• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1150-1156
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• 2009

The spread of wireless Internet technology development and applications with location information in the form of location-based services are more varied. In particular, where you recognize the location of objects such as people and things, and to provide valuable services based on ubiquitous, location-based services (Ubiquitous Location Based Services: u-LBS) is emerging as an important service. In this paper precise location data to the car crash through the location and offers related service system. In this paper the precise location tracking proposed by the concept of the Rail, road, to extract the location Data Matching Data and the current location is obtained. System used in GPS Packet and information about the location of the vehicle collision and the collision time, the vehicle consists of NodeID is about. Using these data, a packet is to be created when the conflict between vehicles in the vehicle will be sent to Gateway. Gateway to the packets that were sent from the Server to determine whether the conflict is that in an emergency situation, Emergency Center for location information and let me know whether or not the conflict will be measured. Also, for those on the outside of an emergency such as a family related to the wireless terminal wireless (PDA, cell phone) is to let me know. Server get into the conflict that was configured to store information on the Database. Additionally, the proposed u-LBS system to verify the validity of the experiment was performed.

• 한국건설관리학회논문집
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• 제10권1호
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• pp.136-145
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• 2009

'지능형 굴삭시스템 개발'은 센서기술, 로봇기술들을 융합하여 토공 작업환경을 인식하고 작업 계획을 수립하며 굴삭기를 자동 조정하여 토공작업을 자동화 하는 것을 목표로 한다. 본 연구는 지능형 굴삭시스템 개발을 위한 요소기술로서, 광대역 3D 레이저 스캐너를 이용하여 실제 토공 작업환경을 가상의 3차원 공간으로 재현할 수 있는 수학적 모델을 만드는 것이다. 이 연구에서는 광대역 3D 레이저 스캐너를 구동하기 위한 사용자 소프트웨어 및 사용자 인터페이스를 개발하였으며, 3D 레이저 스캐너의 차량 탑재 및 스캐닝 작업의 최적화를 위하여 모바일 3D 이미징 시스템을 개발하였다. 또한 실제 토공 작업환경을 대상으로 스캐닝 실험을 실시하여 스캔 데이터를 획득하였고, 이를 기반으로 각 스캔 데이터들 간의 자동 정합 알고리즘을 설계하였다. 본 연구에서 개발된 시스템은 향후 지능형 굴삭 로봇의 완전 자동화 시스템의 구현을 위하여 널리 활용될 수 있을 것으로 기대된다.

• 제어로봇시스템학회논문지
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• 제18권6호
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• pp.584-593
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• 2012

This paper introduces an AVP (Automated Valet Parking) system which applies an autonomous driving concept into the current PAS (Parking Assistant System). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.700-710
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• 2009

A computer vision technique of estimating the location of an unmanned ground vehicle is proposed. Identifying the location of the unmaned vehicle is very important task for automatic navigation of the vehicle. Conventional positioning sensors may fail to work properly in some real situations due to internal and external interferences. Given a DSM(Digital Surface Map), location of the vehicle can be estimated by the registration of the DSM and multiview range images obtained at the vehicle. Registration of the DSM and range images yields the 3D transformation from the coordinates of the range sensor to the reference coordinates of the DSM. To estimate the vehicle position, we first register a range image to the DSM coarsely and then refine the result. For coarse registration, we employ a fast random sample matching method. After the initial position is estimated and refined, all subsequent range images are registered by applying a pair-wise registration technique between range images. To reduce the accumulation error of pair-wise registration, we periodically refine the registration between range images and the DSM. Virtual environment is established to perform several experiments using a virtual vehicle. Range images are created based on the DSM by modeling a real 3D sensor. The vehicle moves along three different path while acquiring range images. Experimental results show that registration error is about under 1.3m in average.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.199-209
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• 2015

This paper presents a model predictive control (MPC) approach to control the steering angle in an autonomous vehicle. In designing a highly automated driving control algorithm, one of the research issues is to cope with probable risky situations for enhancement of safety. While human drivers maneuver the vehicle, they determine the appropriate steering angle and acceleration based on the predictable trajectories of surrounding vehicles. Likewise, it is required that the automated driving control algorithm should determine the desired steering angle and acceleration with the consideration of not only the current states of surrounding vehicles but also their predictable behaviors. Then, in order to guarantee safety to the possible change of traffic situation surrounding the subject vehicle during a finite time-horizon, we define a safe driving envelope with the consideration of probable risky behaviors among the predicted probable behaviors of surrounding vehicles over a finite prediction horizon. For the control of the vehicle while satisfying the safe driving envelope and system constraints over a finite prediction horizon, a MPC approach is used in this research. At each time step, MPC based controller computes the desired steering angle to keep the subject vehicle in the safe driving envelope over a finite prediction horizon. Simulation and experimental tests show the effectiveness of the proposed algorithm.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 춘계학술대회
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• pp.731-733
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• 2016

라인 트레이서의 기본적인 목표는 주어진 주행선을 센서로 검출하여 목적 위치까지 정확하고 빠르게 이동하는 것이다. 이를 응용하여 현재 무인 운송 차량, 레이저 절단기, 자율이동 및 주행이 가능한 무인 로봇 등 여러 분야에 활용되고 있고, 응용에 따라 많은 발전의 가능성을 가진 분야로 여러 대학교에서 매년 대회를 개최하고 있다. 하지만, 하드웨어적인 설계와 제어방식에 따라 주행 성능에 많은 차이가 생긴다. 본 논문에서는 라인트레이서의 특성을 향상시키고자 지적 PID를 적용한 제어기를 설계하여 시스템의 특성을 향상시키는 방안을 강구하고자 한다.

