• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.6
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• pp.175-181
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• 2004

This paper presents the main method to analyze the dynamic characteristics of power transmission system using the multi-body dynamics, which is based on the concept of subsystem equation, subsystem assembling, and the self-determination technique for the system degree of freedom. We can model the mechanical components of power transmission system easily with the advantage of multi-body dynamics. Based on the theory, a dynamic simulation program was developed to analyze system performances, transient phenomena, and other dynamic problems. The driving performance of automatic transmission was simulated with using the multi-body dynamics and Newtonian method, and the validity of program was proved by comparing the two kinds of result.

• Journal of Auto-vehicle Safety Association
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• v.15 no.1
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• pp.63-68
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• 2023

A study on the need for a safety system using driver's biometric information, vehicle automatic emergency braking system, and the e-call system that in the event of an unexpected situation such as loss of driving ability due to sudden physical abnormality of elderly drivers and drivers with health problems, and the improvement of laws for the spread of this system were studied.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.349-350
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• 2022

Recently, AI (Artificial Intelligence) has been applied to various technologies such as automatic driving, robot and smart communication. Currently, AI system is developed by software-based method using tensor flow, and GPU (Graphic Processing Unit) is employed for processing unit. In this work, we developed an FPGA-based (Field Programmable Gate Array) AI system , and report on image recognition system to realize the AI system.

• Physical Therapy Korea
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• v.10 no.2
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• pp.71-84
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• 2003

The purpose of this study was to provide information on driving characteristics in persons with spinal cord injury through basic statistic analysis of the survey results. The survey was administered to 44 drivers with spinal cord injury. The subjects' general, neurologic and driving characteristics were analyzed, as well as the degree of difficulty in using their vehicles between tetraplegia and paraplegia. The results were as follows: thirty-five (79.6%) of forty-four respondents was men. The average age was 35.0 years old and the age at the time of injury was 29.0 years old. Their neurologic characteristics were tetraplegics 12 (27.3%) and paraplegics 32 (72.2%). Among complete lesions, the highest level those who could drive independently was C7. All the vehicles were equipped with special devices, including "power steering", "automatic transmission" and "hand controls". The vehicles for cervical cord injury were equipped with "grip bars" as well as for the degree of difficulty in using their vehicles, all the subjects felt that "moving the wheelchair in and out of their vehicles" was too difficult for them to do. We suggest that the driver training should be an essential part of the rehabilitation program for patients with spinal cord injuries to maximize their mobility in the community. This training seems to be essential in order to modify the standards of the Handicapped Drivers Ability Test and to aid the driver rehabilitation program in the health insurance payment system. Also, the driver rehabilitation training program should include instruction in that moving wheelchairs in and out of vehicles.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.3
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• pp.308-314
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• 2016

This paper proposes design guidances for noise reduction of a bank teller cash recycler(TCR). The operating noise of a TCR is required to be reduced because it bothers bank tellers and customers. The operating noise from a TCR is measured and the most influential driving system is examined. To find the main sources of the noise, the frequency spectra are analyzed by comparing with excitation frequencies of the driving system. From the analysis results, we reveals that the main sources of the noise are gear mesh frequency of a certain gear train and its side band frequencies, which is attributed by vulnerable support condition. Consequently, to reduce the operating noise, the structural modification for the gear train support is suggested and its effectiveness for the noise reduction is confirmed experimentally.

• Proceedings of the KSR Conference
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• 2004.10a
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• pp.455-460
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• 2004

The Fuel cell Rubber tired Train (FRT), which is now getting the attention as the next generation vehicle with its environment-friendliness, is the transportation for smooth connections of city traffic. It is the revival of the surface-car system with its revaluation of the function and technological development. Accordingly, fixed time operation and high speed driving became possible. FRT is operated together with other vehicles on the regular drive way. While this vehicle can solve the problem of traffic congestion in the urban area, it also can be cost-effective when it is compared to the cost of subway construction. It is also designed to minimize the underground or elevated traffic lane, to introduce the new construction technology, to reduce a term of works, and to cut down the operation cost by unmanned automatic driving system. Furthermore, it is considered as the alternative measure of other transportation due to its potential for the ecological way of speed improvement and the accessability to the disabled, elderly and children by developing the vehicle with folding steps or by building the high boarding platforms. In this research, I concentrated on the user oriented interior design of the FRT to make it passenger-friendly and safe in order to maximize the utilization of the vehicle so that all users including wheelchaired, user with baby carriage, elderly and children can conveniently use this vehicle.

• Convergence Security Journal
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• v.19 no.1
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• pp.19-30
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• 2019

As the 4th industrial revolution has recently become a hot topic, the importance of autonomous vehicles has increased and interest has been increasing worldwide, and accidents involving autonomous vehicles have also occurred. With the development of autonomous vehicles, the possibility of a cyber-hacking threat to the car network is increasing. Various countries, including the US, UK and Germany, have developed guidelines to counter cyber-hacking of autonomous vehicles, In the case of Korea, limited temporary operation of autonomous vehicles is being carried out, but the legal system to be applied in case of accidents caused by vehicle network hacking is insufficient. In this paper, based on the existing legal system, we examine the civil liability caused by the cyber hacking of the autonomous driving car, while we propose a law amendment suited to the characteristics of autonomous driving car and a legal system improvement plan that can give sustainable trust to autonomous driving car.

• Journal of Welding and Joining
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• v.15 no.1
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• pp.81-91
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• 1997

In this study, a magnetic sensor to make use of eddy current was developed to detect the weld seam of butt joint in the sheet metal arc welding. This system consist of the sensor device for detecting the weld line, the servo control device for driving the weld torch movement and the control unit. A signal processing was applied to smooth the output signal of the sensor. The weld joint was determined by using a 1st order differential method. To improve tracking accuracy of the system, moving average method which has an effect of proportional and weighted integral control was applied to a series of the weld joint positions obtained above. The weld line for tracking was generated by using data regeneration algorithm. Based on these results, each servo motor was controlled by pulse generator. From experimental results, it was revealed that this system has excellent detecting ability for weld line and seam tracking ability.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1423-1426
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• 2005

Map building is the most important thing for the mobile robots navigation. It requires specific vision system such as CCD camera, range finding system, and many other things. Laser range finder has highly collimated beams can be obtained easily, thus achieving lateral resolution. Laser Diode is used for a continuous laser source. The Automatic Current Control Circuit and the Bias-T is used for mix AC signal with DC bias. This signal is used for driving Laser Diode. The main idea of the calculating distance is detecting phase shift between reference signal and detected signal by photo detector. For the signal processing, the Lock-in amplifier system is addressed in this paper. We used a diffused reflected beam to detect phase shift in this system. But this beam is minuteness signal so it can be easily buried in nose. Lock-in amplifier is used to measure the amplitude and phase of signals which are buried in noise.