• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.2
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• pp.165-171
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• 2013

WAVE(Wireless Access in Vehicular Environments) is a representative V2V communication protocol and its standards of MAC and PHY parts except for security were published. In order to control traffic flow and ensure driver's safety using V2V communication, various projects are conducting. In particular, safety application has been researched. Therefore, in this paper, we designed the safety application algorithm, which informs a driver of the dangerous status when driver tries to turn left in an intersection and we also implemented the algorithm. Proposed algorithm configures a model for a host vehicle and a vehicle coming in opposite lane and in case that there is collision hazard it provides warning message to driver by using HMI. In order to evaluate the proposed algorithm's performance, we configured the test bed using test vehicles and we tested the algorithm on proving ground with the composed test scenarios. As test results, our system showed excellent performance. If the infrastructures for V2I communications are constructed, we will optimize our system more precisely and stably.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1181-1188
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• 2014

In this paper, we propose a novel concept foran unmanned delivery service using a cooperative heterogeneous unmanned system consisting of a self-driving car and an unmanned aerial vehicle (UAV). The proposed concept is suitable to deliver parcels in high-density and high-rise urban or residential areas. In order to achieve the proposed concept, we will develop acooperative heterogeneous unmanned system. Customers can order goods using a smartphone application and the order information, including the position of the customer and the order time, and the package is transported automatically by the unmanned systems. The system assigns the tasks suitable for each unmanned vehicle by analyzing it based on map information. Performance is validated by experiments consisting of autonomous driving and flight tests in a real environment. For more evaluation, the landing position error analysis is performed using circular error probability (CEP).

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.2
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• pp.159-165
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• 2015

Motion control schemes are generally classified into three categories (point stabilization, trajectory tracking, and path following). This paper deals with the problem which is associated with the initial deployment of a group of Unmanned Surface Vehicle (USVs) and corresponding point stabilization. To keep the formation of a group of USVs, it is necessary to set the relationship between each vehicle. A forcing functions such as potential fields are designed to keep the formation and a graph Laplacian is used to represent the connectivity between vehicle. In case of fixed topology of the graph representing the communication between the vehicles, the graph Laplacian is assumed constant. However the graph topologies are allowed to change as the vehicles move, and the system dynamics become discontinuous in nature because the graph Laplacian changes as time passes. To check the stability in the stage of deployment, the system is modeled with Kronecker algebra notation. Filippov's calculus of differential equations with discontinuous right hand sides is then used to formally characterize the behavior of USVs. The stability of the system is analyzed with Lyapunov's stability theory and LaSalle's invariance principle, and the validity is shown by checking the variation of state norm.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.1168-1173
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• 2007

The Seoul Subway is one of the most heavily used Subway System in the world. It provides reliable transportation services, conveys nearly 4 million Passengers across 117 subway stations with a length of 134.9 Km. Over the years the safety for the Subway has been a major concern, trains going off the track, equipment failure, careless operation, Signal failure are increasing day by day. In a Recent Public opinion 40% said the causes to above facts are Vehicle breakdown because of Operators, Old rail defect, Quality of material. 20% of the opinion said the obstacles were because of Operation, crew carelessness, negligence in signal operation. In case of any accident the crew members cannot resolve the issue on site (Aid insufficiency), because of lack of knowledge and carelessness. The main obstacles for Subway are vehicle breakdown, Electric equipment failure, Signal Equipment failure, and Crew carelessness. This paper aims to provide major problems which are needed to be solved as quickly as possible for citizen's safety for a comfortable subway system making a comfortable ride and providing better service gradually.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.31-37
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• 2018

Recently, the safety in vehicle also has become a hot topic as self-driving car is developed. In passive safety systems such as airbags and seat belts, the system is being changed into an active system that actively grasps the status and behavior of the passengers including the driver to mitigate the risk. Furthermore, it is expected that it will be possible to provide customized services such as seat deformation, air conditioning operation and D.W.D (Distraction While Driving) warning suitable for the passenger by using occupant information. In this paper, we propose robust vehicle occupant detection algorithm based on RGB-Depth-Thermal camera for obtaining the passengers information. The RGB-Depth-Thermal camera sensor system was configured to be robust against various environment. Also, one of the deep learning algorithms, OpenPose, was used for occupant detection. This algorithm is advantageous not only for RGB image but also for thermal image even using existing learned model. The algorithm will be supplemented to acquire high level information such as passenger attitude detection and face recognition mentioned in the introduction and provide customized active convenience service.

