• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.1531-1535
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• 2008

The Tester of Autonomous station control system is a system which can test the main function of Autonomous station control system through the data field. The purpose of this paper is to meet the system requirements and design a main function, menu and user interface using Use-case. The main function is a time-deadline test, a schedule broadcast test, a route control test and a version-up test, etc. The design of Autonomous station control system tester plays a primary role of the important document for the upcoming future system development of the tester.

• 자동차안전학회지
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• 제12권4호
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• pp.13-22
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• 2020

This paper presents an adaptive feedback based actuator fault detection and tolerant control algorithms for longitudinal functional safety of autonomous driving. In order to ensure the functional safety of autonomous vehicles, fault detection and tolerant control algorithms are needed for sensors and actuators used for autonomous driving. In this study, adaptive feedback control algorithm to compute the longitudinal acceleration for autonomous driving has been developed based on relationship function using states. The relationship function has been designed using feedback gains and error states for adaptation rule design. The coefficients in the relationship function have been estimated using recursive least square with multiple forgetting factors. The MIT rule has been adopted to design the adaptation rule for feedback gains online. The stability analysis has been conducted based on Lyapunov direct method. The longitudinal acceleration computed by adaptive control algorithm has been compared to the actual acceleration for fault detection of actuators used for longitudinal autonomous driving.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.91.1-91
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• 2001

The subject of this paper is vision system analysis of the autonomous vehicle. But, autonomous vehicle is one of the difficult topics from the point of view of several constrains on mobility, speed of vehicle and lack of environment information. Therefore, we are application of the vision system so that autonomous vehicle. Vision system of autonomous vehicle is likely to eyes of human. This paper can be divided into 2 parts. First, acceleration system and brake control system for longitudinal motion control. Second vision system of real time lane detection is for lateral motion control. This part deals lane detection method and image processing method. Finally, this paper focus on the integration of tole-operating vehicle and autonomous ...

• 대한임베디드공학회논문지
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• 제16권6호
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• pp.285-292
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• 2021

Autonomous vehicles are divided into an upper controller that calculates control value through cognitive judgment and a lower controller that appropriately transmits its control value to an actuator. Here, the longitudinal control in a lower controller has a problem as the road slopes due to the property of the Acceleration sensor to output the acceleration as the slope of the device. Therefore, in this paper, a sigmoid function is proposed to determine the slope to compensate for this problem. Through the experiment, Checked performance by comparing the existing table model with the proposed model.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.940-946
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• 2004

In this paper, an efficient real-time control architecture for autonomous navigation of powered wheelchair is developed. Since an advanced intelligent wheelchair requires real-time performance, the control software architecture of powered wheelchair is developed under Linux real-time extension Real-time Application Interface (RTAI). A hierarchical control structure for autonomous navigation is designed and implemented using real-time processe and interrupts handling of sensory perception based on slanted surface LRF, emergency handling capability, and motor control with 0.1 msec sampling time. The performance of our powered wheelchair system with the implemented control architecture for autonomous navigation is verified via experiments in a corridor.

• 대한임베디드공학회논문지
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• 제12권5호
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• pp.319-330
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• 2017

In remote USV (Unmanned Surface Vehicle) maritime operation, the remote operation and control technic and autonomous control technic is required and the emergency mode algorithm is needed certainly for sailing and accomplishing various surveillance, reconnaissance, and underwater search missions of USV. In this paper, we review the countermeasures in emergency situation of the existing USV system (Barracuda) and propose the emergency mode algorithm considering the operation and control, and autonomous control level for the stable USV operation in case of emergency. We analyzed the autonomous control level in view of the mission complexity and environmental difficulty, and human interface, and verified the performance of the autonomous control level when we apply four emergency mode algorithms. It is expected that more stable and reliable operation and cotrol are possible if the proposed algorithm is applied to the environments requiring the various multi-mission USV sailing and mission achievement.

• 한국산업융합학회 논문집
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• 제22권2호
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.274-281
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• 1998

This paper describes a visual control of autonomous vehicle using neural network. Visual control for road-following of autonomous vehicle is based on road image from camera. Road points on image are inputs of controller and vehicle speed and steering angle are outputs of controller using neural network. Simulation study confirmed the visual control of road-following using neural network. For experimental test, autonomous electric vehicle is designed and driving test is realized

• Nuclear Engineering and Technology
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• 제49권5호
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• pp.896-904
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• 2017

Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.861-866
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• 2007

This paper presents development of a vehicle lateral and longitudinal control for autonomous driving control and test results obtained using an electric vehicle. Sliding control theory has been used to develop a vehicle speed and distance control algorithm. The longitudinal control algorithm that maintains safety and comfort of the vehicle consists of a cruise and STOP&GO control depending on traffic conditions. Desired steering angle is determined through the lateral position error and the yaw angle error based on preview optimal control. Motor control inputs have been directly derived from the sliding control law. The performance of the autonomous driving control which is integrated with a lateral and longitudinal control is investigated by computer simulations and driving test using an electric vehicle. Electric vehicle system consists of DC driving motor, an electric power steering system, main controller (Autobox)