• 대한전자공학회논문지TC
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• 제45권6호
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• pp.1-7
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• 2008

FlexRay는 차세대 차량 내 전자 장치간의 통신을 위해 고속의 시리얼 통신, time triggered bus, fault tolerant 통신을 제공하는 새로운 네트워크 통신 시스템의 표준이다. FlexRay Communication Controller(CC)는 FlexRay 프로토콜 규격의 핵심 부분이다. 본 논문에서는 먼저 SDL(Specification and Description Language)를 이용하여 FlexRay CC 프로토콜 규격과 기능 부분을 설계한다. 다음 설계한 SDL 소스를 기반으로 Verilog HDL을 이용하여 하드웨어로 설계한다. 설계한 FlexRay CC는 Samsung $0.35\;{\mu}m$ 공정을 이용하여 합성하였으며, 그 결과 80 MHz의 속도로 동작하는 것으로 나타났다. 또한 FlexRay 시스템의 동작을 확인하기 위해 로봇에 적용되는 음원위치 추정 시스템에 응용하였다. 응용 시스템은 ALTERA Excalibur ARM EPAX4F672C3을 이용하여 검증하였으며 성공적으로 동작함을 확인하였다.

• 로봇학회논문지
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• 제16권3호
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• pp.250-259
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• 2021

Path planning is one of the important technologies for automated parking. It requires to plan a collision-free path considering the vehicle's kinematic constraints such as minimum turning radius or steering velocity. In a complex parking lot, Rapidly-exploring Random Tree^* (RRT^*) can be used for planning a parking path, and Reeds-Shepp or Hybrid Curvature can be applied as a tree-extension method to consider the vehicle's constraints. In this case, each of these methods may affect the computation time of planning the parking path, path-tracking error, and parking success rate. Therefore, in this study, we conduct comparative analysis of two tree-extension functions: Reeds-Shepp (RS) and Hybrid Curvature (HC), and show that HC is a more appropriate tree-extension function for parking path planning. The differences between the two functions are introduced, and their performances are compared by applying them with RRT^*. They are tested at various parking scenarios in simulation, and their advantages and disadvantages are discussed by computation time, cross-track error while tracking the path, parking success rate, and alignment error at the target parking spot. These results show that HC generates the parking path that an autonomous vehicle can track without collisions and HC allows the vehicle to park with lower alignment error than those of RS.

• 정보보호학회논문지
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• 제34권4호
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• pp.681-691
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• 2024

최근 수년 동안 무인지상차량 및 무인항공기와 같은 Robotics 분야에 대한 연구 및 개발이 활발히 진행되고 있다. 이러한 발전에는 서로 다른 애플리케이션 간의 통신 및 데이터 관리를 원활하게 해주는 미들웨어의 사용이 중요한 역할을 하고 있으며, 여러 가지의 산업용 통신 미들웨어 프로토콜들이 출시되고 있다. 그중 ROS (Robot Operating System)가 로봇 시스템 개발을 위한 주요 플랫폼으로 널리 사용되고 있지만, 초기 설계 과정에서 보안 측면을 전혀 고려하지 않았기 때문에 통신을 도청하거나 악의적인 메시지를 주입하는 등의 다양한 공격에 취약한 상태이다. 이에 대응하기 위해, ROS에 대한 보안 솔루션을 제안하는 많은 연구가 진행되고 있으며, 특히 침입 탐지 시스템을 위한 ROS 데이터셋을 제안하는 연구도 진행되었지만, 이와 같은 연구는 매우 부족한 상황이다. 본 논문에서는 ROS 침입 탐지 시스템의 성능 발전에 기여할 수 있도록 ROS 환경에서 발생 가능한 새로운 유형의 공격 시나리오를 제안하고, 실제 로봇 시스템으로부터 수집한 ROS 공격 데이터셋을 구축하며 오픈 데이터셋으로 제공한다.

• 전기학회논문지
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• 제67권3호
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• pp.440-447
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• 2018

Double parking is very common in a parking lot where there is not sufficient parking space. When we double-park a car, we leave transmission gear in neutral position and release the emergency brake so that the double-parked car can be moved just by pushing it. However, moving a double-parked car by pushing is very hard and dangerous especially for the old and the weak. So, we propose an omni-directional mobile robot for moving a double-parked car easily and safely. The developed omni-directional mobile robot moves a double-parked car by rotating a wheel of a double-parked car. It has two specially designed rollers to rotate a wheel of a double-parked car and is designed so that the height of the robot is very low to be able to enter beneath a double-parked car. It can move a double-parked car safely by detecting obstacles in the way with five ultrasonic sensors. We verified by several experiments that the developed omni-directional mobile robot can be used to move a double-parked car easily and safely.