• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1998년도 추계학술대회 논문집
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• pp.216-221
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• 1998

dynamic modelling method is applied to the driving simulation which has the calculable model of engine, transmission, vehicle. And driving pattern is used for database by actual tests and analyzed in neural network system. The simulation is compared to real test results and structures to the tracked vehicle powertrain.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.151-151
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• 2000

The objective of this paper is to develop the new robust and adaptive control system against external environments as applying the probabilistic recognition which is one of the inherent properties of immune system, ability of learning and memorization, and regulation theory of immune network to the system under engineering point of view. In this paper, HIA(Humoral Immune Algorithm) PID controller using Neural Network Identifier was proposed to drive the autonomous guided vehicle(AGV) more effectively. To verify the performance of the proposed HIA PID controller, some experiments for the control of steering and speed of that AGV are performed.

• 드라이브 ㆍ 컨트롤
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• 제20권4호
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• pp.17-26
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• 2023

A forklift is an industrial vehicle that lifts or transports heavy objects using a hydraulically operated fork, and is equipped with an automatic transmission for the convenience of repetitive transportation, loading, and unloading work. The Transmission Control Unit (TCU) is a key component in charge of the shift control function of an automatic transmission. It consists of an electric circuit with an input/output signal interface function and firmware running on a microcontroller. To develop TCU firmware, the development process of shifting algorithm design, firmware programming, verification test, and performance improvement must be repeated. A simulator is a device that simulates a mechanical system having dynamic characteristics in real time and simulates various sensor signals installed in the system. The embedded transmission simulator is a simulator that is embedded in the TCU firmware. information related to the mechanical system that is necessary for TCU normal operation. In this study, an embedded transmission simulator applied to the originally developed forklift TCU firmware was designed and used to verify various forklift shift control algorithms.

• 제어로봇시스템학회논문지
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• 제15권1호
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• pp.54-60
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• 2009

In this paper, a precision landing approach is implemented based on real-time image processing. A full-scale landmark for automatic landing is used. canny edge detection method is applied to identify the outside quadrilateral while circular hough transform is used for the recognition of inside circle. Position information on the ground landmark is uplinked to the unmanned helicopter via ground control computer in real time so that the unmanned helicopter control the air vehicle for accurate landing approach. Ground test and a couple of flight tests for autonomous landing approach show that the image processing and automatic landing operation system have good performance for the landing approach phase at the altitude of $20m{\sim}1m$ above ground level.

• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1103-1111
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• 2014

The results of control law design for a tilt-rotor unmanned aerial vehicle that has a nacelle mounted wing extension (WE) are presented in this paper. It consists of a control surface mixer, stability and control augmentation system (SCAS), hold mode for altitude / speed / heading, and a guidance mode for preprogram and point navigation which includes automatic take-off and landing. The conversion corridor and the control moments derivatives between the original tilt-rotor and its variant of the nacelle mounted WE were compared to show the effectiveness of the WE. The nacelle conversion of the original tilt-rotor starts when the airspeed is greater than 30 km/h but its WE variant starts at 0 km/h in order to reduce the drag caused by the high incidence angle of the WE. The stability margins of the inner loop are presented with the optimization approach. The outer loops for the hold mode are designed with trial and error methods with linear and nonlinear simulation. The main control parameter for altitude control of the helicopter mode is thrust command and it is transferred to the pitch attitude command in airplane mode. Otherwise, the control parameter for the speed of the helicopter mode is the pitch attitude command and it is transferred to the thrust command in airplane mode. Therefore the speed and altitude hold mode are coupled to each other and are engaged at the same time when an internal pilot engages any of the altitude or speed hold modes. The nonlinear simulation results of the guidance control for the preprogrammed mode and point navigation are also presented including automatic take-off and landing in order to prove the full control law.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.479-483
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• 2011

The automation of production process is actively expanding for the purpose of the cost reduction and quality assurance. Among these, automatic tracking of the product along the whole process of the production is also important topic. Typically this is done by adopting OCR technology. Conventional OCR technology operates well on the rather good quality of the image like as printed characters on the paper. In industrial application, IDs are marked on the metal surface, and this cause the height difference between background material and character. Illumination systems that guarantee an image with good quality may be a solution, but it is rather difficult to design such an illumination system. This paper proposes an algorithm for the recognition of vehicle's ID characters using edge projection and PCA (Principal Component Analysis). Proposed algorithm robustly operates under illumination change using the same parameters. Experimental results show the feasibility of the proposed algorithm.

• 대한임베디드공학회논문지
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• 제12권2호
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• pp.113-120
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• 2017

In this paper, we present a night-time vehicle detection method using CNN (Convolutional Neural Network) classification. The camera based night-time vehicle detection plays an important role on various advanced driver assistance systems (ADAS) such as automatic head-lamp control system. The method consists mainly of thresholding, labeling and classification steps. The classification step is implemented by existing CIFAR-10 model CNN. Through the simulations tested on real road video, we show that CNN classification is a good alternative for night-time vehicle detection.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.544-546
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• 1986

In this report, we have designed a Flexible Manufacturing System(FMS) for Engine-Cylinder block that is composed of maching center, special purpose machine, AGV(Automatic Guided Vehicle), using Micro-Computer and Programmable Controller(PC). From this report, we mostly present hardware features and scheduling software.

• 한국전기전자재료학회논문지
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• 제22권3호
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• pp.222-229
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• 2009

A noble infrared sensor was studied for passenger conditional detection in vehicle, This research relates to uncooled infrared sensors for detecting the presence, type and temperature of occupants in vehicle. It sense that the occupants purpose to control the smart airbag for safety in the case of adult or child and to control the automatic air conditioning for convenience. This paper described the design and the fabrication of microbolometers which were composed of 2 by 8 elements using the surface micromachining technology. The characteristics of the array were investigated in the spectral region of $8{\sim}12{\mu}m$. The fabricated detectors exhibited the thermal mass of $7.05{\times}10^{-9}\;J/K$, the thermal conductance of $1.03{\times}10^{-6}\;W/K$, the thermal time constant of 6.8 ms, the responsivity of $2.96{\times}10^4\;V/W$ and the detectivity of $1.01{\times}10^9\;cmHz^{1/2}/W$, at the chopper frequency of 10 Hz and the bias current of $4.4{\mu}A$. We could successfully detect the human body condition in the divided zone. As a results, we concluded that microbolometer optimized in this research could be useful for the application of passenger conditional detection in vehicle.

• 로봇학회논문지
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• 제3권1호
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• pp.16-22
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• 2008

Recently, automatic parking assist systems are commercially available in some cars. In order to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some experimental issues should be solved. In this paper, following three schemes are proposed. (1) Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking performance can be dramatically improved by using the proposed schemes.