• Journal of Auto-vehicle Safety Association
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• v.11 no.2
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• pp.35-43
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• 2019

This paper describes the improved environment recognition algorithms using some type of sensors like LiDAR and cameras. Additionally, integrated control algorithm for an autonomous vehicle is included. The integrated algorithm was based on C++ environment and supported the stability of the whole driving control algorithms. As to the improved vision algorithms, lane tracing and traffic sign recognition were mainly operated with three cameras. There are two algorithms developed for lane tracing, Improved Lane Tracing (ILT) and Histogram Extension (HIX). Two independent algorithms were combined into one algorithm - Enhanced Lane Tracing with Histogram Extension (ELIX). As for the enhanced traffic sign recognition algorithm, integrated Mutual Validation Procedure (MVP) by using three algorithms - Cascade, Reinforced DSIFT SVM and YOLO was developed. Comparing to the results for those, it is convincing that the precision of traffic sign recognition is substantially increased. With the LiDAR sensor, static and dynamic obstacle detection and obstacle avoidance algorithms were focused. Therefore, improved environment recognition algorithms, which are higher accuracy and faster processing speed than ones of the previous algorithms, were proposed. Moreover, by optimizing with integrated control algorithm, the memory issue of irregular system shutdown was prevented. Therefore, the maneuvering stability of the autonomous vehicle in severe environment were enhanced.

• KIPS Transactions on Software and Data Engineering
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• v.10 no.11
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• pp.449-456
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• 2021

An intrusion detection system is a technology that detects abnormal behaviors that violate security, and detects abnormal operations and prevents system attacks. Existing intrusion detection systems have been designed using statistical analysis or anomaly detection techniques for traffic patterns, but modern systems generate a variety of traffic different from existing systems due to rapidly growing technologies, so the existing methods have limitations. In order to overcome this limitation, study on intrusion detection methods applying various machine learning techniques is being actively conducted. In this study, a comparative study was conducted on data preprocessing techniques that can improve the accuracy of anomaly detection using NGIDS-DS (Next Generation IDS Database) generated by simulation equipment for traffic in various network environments. Padding and sliding window were used as data preprocessing, and an oversampling technique with Adversarial Auto-Encoder (AAE) was applied to solve the problem of imbalance between the normal data rate and the abnormal data rate. In addition, the performance improvement of detection accuracy was confirmed by using Skip-gram among the Word2Vec techniques that can extract feature vectors of preprocessed sequence data. PCA-SVM and GRU were used as models for comparative experiments, and the experimental results showed better performance when sliding window, skip-gram, AAE, and GRU were applied.

• Journal of Korea Multimedia Society
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• v.21 no.3
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• pp.333-341
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• 2018

In this paper, we propose an algorithm to automatically detect gait's joints. The proposed method classifies gait's types into front gait and flank gait so as to automatically detect gait's joints. And then according to classified types, the proposed applies joint extracting algorithm to input images. Firstly, we split input images into foreground image using difference images of Hue and gray-scale image of input and background one and extract gait's object. The proposed method classifies gaits into front gait and flank gait using ratio of Face's width to torso's width. Then classified gait's type, joints are detected 10 at front gait and detected 7~8 at flank gait. The proposed method is applied to the camera's input and the result shows that the proposed method automatically extracts joints.

• The Korean Journal of Nuclear Medicine Technology
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• v.21 no.2
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• pp.55-64
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• 2017

Purpose Recently, with the spread of SPECT/CT, various image correction methods can be applied quickly and accurately, which enabled us to expect quantitative accuracy as well as image quality improvement. Among them, the Collimator Detector Response(CDR) recovery is a correction method aiming at resolution recovery by compensating the blurring effect generated from the distance between the detector and the object. The purpose of this study is to find out quantitative change depending on the change in detection distance in SPECT/CT images with CDR recovery applied. Materials and Methods In order to find out the error of acquisition count depending on the change of detection distance, we set the detection distance according to the obit type as X, Y axis radius 30cm for circular, X, Y axis radius 21cm, 10cm for non-circular and non-circular auto(=auto body contouring, ABC_spacing limit 1cm) and applied reconstruction methods by dividing them into Astonish(3D-OSEM with CDR recovery) and OSEM(w/o CDR recovery) to find out the difference in activity recovery depending on the use of CDR recovery. At this time, attenuation correction, scatter correction, and decay correction were applied to all images. For the quantitative evaluation, calibration scan(cylindrical phantom, $^{99m}TcO_4$ 123.3 MBq, water 9293 ml) was obtained for the purpose of calculating the calibration factor(CF). For the phantom scan, a 50 cc syringe was filled with 31 ml of water and a phantom image was obtained by setting $^{99m}TcO_4$ 123.3 MBq. We set the VOI(volume of interest) in the entire volume of the syringe in the phantom image to measure total counts for each condition and obtained the error of the measured value against true value set by setting CF to check the quantitative accuracy according to the correction. Results The calculated CF was 154.28 (Bq/ml/cps/ml) and the measured values against true values in each conditional image were analyzed to be circular 87.5%, non-circular 90.1%, ABC 91.3% and circular 93.6%, non-circular 93.6%, ABC 93.9% in OSEM and Astonish, respectively. The closer the detection distance, the higher the accuracy of OSEM, and Astonish showed almost similar values regardless of distance. The error was the largest in the OSEM circular(-13.5%) and the smallest in the Astonish ABC(-6.1%). Conclusion SPECT/CT images showed that when the distance compensation is made through the application of CDR recovery, the detection distance shows almost the same quantitative accuracy as the proximity detection even under the distant condition, and accurate correction is possible without being affected by the change in detection distance.

