• Journal of IKEEE
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• v.18 no.3
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• pp.376-382
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• 2014

In this paper, we propose a advanced attitude PID controller and sensor fusion method robust to the vibration of the quadcopter unmanned air vehicle using four BLDC motors. When the gyro sensor and acceleration sensor are fused, a complementary filter is designed to ignore the vibrations generated by the motors and to complement the drawbacks. As a result, we obtain accurate results than using each sensor. Also, it is possible to obtain a low delay results in robust to vibration than the low-pass filter or moving average filter, which is generally used for quadcopter. And we improved D controller, which have being used for attitude control of quadcopter, to quadcopter using gyro sensor. it was confirmed that the attitude is stabilized and error is reduced By using gyro sensor output instead of variation of estimated angle in D control.

• Journal of the Korean Institute of Gas
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• v.16 no.6
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• pp.73-79
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• 2012

Currently, all domestic CNG vehicles have manual cylinder valves installed. These are inconvenient for drivers in case of a gas leak accident, because drivers have to stop the vehicle operation and manually close the valve. It makes difficult condition for drivers to quickly and properly respond to such accidents. In advanced European countries, they require Automatic cylinder valve installation, which has a structure where the valve is automatically shut off when the driver turns off the ignition in case of a gas leak. If this electric valve system is introduced in Korea, the safety of CNG buses will be improved with better functionalities. In this paper, in order to solve the structural problem of difficulty for a driver to identify the operational status of individual Automatic cylinder valves, an approach was made regarding temperature increase with pressure increase during CNG filling. it was estimated that the temperature increased approximately more than $30^{\circ}C$ due to pressure difference during the filling. Therefore, it was concluded from the experimental data that the valve of the container whose temperature did not increase did not operate, resulting in filling failure.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.1
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• pp.126-136
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• 2014

In the Advanced Driver Assistance Systems (ADAS) of smart vehicle and Intelligent Transportation System (ITS) for to detect the boundary of lane is being studied a lot of Hough Transform. This method detects correctly recognition the lane. But recognition rate can fall due to detecting straight lines outside of the lane. In order to solve this problems, this paper proposed an algorithm to recognize the lane boundaries and the accumulator cells in Hough space. Based on proposed algorithm, we develop application for Android was developed by H/W verification. Users of smart phone devices could use lane detection and lane departure warning systems for driver's safety whenever and wherever. Software verification using the OpenCV showed efficiency recognition correct rate of 93.8% and hardware real-time verification for an application development in the Android phone showed recognition correct rate of 70%.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.4
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• pp.113-120
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• 2014

In this paper, we examine Asymmetric Multi-Processing Environment to provide LDW service. Asymmetric Multi-Processing Environment consists of high-speed MCU to support rapid image processing and low-speed MCU for controlling with other ECU at the control domain. Also we designed rapid image process application and LDW application Software Component(SW-C) according to the development process rule of AUTOSAR. To communicate between two MCUs, timer based polling based IPC was designed. Also to communicate with other ECUs(Electronic Control Units), we designed CAN messages to provide alarm information and receiving CAN message to catch the Turn signal. We confirm the possibility of the various ADAS development using an Asymmetric Multi-Processing Environment and AUTOSAR platform. We also expect providing ISO 26262 functional safety.

• Journal of Advanced Navigation Technology
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• v.24 no.3
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• pp.192-197
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• 2020

Recently, the technologies related to autonomous drive has studying the goal for safe operation and prevent accidents of vehicles. There is radar and camera technologies has used to detect obstacles in these autonomous vehicle research. Now a day, the method for using LiDAR sensor has considering to detect nearby objects and accurately measure the separation distance in the autonomous navigation. It is calculates the distance by recognizing the time differences between the reflected beams and it allows precise distance measurements. But it also has the disadvantage that the recognition rate of object in the atmospheric environment can be reduced. In this paper, point cloud data by triangular functions and Line Regression model are used to implement measurement algorithm, that has improved detecting objects in real time and reduce the error of measuring separation distances based on improved reliability of raw data from LiDAR sensor. It has verified that the range of object detection errors can be improved by using the Python imaging library.