• Journal of Internet Computing and Services
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• v.2 no.2
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• pp.105-116
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• 2001

According to increase of the factory-automation's(FA) in the field of production, the autonomous guided vehicle's(AGV) role is also increased, The study about an active and effective controller which can flexibly prepare for the changeable circumstance is in progressed. For this study. the research about ac1ion base system to evolve by itself is also being actively considered In this paper. we composed an ac1ive and effective AGV fuzzy controller to be able to do self-organization, For composing it. we tuned suboptimally membership function using genetic algorithm(GA) and improved the control efficiency by the self-correction and generating the control rules. self-organizing controlled(SOC) fuzzy controller proposed in this paper is capable of Self-organizing by using the characteristics of fuzzy controller and genetic algorithm. It intuitionally controls AGV and easily adapts to the circumstance.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.165-166
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• 2015

Due to the international economic downturn and the increasing competition, container terminals have been trying to achieve cost effectiveness and high service levels. Shipping companies want to get better services from container terminals but container terminals only have limited space and equipment. Frequently, too many external trucks come to the terminal at the same time, and create bottle necks at the terminals. Ouside the container terminals traffic jams occur as well. As a result, stakeholders need a vehicle booking system. By VBS, container terminals can plan efficiently in advance to avoid work delay and the truck drivers can finish their jobs quickly. This paper aims to search efficient models for the container terminals by using VBS.

• ETRI Journal
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• v.42 no.5
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• pp.700-711
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• 2020

Because of the rapid increase of mobile traffic, flexible broadband supportive unmanned aerial vehicle (UAV)-based 6G mobile networks using free space optical (FSO) links have been recently proposed. Considering the advancements made in UAVs, big data processing, and artificial intelligence precision control technologies, the formation of an additional wireless network based on UAV aerial platforms to assist the existing fixed base stations of the mobile radio access network is considered a highly viable option in the near future. In this paper, a combined time bound optimization scheme is proposed that can adaptively satisfy the control and communication time constraints as well as the processing time constraints in FSO-based 6G UAV aerial networks. The proposed scheme controls the relation between the number of data flows, input data rate, number of worker nodes considering the time bounds, and the errors that occur during communication and data processing. The simulation results show that the proposed scheme is very effective in satisfying the time constraints for UAV control and radio access network services, even when errors in communication and data processing may occur.

• Journal of the Korea Society of Computer and Information
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• v.21 no.9
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• pp.79-84
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• 2016

In this paper we consider the problem of finding the triplet (S,${\pi}$,f), where $S{\subseteq}V$, ${\pi}$ is a sequence of nodes in S and $f:V{\backslash}S{\rightarrow}S$ for a given complete graph G=(V,E). In particular, there exist two costs, $c^V_{uv}$ and $c^D_{uv}$ for $(u,v){\in}E$, and the cost of triplet (S,${\pi}$,f) is defined as $\sum_{i=1}^{{\mid}S{\mid}}c^V_{{\pi}(i){\pi}(i+1)}+2$ ${\sum_{u{\in}V{\backslash}S}c^D_{uf(u)}$. This problem is motivated by the integrated routing of the vehicle and drone for urban delivery services. Since a well-known NP-complete TSP (Traveling Salesman Problem) is a special case of our problem, we cannot expect to have any polynomial-time algorithm unless P=NP. Furthermore, for practical purposes, we may not rely on time-exhaustive enumeration method such as branch-and-bound and branch-and-cut. This paper suggests the simple heuristic which is motivated by the MST (minimum spanning tree)-based approximation algorithm and neighborhood search heuristic for TSP.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.2
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• pp.609-631
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• 2022

The main goal of VANETs is to improve the safety of all road users. Therefore, the accuracy and trustworthiness of messages transmitted in VANETs are essential, given that life may rely on them. VANETs are provided with basic security services through the use of public key infrastructure-based authentication. However, the trust of users is still an open issue in VANETs. It is important to prevent bogus message attacks from internal vehicles as well as protect vehicle privacy. In this paper, we propose a trust management scheme that ensures trust in VANETs while maintaining vehicle privacy. The trust scheme establishes trust between vehicles where a trust value is assigned to every vehicle based on its behavior and messages are accepted only from vehicles whose trust value is greater than a threshold, therefore, protecting VANETs from malicious vehicles and eliminating bogus messages. If a traffic event happens, vehicles upload event messages to the reachable roadside unit (RSU). Once the RSU has confirmed that the event happened, it announces the event to vehicles in its vicinity and records it into the blockchain. Using this mechanism, RSUs are prevented from sending fake or unverified event notifications. Simulations are carried out in the context of bogus message attacks to evaluate the trust scheme's reliability and efficiency. The results of the simulation indicate that the proposed scheme outperforms the compared schemes and is highly resistant to bogus message attacks.