• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.696-701
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• 2004

A vehicle cruise control algorithm using an Interacting Multiple Model (IMM)-based Multi-Target Tracking (MTT) method has been presented in this paper. The vehicle cruise control algorithm consists of three parts; track estimator using IMM-Probabilistic Data Association Filter (PDAF), a primary target vehicle determination algorithm and a single-target adaptive cruise control algorithm. Three motion models; uniform motion, lane-change motion and acceleration motion, have been adopted to distinguish large lateral motions from longitudinal motions. The models have been validated using simulated and experimental data. The improvement in the state estimation performance when using three models is verified in target tracking simulations. The performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. These simulations show system response that is more realistic and reflective of actual human driving behavior.

• 한국멀티미디어학회논문지
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• 제19권2호
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• pp.180-188
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• 2016

In this paper, we propose a fire detection algorithm based on motion information and color information analysis. Conventional fire detection algorithms have as main problem the difficulty to detect fire due to external light, intensity, background image complexity, and little fire diffusion. So we propose a fire detection algorithm that accurate and fast. First, it analyzes the motion information in video data and then set the first candidate. Second, it determines this domain after analyzing the color and the domain. This algorithm assures a fast fire detection and a high accuracy compared with conventional fire detection algorithms. Our algorithm will be useful to real-time fire detection in real world.

• 대한토목학회논문집
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• 제33권2호
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• pp.595-608
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• 2013

본 연구는 항만 공진 현상을 고려한 계류선박의 동요량 산정방법을 제시하고 공진현상이 선박의 동요에 미치는 영향을 정량적으로 평가한 것이다. 공진 현상의 해석은 타원형완 경사방정식을 채용한 CGWAVE 모형을 사용하였고, 계류선박의 동요 해석은 3차원 Green 함수 모형을 사용하였다. 본 방법은 현지 계류선박의 동요량 계측 결과를 이용하여 타당성을 검증하였고, 포항신항의 최근 파랑 관측 자료와 비교하여 현지 항만의 적용성을 검토하였다. 파랑 관측 기록에서 얻어진 포항신항의 공진주기는 80분, 33분, 23분, 8분 등의 장주기 성분과 항내 슬립에서 발생한 주기 42초, 54초, 60초 등의 외중력파 성분이었으며 공진 해석 모형은 이들 공진주기를 잘 재현하였다. 본 연구에서는 포항신항의 제 8부두에 5,000톤, 10,000톤, 30,000톤의 선박이 계류되었을 때 공진 성분을 포함한 경우와 포함하지 않은 경우의 동요량을 각각 산정하여 공진 현상이 선박 동요에 미치는 영향을 검토하였다. 공진 성분을 포함한 경우는 그렇지 않은 경우에 비하여 12~400 %의 동요량 증가를 보였다. 공진 현상이 동요량에 미치는 영향은 Surge, Heave 동요는 선박이 클 수록, Roll과 Yaw 동요는 반대로 선박이 작을 수록 커짐을 알 수 있었다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.653-656
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• 2005

This paper introduces design, fabrication and experiment process of a novel scanner for the high speed AFM(Atomic Force Microscope). A proper design modification is proposed through analyses on the dynamic characteristics of the existing linear motion stages using a dynamic analysis program, Recurdyn. Since the scanning speed of each direction is allowed to be different, the linear motion stage for the high-speed scanner of AFM can be so designed to have different resonance frequencies for the modes with one dominant displacement in the desired directions. One way to achieve this objective is to use one-direction flexure mechanism for each direction and to mount one stage for fast motion on the other stage for slow motion. This unsymmetrical configuration separates the frequencies of the two vibration modes with one dominant displacement in each desired direction, hence, the coupling between the motions in the two directions. In addition, a pair of actuators is used for each axis to decrease the cross talks in the two motions and gives a force large enough to actuate the slow motion stage, which carries the fast motion stage. After these design modifications, a novel scanner with scanning speed higher than 10 Hz can be achieved to realize undistorted images in the high speed AFM.

• Journal of Positioning, Navigation, and Timing
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• 제2권1호
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• pp.81-89
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• 2013

Many of the current visual odometry algorithms suffer from some extreme limitations such as requiring a high amount of computation time, complex algorithms, and not working in urban environments. In this paper, we present an approach that can solve all the above problems using a single camera. Using a planar motion assumption and Ackermann's principle of motion, we construct the vehicle's motion model as a circular planar motion (2DOF). Then, we adopt a 1-point method to improve the Ransac algorithm and the relative motion estimation. In the Ransac algorithm, we use a 1-point method to generate the hypothesis and then adopt the Levenberg-Marquardt method to minimize the geometric error function and verify inliers. In motion estimation, we combine the 1-point method with a simple least-square minimization solution to handle cases in which only a few feature points are present. The 1-point method is the key to speed up our visual odometry application to real-time systems. Finally, a Bundle Adjustment algorithm is adopted to refine the pose estimation. The results on real datasets in urban dynamic environments demonstrate the effectiveness of our proposed algorithm.

• 대한임베디드공학회논문지
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• 제9권2호
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• pp.81-86
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• 2014

In the scalable video coding standard, inter-layer prediction based on the coding information of the base layer was adopted to increase the coding performance. This prediction tool results in new syntax elements called motion_prediction_flag (mPF) and residul_prediction_flag(rPF), which are carried to notify the motion vector predictor (MVP) and reference block required in the motion compensation of the decoder. In this paper, an efficient coding method for mPF is proposed to enhance coding efficiency of the salable video coding standard. Through an analysis on the transmission of mPF based on the relationship between the MVPs, we discover the conditions where mPF is unnecessary at the decoder and suggest a modified rate-distortion (RD) cost function to make RD optimization more effective. Simulation results show that the proposed method offers BD rate savings of approximately 1.4%, compared with the conventional SVC standard.

• 제어로봇시스템학회논문지
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• 제21권9호
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• pp.818-826
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• 2015

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.117.4-117
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• 2001

This paper introduces the movement creation and control technique of an avatar, whose replacement of the user is increasing due to the rapid development of the internet and hardware that generalizes the VR. A 3D avatar´s movement is usually created through the key-framing technique or motion-capture equipment. This paper introduce the production of the avatar´s movement by constructing a articulated avatar whose speed and movement are automatically created by the neural oscillatory network and avatar´s joint is controlled by the use of kinematics and motion editor.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2010년도 추계학술대회 논문집
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• pp.391-392
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• 2010