• Journal of Advanced Navigation Technology
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• v.24 no.3
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• pp.224-231
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• 2020

An optical tracking plays an important role for measurement operation, as it is responsible for low altitude measurements that are difficult to obtain with radar systems. Since the existing optical tracking systems have not been developed in the proving ground itself so far, it is difficult to modify them to fit the environment of the proving ground. Also, they are designed as a vehicle-mounted type, so there is a limitation in selecting an optimal site. The in-house developed small optical tracking system is designed with a simple configuration to overcome these shortcomings and makes it possible for operators to operate the system at any place in the proving ground. In addition, there has been a need of developing small optical trackers by ourselves to be prepared for future research so that artificial intelligence (AI) can be applied to the optical tracking systems. In this paper, we described the design concept of the small optical tracker, the configuration of the components to implement the basic tracking function, and showed the results of the simulation to set the configuration of the equipment according to the characteristics of the flight targets.

• Journal of Advanced Navigation Technology
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• v.24 no.3
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• pp.198-204
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• 2020

This paper designs a electromagnetic-log (EM-Log) aided navigation filter for maritime environment without global navigation satellite system (GNSS). When navigation is performed for a long time, Inertial navigation system (INS)'s error gradually diverges. Therefore, an integrated navigation method is used to solve this problem. EM-Log sensor measures the velocity of the vehicle. However, since the measured velocity from EM-Log contains the speed of the sea current, the aided navigation filter is required to estimate the sea current. This paper proposes a single model filter and interacting multiple (IMM) model filter methods to estimate the sea current and analyzes the influence of the sea current model on the filter. The performance of the designed aided navigation filter is verified using a simulation and the improvement rate of the filter compared to the pure navigation is analyzed. The performance of single model filter is improved when the sea current model is correct. However, when the sea current model is incorrect, the performance decreases. On the other hands, IMM model filter methods show the stable performance compared to the single model.

• Journal of Advanced Navigation Technology
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• v.24 no.3
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• pp.212-217
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• 2020

Recently, with the interest in the 4th industrial revolution, the demand for autonomous driving technology is increasing. V2X communication technology is a core technology for autonomous vehicles that exchanges information with objects such as vehicles, infrastructure, networks, and pedestrians through wired and wireless networks. In this paper, we present the results of the hybrid V2X communication system, which is a hybrid design of WAVE and LTE, and the coverage test to confirm the performance of the system. Through coverage measurement, we show that the hybrid V2X communication performance is superior to the existing LTE or WAVE single communication system in communication coverage, so it can be effectively applied to autonomous driving services.

• Journal of Advanced Navigation Technology
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• v.21 no.4
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• pp.332-338
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• 2017

Launch and recovery system(LARS) is required to perform an USV-based underwater exploration. Through the analysis of the requirements according to the scenario of underwater exploration, the mechanism of LARS and the conceptual design of the mechanical parts of LARS are carried out. In addition, a USV motion can be induced due to environmental disturbances such as waves, so the detailed design of LARS for recovering the underwater tow-fish stably in consideration of the USV motion is performed. To verify the performance of launch and recovery operations, LARS and test bed were developed. The results show that the proposed LARS can stably launch and recovery an underwater tow-fish.

• Fashion & Textile Research Journal
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• v.19 no.2
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• pp.109-120
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• 2017

In the textile industry located in Gyeonggi-do, 85% of small-sized firms have less than 10 employees; in addition, the most of them are characterized by a vendor relying specialization system that conducts foundry from the vendor that managed marketing, textile design development, and quality checks according to unit stream. The breakaway of these vendors accelerated over the last 7 years; however, industry survival is at stake because the specialization system and orders have collapsed. The following four main policies must be implemented to overcome industry hardship. Policies have been derived from survey and analysis (present condition and trends) from industrial statistics and related policies in advanced and developing countries. First, a policy to promote cooperation between small-sized foundry unit-streams. Second, unification of the marketing support function with a textile design and development support system. Third, the introduction of policy support-management system customized according to developmental stages (tall process${\rightarrow}$fabric production${\rightarrow}$sales${\rightarrow}$clothing production sales). Fourth, foundation of a control tower that puts these tasks in a vehicle and runs them and the division of roles with the central government. We must propel main tasks to manifest the developmental potential (develop eco-friend dyeing and processing technologies, change to the young next CEO in business environment, and grow the of knit market) of the Gyeonggi Textile Industry in a short period to present a condition where these four main policies are running.