• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.825-827
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• 1997

This paper presents a robot which is steered by vision system. The proposed robot system has an AM188ES CPU(5.3 MIPS) and 2DC motors with encoder and turns accurately at any speed and shows a movement like a human controlled car using a steering wheel. To the robot only steering angle value is sent without considering the speed. We present how to control this robot using our real time vision system.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.88-93
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• 1993

This paper introduces an ARV(Autonomous Road Vehicle) system which can run on orads without help of a driver by detecting road boundaries through computer vision. This vehicle can also detect obstacles in front through sonar sensors and infrared sensors. This system largely consists of a handle steering module and a braking module. From road boundaries, the steering module determines handle turn angle. The braking module stops or decelerates to avoid collision depending on the relative speeds and distance to the obstacles detected by different sensors. This ARV system has been implemented in a small jeep and can run 30-40 km/h city traffic. In this paper, we illustrate the structure of the ARV systems and its operation principle.

• Proceedings of the IEEK Conference
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• 2001.06e
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• pp.127-130
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• 2001

In this paper, we describes a method of estimating traveling direction of a autonomous vehicle. For the development of autonomous vehicle, it is important to detect road lane and to reckon traveling direction. The object of a propose algorithm is to perform lane detection in real-time for standalone vision system. And we calculate efficent traveling direction to find steering angie for lateral control system. Therefore autonomous vehicle go forward the center of lane by adjusting the current steering angle using traveling direction.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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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

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.6
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• pp.566-571
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• 2010

EPS (Electric Power Steering) is important device for improving vehicle's dynamics and static performances. This paper deals with simulator design for C-EPS (Colum type-EPS), development assist and returnability control algorithm. First, C-EPS system model was simply designed because EPS system is complex control system that has many unknown variables. These parameters were simplified through assumptions. Second, C-EPS simulator was designed for development of control algorithm. This simulator has SAS (Steering Angle Sensor), dual torque sensor, dual load cell for measuring rack force, dual linear actuator for generating tire force and Data Acquisition System. Using this simulator, control methods ware tested. Third, control algorithm was designed for torque assist and returnability. Assist torque map and returnability torque map were found by lots of simulation test. These torque maps were tuned for EPS actuator control. The simulation result was compared with non-EPS system result. In this research, the C-EPS simulator was designed for development of control algorithm about torque assistant and returnability. Using this simulator, control algorithm was improved.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2883-2890
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• 2000

In this study, a Hardware-In-The-Loop-Simulation(HILS) system for developing a Electric-Power-Steering(EPS) system is designed. To test a EPS by HILS system, a mathematical vehicle model with a steering system model has been constructed. This mathematical model has been constructed. This mathematical model has been downloaded to the Digital-Signal-Processor(DSP) board. To realize the lateral force acting on the front wheel in a real car. the steering wheel angle sensor and vehicle velocity have been used for input signal. The force sensor has been used for a feedback signal. The full vehicle states could by simulated by the HILS system. Consequently, the HILS system could by used to analyze control-parameters of a EPS that contributes to the maneuverability and stability of a vehicle. At the same time, the HILS system can evaluate the whole performance of the vehicle-steering system. Also the HILS system could do test could not be executed in real vehicle. The HILs system will useful for developing the control logic for the EPS system.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.5
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• pp.577-585
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• 2015

This paper deals with development of an autopilot system for leisure yacht based on NMEA 2000 network and android platform. The developed system can operate both for manual steering and automatic navigation mode. In automatic steering mode, after manipulation of commands which are NMEA 0183 sentences by android platform, the developed system translates and sends the packets through NMEA 2000 network. Then the controller which is connected to NMEA 2000 network receives the commands and controls the boat's rudder system automatically. The automatic steering mode is achieved by cooperation of two controllers; one for controlling the rudder system, and the other for controlling the vessel's heading. To control the vessel's rudder and heading angle two PID controllers are developed with an adjustable dead-band gain. Also, in order to eliminate the steady-state error occurred by applying dead-band, an integral controller which specifically supervises the system's behavior inside the dead-band area is developed. In this paper, at the first stage, simulations are accomplished using computer in order to examine the feasibility of the proposed based on simulation results. In the next step, the system on a real hydraulic steering model is implemented and at the end the performance examination by implementing it on a real boat and doing test navigation is executed.

• Journal of Ocean Engineering and Technology
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• v.20 no.4 s.71
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• pp.37-42
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• 2006

This paper is concerned with experimental investigation of steering performance of a tracked vehicle on extremely soft soil. A tracked vehicle model with principal dimensions of 0.9 m(L)x0.75 m(B)x0.4 m(H) and weight of 167 kg was constructed with a pair of driving chain links, driven by two AC-servo motors. The tracks were configured with detachable grousers with variable span. A deep seabed was simulated by means of a bentonite-water mixture in a soil bin of 6.0 m(L)x3.7 m(B)x0.7 m(H). The turning radii of vehicle and driving torques of motors were measured with respect to experiment variables: steering ratio, driving speed, grouser chevron angle, grouser span, and grouser height. L8 orthogonal table is adopted for DOE (Design of experiment). The effects of experiment variables on steering performance are evaluated.

• Korean Journal of Optics and Photonics
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• v.33 no.1
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• pp.11-21
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• 2022

We have investigated the optimal design of an aperiodic optical phased array (OPA) for use in light detection and ranging applications. Three optimization algorithms - particle-swarm optimization (PSO), a genetic algorithm (GA), and a pattern-search algorithm (PSA) - were employed to obtain the optimal arrangement of optical antennas comprising an OPA. The optimization was performed to obtain the minimal side-lobe level (SLL) of an aperiodic OPA at each steering angle, using the three optimization algorithms. It was found that PSO and GA exhibited similar results for the SLL of the optimized OPA, while the SLL obtained by PSA showed somewhat different features from those obtained by PSO and GA. For an OPA optimized at a steering angle <45°, the SLL value averaged over all steering angles increased as the angle of optimization decreased. However, when the angle of optimization was larger than 45°, low average SLL values of <13 dB were obtained for all three optimization algorithms. This implies that an OPA with high signal quality can be obtained when the arrangement of the optical antennas is optimized at a large steering angle.

• Journal of Advanced Navigation Technology
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• v.20 no.3
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• pp.218-225
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• 2016

Null steering and beam steering are known well as anti-jamming methods in GPS anti-jamming system. Null steering gets a noise attenuation effect for the direction of jamming and beam steering earns additional gain synthesis for the direction of satellite signals. According to the research in the article for signal processing, it expresses that the N array antenna is effective for N-1 number of jamming signal by math public interest, however, the two algorithms analysis is not unknown for the operating condition of the realistic vehicle. In this paper, we modeled anti-jamming system using 4 and 7 array antenna and showed the two algorithms performance (PM, LCMV) when considering the number of antenna array, jammers and vehicle position (horizontal, vertical). In result, we showed that the case of vertical position of the vehicle which has large tilt angle for the relative position of satellites and jammers, has about 10 dB gain more in comparison with one of vertical position in spite of same JSR condition.