• Journal of Power System Engineering
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• v.20 no.2
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• pp.66-72
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• 2016

As a method to improve the equipment reliability, early warning researches that can be detected fault symptom of an equipment at an early stage are being performed out among developed countries. In this paper, when abnormal signal is input to actual normal signal of a pump, early detection studies on pump's fault symptom were carried out with auto-associative kernel regression as an advanced pattern recognition algorithm. From analysis, correlations among power of motor driving pump, discharge flow of pump, power output of pump, and discharge pressure of pump are exited. When the abnormal signal is input to one of those normal signals, the other expected values are changed due to the influence of the abnormal signal. Therefore, the fault symptom of pump through the early-warning index is able to detect at an early stage.

• Smart Structures and Systems
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• v.17 no.6
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• pp.1031-1053
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• 2016

The health conditions of in-service civil infrastructures can be evaluated by employing structural health monitoring technology. A reliable health evaluation result depends heavily on the quality of the data collected from the structural monitoring sensor network. Hence, the problem of sensor fault diagnosis has gained considerable attention in recent years. In this paper, an innovative sensor fault diagnosis method that focuses on fault detection and isolation stages has been proposed. The dynamic or auto-regressive characteristic is firstly utilized to build a multivariable statistical model that measures the correlations of the currently collected structural responses and the future possible ones in combination with the canonical correlation analysis. Two different fault detection statistics are then defined based on the above multivariable statistical model for deciding whether a fault or failure occurred in the sensor network. After that, two corresponding fault isolation indices are deduced through the contribution analysis methodology to identify the faulty sensor. Case studies, using a benchmark structure developed for bridge health monitoring, are considered in the research and demonstrate the superiority of the new proposed sensor fault diagnosis method over the traditional principal component analysis-based and the dynamic principal component analysis-based methods.

• Journal of the Korean Society of Propulsion Engineers
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• v.20 no.2
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• pp.56-66
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• 2016

Robustness is essential for model based FDI (Fault Detection and Isolation) and it is inevitable to have modeling errors and sensor signal noises during the process of FDI. This study suggests an improved method by applying NARX (Nonlinear Auto Regressive eXogenous) model and Kalman estimator in order to cope with problems caused by linear model errors and sensor signal noises in the process of fault diagnoses. Fault decision is made by the probability of the trend of gradually accumulated errors applying Fuzzy logic, which are robust to instantaneous sensor signal noises. Reliability of fault diagnosis is verified under various fault simulations.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.705-709
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• 2005

In this paper, we introduce fuzzy algorithm similar to human's way of thinking and designed collision detection system of vehicles. First, before the model vehicles design, we did simulation collision detection using PID and Fuzzy Controller. As a result, P.O that is Percent Overshoot when make use of PID controller happened from smallest 32% to 45%. But, In case of using fuzzy controller they produced about 10% in 7% in case use 25 rule. We designed model vehicles that introduce Auto Guided Vehicle(AGV) with confirmed result in simulation. We set Polaroid 6500 sensor on the front of model automobile because distinguish existence automobile to the head. And we composed motor drive part to run vehicles and 80C196KC processor for control movement of vehicles influenced on distance data of the front vehicles that receive from supersonic waves sensor. In case of using Fuzzy controller, last value percent error happened about maximum 15% in smallest 5%, and we confirmed that distance with front vehicles kept when state hold time is about maximum 16 seconds in smallest 10 seconds.

• Journal of Auto-vehicle Safety Association
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• v.13 no.1
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• pp.51-56
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• 2021

As hydrogen is classified as an eco-friendly fuel, vehicles using hydrogen fuel are being developed worldwide. Vehicle fuel hydrogen is stored in cylinders at 70 MPa, so there is a high risk of explosion. Therefore, it is important to inspect hydrogen cylinders in used-vehicles. This study was conducted to improve the inspection method of the cylinders currently mounted on used-hydrogen buses. The inspection method is an image analysis method using a camera. Calcaulation algorithm was developed to quantitatively chech the amount of hydrogen leakage by the image method. As a result of adding a contact angle element to the calculation algorithm suggested by the GTR regulation and comparing it with the experimental data of the GTR regulation, the algorithm reliability was 94%, which secured similarity.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.26-38
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• 2022

This paper proposes multiple RLS and actuator performance index-based adaptive actuator fault-tolerant control and detection algorithms for longitudinal autonomous driving. The proposed algorithm computes the desired acceleration using feedback law for longitudinal autonomous driving. When actuator fault or performance degradation exists, it is designed that the desired acceleration is adjusted with the calculated feedback gains based on multiple RLS and gradient descent method for fault-tolerant control. In order to define the performance index, the error between the desired and actual accelerations is used. The window-based weighted error standard deviation is computed with the design parameters. Fault level decision algorithm that can represent three fault levels such as normal, warning, emergency levels is proposed in this study. Performance evaluation under various driving scenarios with actuator fault was conducted based on co-simulation of Matlab/Simulink and commercial software (CarMaker).