate Command/Attitude Hold logic in the lateral channel are realized in the inner-loop part of the overall structure of the waypoint following algorithm. The nonlinear simulation based on the TR-KUAV is carried out to evaluate the stability and performance of the algorithm. From the numerical simulation results, the algorithm shows very good tracking performance of passing the waypoints given. Especially, it is observed that ACAH/RCAH logic in the inner-loop has the satisfactory performance due to adaptive neural network in spite of the model error coming from the linear model based inversion.

• Journal of Biosystems Engineering
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• v.37 no.1
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.147-159
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• 2020

Over the last years, a number of different path following methods for the autonomous parking system have been proposed for tracking planned paths. However, it is difficult to find a study comparing path following methods for a short path length with large curvature such as a parking path. In this paper, we conduct a comparative study of the path following methods for perpendicular parking. By using Monte-Carlo simulation, we determine the optimal parameters of each controller and analyze the performance of the path following. In addition, we consider the path following error occurred at the switching point where forward and reverse paths are switched. To address this error, we conduct the comparative study of the path following methods with the one thousand switching points generated by the Monte-Carlo method. The performance of each controller is analyzed using the V-rep simulator. With the simulation results, this paper provides a deep discussion about the effectiveness and limitations of each algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.224-232
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• 2015

In order to develop an active safety system which avoids or mitigates collisions with preceding vehicles such as autonomous emergency braking (AEB), accurate state estimation of the nearby vehicles is very important. In this paper, an algorithm is proposed using 3 dynamic models to better estimate the state of a vehicle which has various dynamic patterns in both longitudinal and lateral direction. In particular, the proposed algorithm is based on the Interacting Multiple Model (IMM) method which employs three different dynamic models, in cruise mode, lateral maneuver mode and longitudinal maneuver mode. In addition, a Probabilistic Data Association Filter (PDAF) is utilized as a data association algorithm which can improve the reliability of the measurement under a clutter environment. In order to verify the performance of the proposed method, it is simulated in comparison with a Kalman filter method which employs a single dynamic model. Finally, the proposed method is validated using radar data obtained from the field test in the proving ground.

• Journal of the Ergonomics Society of Korea
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• v.31 no.4
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• pp.577-583
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• 2012

Objective: This paper describes the process and results related to the development of gesture recognition-based natural user interface(NUI) for vehicle maintenance e-Training system. Background: E-Training refers to education training that acquires and improves the necessary capabilities to perform tasks by using information and communication technology(simulation, 3D virtual reality, and augmented reality), device(PC, tablet, smartphone, and HMD), and environment(wired/wireless internet and cloud computing). Method: Palm movement from depth camera is used as a pointing device, where finger movement is extracted by using OpenCV library as a selection protocol. Results: The proposed NUI allows trainees to control objects, such as cars and engines, on a large screen through gesture recognition. In addition, it includes the learning environment to understand the procedure of either assemble or disassemble certain parts. Conclusion: Future works are related to the implementation of gesture recognition technology for a multiple number of trainees. Application: The results of this interface can be applied not only in e-Training system, but also in other systems, such as digital signage, tangible game, controlling 3D contents, etc.

• Journal of the Ergonomics Society of Korea
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• v.32 no.2
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• pp.189-198
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• 2013

Objective: This research was carried out to study the menu type design of instrument cluster IVIS(In Vehicle Information System) for efficient navigation under deconcentrated situations. Background: A driver controls the IVIS menu using the rest of cognitive resources while driving a car. Although a driver controls the IVIS using extra cognition resources, his or her distraction can still cause some safety problems while driving. Menu type design of instrument cluster is absolutely important for safe and efficient navigation. Method: Four menu types including paging, flow, icon, and list type were identified through reviewing the existing IVIS of vehicle and the menu structure of cellular phone. Four menu types were evaluated through experiment. The experiment consisted of primary and secondary task, which the primary task was to simulate a driving and the secondary task was to control an IVIS menu prototype. Task performances, menu type preferences, and eye-movement patterns were measured in this experiment. Results: The result shows that icon type was the best design in aspect of task performance and preference. A clue for next menu item provided a positive effect for efficient menu navigation. It was identified that most of subjects gazed the middle-top area of IVIS screen from eye-movement pattern. Conclusion: A basic design of Instrument Cluster IVIS was proposed considering the result of this study in the final. Application: The results of this study can be effectively used in the design of Instrument Cluster IVIS.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.39 no.3
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• pp.140-149
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• 2002

This paper describes the characteristics of beam-tilting slot away waveguide antennas for mobile DBS reception. As a basic study of slotted waveguide array, design for 16 slot elements located on a broad-wall waveguide is considered. Design parameters such as slot length, space between each slot and cross slot angle of antennas with the beam-tilting characteristics are calculated by method of moments. Based on these results, the radiation waveguide antennas with 16-element $\times$16-array are designed and fabricated. The measured main beam direction angles of the fabricated antennas are 48$^{\circ}$to 50$^{\circ}$depending on the measured frequencies and it shows good agreement with prediction. The measured 3 dB beam width of elevation pattern is about 13$^{\circ}$, and the axial ratio and the gain measured at DBS band are observed 2.8 dB below and 24 dBi above, respectively. In order to evaluate a performance of the fabricated waveguide planar antenna, it is combined with the satellite tracking control system and the field performance test of antenna mounted on a mobile vehicle is carried out at highway. During the measurement, it was possible to watch television without a break signal in a driving vehicle and an excellent performance of the proposed antennas was demonstrated.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1085-1091
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• 2014

This paper presents the guidance and control design for automatic carrier landing of a UAV (Unmanned Aerial Vehicle). Differently from automatic landing on a runway on the ground, the motion of a carrier deck is not fixed and affected by external factors such as ship movement and sea state. For this reason, robust guidance/control law is required for safe shipboard landing by taking the relative geometry between the UAV and the carrier deck into account. In this work, linear quadratic optimal controller and longitudinal/lateral trajectory tracking guidance algorithm are developed based on a linear UAV model. The feasibility of the proposed control scheme and guidance law for the carrier landing are verified via numerical simulations using X-Plane and Matlab/simulink.

• International Journal of Highway Engineering
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• v.13 no.2
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• pp.95-102
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• 2011

Anti-icing system can immediately respond when snowing is expected or the snow comes down on the road surface. It has been recognized that the system can reduce traffic accidents and congestion by quickly removing the frozen road surface area. However, it is very difficult to implement this system due to the expensive equipment installation and operation cost, Recently, there was a developed program for predicting the freezing area using three-dimensional model and tracking the sun path. But, there is no objective analysis method and all developed approaches are different so that the general standard of anti-icing system is needed. In this study, we proposed the decision criteria for determining application priorities of the anti-icing system based on weather and road conditions, i.e., geometric and topographic conditions. Regional climate survey, topographical analysis, and dynamic vehicle simulation considered road geometry and skid resistance was conducted to standardize the installation method of anti-icing system.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.149-156
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o.f. equations of motion of SAUV in a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass and a depth senor. The error of the estimated position still slowly drifts in horizontal plane about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.