• ETRI Journal
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• v.43 no.4
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• pp.603-616
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• 2021

Over the last few years, autonomous vehicles have progressed very rapidly. The odometry technique that estimates displacement from consecutive sensor inputs is an essential technique for autonomous driving. In this article, we propose a fast, robust, and accurate odometry technique. The proposed technique is light detection and ranging (LiDAR)-based direct odometry, which uses a spherical range image (SRI) that projects a three-dimensional point cloud onto a two-dimensional spherical image plane. Direct odometry is developed in a vision-based method, and a fast execution speed can be expected. However, applying LiDAR data is difficult because of the sparsity. To solve this problem, we propose an SRI generation method and mathematical analysis, two key point sampling methods using SRI to increase precision and robustness, and a fast optimization method. The proposed technique was tested with the KITTI dataset and real environments. Evaluation results yielded a translation error of 0.69%, a rotation error of 0.0031°/m in the KITTI training dataset, and an execution time of 17 ms. The results demonstrated high precision comparable with state-of-the-art and remarkably higher speed than conventional techniques.

• Journal of Drive and Control
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• v.17 no.4
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• pp.80-86
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• 2020

Autonomous driving is one of the most important new technologies of our time; it has benefits in terms of safety, the environment, and economic issues. Path following algorithms, such as automated lane keeping systems (ALKSs), are key level 3 or higher functions of autonomous driving. Pure-Pursuit and Stanley controllers are widely used because of their good path tracking performance and simplicity. However, with the Pure-Pursuit controller, corner cutting behavior occurs on curved roads, and the Stanley controller has a risk of divergence depending on the response of the steering system. In this study, we use the advantages of each controller to propose a hybrid control strategy that can be stably applied to complex driving environments. The weight of each controller is determined from the global and local curvature indexes calculated from HD map information and the current driving speed. Our experimental results demonstrate the ability of the hybrid controller, which had a cross-track error of under 0.1 m in a virtual environment that simulates K-City, with complex driving environments such as urban areas, community roads, and high-speed driving roads.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.5
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• pp.609-617
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• 2013

This paper presents a near-minimum time path planning algorithm for autonomous driving. The problem of near-minimum time path planning is an optimization problem in which it is necessary to take into account not only the geometry of the circuit but also the dynamics of the vehicle. The path planning algorithm consists of a candidate path generation and a velocity optimization algorithm. The candidate path generation algorithm calculates the compromises between the shortest path and the path that allows the highest speeds to be achieved. The velocity optimization algorithm calculates the lap time of each candidate considering the vehicle driving performance and tire friction limit. By using the calculated path and velocity of each candidate, we calculate the lap times and search for a near-minimum time path. The proposed algorithm was evaluated via computer simulation using CarSim and Matlab/Simulink.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.582-587
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. However, the recognition of objects using a ultrasonic sensor is not so easy due to its characteristics such as narrow beam width and no reflected signal from a inclined object. As one of the alternatives to resolve these problems, use of multiple sensors has been studied. A sequential driving system needs a long measurement time and does not take advantage of multiple sensors. Simultaneous and pulse coding driving system of ultrasonic sensor array cannot measure short distance as the length of the code becomes long. This problem can be resolved by multi-frequency driving of ultrasonic sensors, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a simultaneous and multi-frequency driving system for an ultrasonic sensor array for object recognition. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the multi-frequency signals, and a 5-channel frequency modulated signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from filtering of the received overlapping signals and calculation of the time-of-flights.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.26-29
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• 2008

In the fields of electronics and displays where inkjet printing has demonstrated its capability to fabricate colorant subpixels of thin film transistor liquid crystal(TFT LCD) color filters and organic light emitting diode (OLED) displays, conducting tracks and TFTs, the production of satellite droplets is one of primary things to eliminate because they generally deteriorate the pattern quality. To understand the production mechanism of satellite droplets in this paper, driving waveforms such as monopolar and bipolar were employed and the influence of the pulse duration time were investigated in both experimental and numerical aspects.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 1998.11a
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• pp.92-98
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• 1998

In this paper various drive characteristics of a AC Servo Motor for EV(electric vehicle) and hybrid system proposed a countermeasure against air polution are presented. Since the transfer function of the plant is nonlinear and very complicated, there are difficultly in driving the system with real time. The performance of these experiments is confirmed by computer simulation results. The high performance and high accuracy of the driving system, Field oriented vector control system is proposed.

• 한국정보디스플레이학회:학술대회논문집
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• 2007.08a
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• pp.837-840
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• 2007

We propose a novel digital driving method for AM-OLED (Active Matrix-Organic Light Emitting Diode) display. Proposed method modulates $V_{DD}$ so that luminance may be weighted in accordance with the bit significance. We can increase the minimum emission time or slower scan circuits are applicable by using proposed method.

• Proceedings of the KIEE Conference
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• 1999.07d
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• pp.1809-1811
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• 1999

In recent years, attempts have been made to greatly improve the display quality of active-matrix liquid crystal display devices, and many techniques have been proposed to solve such problems as gate delay, feed-through voltage and image sticking. Gate delay is one of the biggest limiting factors for large-screen-size, high-resolution thin-film transistor liquid crystal display (TFT/LCD) design. Many driving method proposed for TFT/LCD progress. Thus we developed gate driving signal generator. Since Pixel-Design Array Simulation Tool (PDAST) can simulate the gate, data and pixel voltages of a certain pixel on TFT array at any time and at any location on an array, the effect of the driving signals of gate lines on the pixel operations can be effectively analyzed.

• 한국정보디스플레이학회:학술대회논문집
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• 2004.08a
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• pp.1053-1056
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• 2004

Chunghwa Picture Tubes, LTD. (CPT) has developed a Novel TFT-LCD Driving Techniquel. This new technique is developed in combination with other state-of-the-art image processing solutions such as image compression / decompression, motion detection, and noise reduction. By applying the Novel Driving Technique to the high resolution TFT-LCD, it was found that the response time can be effectively reduced with a lower overall system cost by smaller frame memory requirement, lower EMI by less memory band-width. Likewise, higher display quality can also be achieved in that the unexpected noises generated by over-drive can be eliminated. The Novel TFT-LCD Driving Technique has been successfully implemented to the 30 inch WXGA (1280${\times}$768) resolution TFT LCD commercial TV module. It was found that the quality of moving picture was better improved compared with that of the conventional fast response driving method.

• Proceedings of the Korean Geotechical Society Conference
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• 1999.10a
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• pp.381-388
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• 1999

The existing methods for installation of long steel pipe pile have some uneconomical problems such as increase of installation cost and period due to the welding of two piles and removal of soil plug, and decrease of driving efficiency due to the increase of driving resistance by time effect during the welding of piles and removal of soil plug, etc. Thus, in this study, new installation method for long steel pipe pile is suggested to work out the existing problems, and calibration chamber tests are peformed to investigate both driving and economical efficiency for the suggested method. The test results showed that the new installation method has increase bearing capacity as well as reduce installation cost and period for long steel pipe piles as compared with existing methods.