• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.5
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• pp.7-14
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• 2012

We frequently confront with cars interfering into our lane on the ramp. We suffered from serious traffic congestion due to the interfering cars. But the police enforcement has not done actively because it's hard to enforce. In this study, we have evaluated the systems to enforce cutting-in cars through the field test. Generally, the image processing method depends on the weather. To overcome this limitation we proposed a new algorithm combined with section detection method. In the filed test we concluded the results as follows. Whereas the violation detection rate of the general image processing was 58.2%, a new algorithm proposed by this study was 74.5%. And, an error rate enforcing vehicles that do not violate was 0.0%. Also, we can use the existing facilities, such as street light because of compact and lightweight systems which are integrated camera with controller. Therefore, we concluded that it is possible to enforce the interfering Cars using vehicle enforcement systems.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.67-72
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• 2010

In this paper, we verify the driverless operation possibility of MBS, which could overcome the defects of conventional track-circuit-based FBS, such as additional needs of maintenance and others problems according to short-circuit sensibility and, and which could allow the minimal interval between trains. With MBS, we can expect the reduction of headway, then the increase of transportation demand, and the protection of unnecessary speed variation because it allows the real time detection of train position from central office, and direct transmission of data between preceding trains and the following ones. In addition, it is possible to reduce the number of wayside-equipment substantially, to improve the passenger service, and to the achieve the positive economic effects by comfortable ride.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.731-733
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• 2016

The primary goal of the line tracer is to accurately and quickly detect the movement up to the target position given by the sensor juhaengseon. It has been used in applications in various fields such as the current unmanned transport vehicles, laser cutting machine, autonomous mobile robots and unmanned driving is possible, and is held annually at various universities in the competition field with the possibility of great progress, depending on the application. However, there arises a large difference in running performance, depending on the hardware design and control. In this paper, improving the characteristics of the tracer line and characters to design a PID controller is to apply the point on ways of improving the properties of the system.

• Journal of the Korean Society of Systems Engineering
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• v.13 no.2
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• pp.18-25
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• 2017

The use of unmanned combat systems is of interest for future battlefield. Advanced techniques are being actively studied to build fully autonomous unmanned systems. However, there are technical, ethical and legal limitations for the fully autonomous unmanned combat systems. In addition, a remote controlled system is necessary so far in order to prepare for situations where fully autonomous unmanned systems fail to function properly. Thus, a procedure of developing operational requirements in system level is proposed and interface requirements of unmanned combat vehicles for remote control are described in this study.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.857-865
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• 2010

Recently the demand of the driverless rolling stock is increasing with advancement of the stable communication technique and control technique. The automatic train operating system has advantages which takes low operating cost and is able to dispose elastically in demand. Beside it provides high safety and effectiveness because it will be able to control power, signal and communication system from Operation Control Center and the safety and effectiveness are high. The establishment of PSD, Platform Screen Door, is advanced in the goal which is passenger safety, fire protection, noise and dust reduction etc. When but, two advanced systems also have risks of operation delay and accident when two systems are not controlled smoothly. Thus, I'll introduce control method between onboard controller, door control unit in rolling stock and PSD controller to help system design.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.827-828
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• 2006

This paper presents a vehicle control algorithm for Personal Rapid Transit (PRT) system. PRT system is a one-way direction network system which is composed of guideway branches, merging/diverging points. Vehicle control algorithm can be divided into two kinds. Those are merging control algorithm and the other. We emphasized on the merging control algorithm. For that, we first devised a front/virtual front vehicle finding strategies. Properly determined front/virtual front vehicle is the starting point of vehicle control. The objects of merging control are to avoid collision and to pass the merging point fluently. Which implies that jerk constraint and limits of acceleration and deceleration etc. are should be considered. To verify the validation of the vehicle algorithm, we executed simulations and presented test results.

• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.1451-1453
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• 2000

The automatic/driverless operation which are great important techniques in metro railway are required to increase higher safety, greater reliability, and transport capacity. To satisfy such demands, we must have the system design and testing technique for the railway system operation. These techniques are related to the onboard train control and communication systems which include TCMS(Train Control and Monitoring System), ATO(Automatic train Operation), ATC(Automatic train Control), and TWC(Train to wayside communication). These sub-systems must be interfacing with not only each others but also the signal system on the ground. We tested the train control system on the 7 line that has been developed on the basis of the standardized type EMU for korea railway systems.

• Journal of Advanced Navigation Technology
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• v.9 no.1
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• pp.19-27
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• 2005

For continuous communication between moving vehicles such as satellites and unmanned aerial vehicles, an antenna system having at least more than 2-axes is needed. When the antenna is mounted on a moving vehicle such as ground vehicle, ship and so on, a stabilization and tracking system must be equipped to compensate the roll, pitch and yaw motion of the vehicle. The performance of stabilization and tracking system mainly depends on the servo control system that driving the antenna pedestal. Therefore, in this paper, a Fuzzy-PID controller for a stabilization and tracking system of a 2-axes antenna was designed and the performance was verified. To verify the verification of designed servo control system, the performance of the conventional PID controller and that of the Fuzzy-PID controller, designed by the same PID control gains, was compared.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.138-142
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• 2014

This research presents an A* based algorithm which can be applied to Unmanned Ground Vehicle self-navigation in order to make the driving path smoother. Based on the grid map, A* algorithm generated the path by using straight lines. However, in this situation, the knee points, which are the connection points when vehicle changed orientation, are created. These points make Unmanned Ground Vehicle continuous navigation unsuitable. Therefore, in this paper, B-spline curve function is applied to transform the path transfer into curve type. And because the location of the control point has influenced the B-spline curve, the optimal control selection algorithm is proposed. Also, the optimal path tracking speed can be calculated through the curvature radius of the B-spline curve. Finally, based on this algorithm, a path created program is applied to the path results of the A* algorithm and this B-spline curve algorithm. After that, the final path results are compared through the simulation.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.7
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• pp.313-317
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• 2001

This paper proposed a fuzzy logic cross coupled controller which can enhance the path tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV follows the guide path, it cannot be avoid the deviation from the path due to the inevitable error and the deviation must be corrected. Optically guided AGV used in industrial area is controlled by On-Off controller generally, the experimental AGV has three optical sensors in front body. In this structure, we could not know the leaving distance accurately and steering angle from the guided line, so AGV could not be controlled properly with conventional controller in the case of increasing or decreasing velocity. If we mount additional sensors the AGV, we could know the leaving distance and steering angle from the guided line and proper error compensating methode can be applied. But because cost of sensors are high, the cost of total system is increasing. So, in this paper, to improve the tracking performance of AGV which has the minimum number of sensors and fuzzy logic cross coupled controller is proposed. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.