• Economic and Environmental Geology
• /
• v.53 no.1
• /
• pp.111-120
• /
• 2020

Remarkable scientific and technological achievements are mainly shown in the 'super-convergence' or 'convergence of convergence' among cross- disciplinary fields, and advanced countries are promoting the 'high-risk, high-return research' ecosystem. Google LLC is carrying out numerous new challenges in terms of a non-failure perspective. Innovative research by the US Defense Advanced Research Projects Agency (DARPA) has produced such breakthroughs as the Internet, GPS, semiconductors, the computer mouse, autonomous vehicles, and drones. China is pioneering a 'Moon Village' and planning the world's largest nuclear fusion energy and ultra-large particle accelerator project. Japan has also launched 'the moonshot technology development research system' to promote disruptive innovation. In Korea, the government is preparing a new research program to tackle the global scientific challenges. Therefore, it is necessary to determine the reasonable geoscientific challenges to be addressed and to conduct a preliminary study on these topics. For this purpose, it is necessary to conduct long-term creative research projects centered on young researchers, select outstanding principal investigators, extract innovative topics without prior research or reference, simplify research proposal procedures, innovate the selection solely based on key ideas, and evaluate results by collective intelligence in the form of conferences.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.3
• /
• pp.271-278
• /
• 2014

In spite of that stop line and crosswalk should be aware of the most basic objects in transportation system, its features extracted are very limited. In addition to image-based recognition technology, laser and RF, GPS/INS recognition technology, it is difficult to recognize. For this reason, the limited research in this area has been done. In this paper, the algorithm to recognize the stop line and crosswalk is designed and implemented using image-based recognition technology with the images input through a vision sensor. This algorithm consists of three functions.; One is to select the area, in advance, needed for feature extraction in order to speed up the data processing, 'Region of Interest', another is to process the images only that white color is detected more than a certain proportion in order to remove the unnecessary operation, 'Color Pattern Inspection', the other is 'Feature Extraction and Recognition', which is to extract the edge features and compare this to the previously-modeled one to identify the stop line and crosswalk. For this, especially by using case based feature comparison algorithm, it can identify either both stop line and crosswalk exist or just one exists. Also the proposed algorithm is to develop existing researches by comparing and analysing effect of in-vehicle camera installation and changes in recognition rate of distance estimation and various constraints such as backlight and shadow.

• Journal of IKEEE
• /
• v.26 no.2
• /
• pp.141-149
• /
• 2022

With the development of artificial intelligence and unmanned technologies, the remote surveillance/autonomous driving systems have been actively researched. For an effective performance analysis of the developed remote control system, it is important to record the data of it in real time. In addition, in order to analyze the performance between the control system and the remote system, the recorded data from them should be synchronized with time. In this paper we proposed a novel time synchronization method for the remote control system. The proposed remote control system satisfies the time difference of the recorded data within 1 ms, and we can reduce the time difference by using a CPU shielding and affinity setting. The performance of the proposed method was proved through various network data storage experiments. And the experiments confirmed that the proposed method can be applied to recording devices of unmanned ground vehicles and control vehicles. The proposed method will be used as a method for analyzing network data of UGV-R (Unmanned Ground Vehicle - Reconnaissance).

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2017.04a
• /
• pp.152-152
• /
• 2017

본 연구에서는 비례제어밸브를 이용한 자율주행 트랙터 조향 시스템 제어를 위하여 저가의 임베디드 시스템을 사용한 제어기를 개발하였다. 차륜의 조향각 측정을 위하여 전륜 킹핀에 포텐시오미터를 설치하였으며, 비례제어밸브는 -10 ~ +10V의 전압으로 밸브 스풀의 위치제어를 수행하도록 하였다. 조향각 측정과 비례제어밸브의 위치제어를 위하여 각각에 AT90CAN128 AVR보드를 사용하였으며, CAN통신으로 조향각 데이터가 비례제어밸브 제어용 데이터로 전송될 수 있도록 하였다. 비례제어밸브 제어 보드에는 DAC기능을 추가하였으며 0 ~ 5V의 출력을 -10 ~ +10V의 전압으로 변환해 주는 인터페이스회로를 추가하였다. 일반적으로 GPS 등의 데이터 수신율이 20 Hz인 점을 감안하여 비례제어 밸브는 50 ms의 주기로 P-제어를 수행할 수 있도록 하였다. 향후 트랙터의 방향각을 설정하는 또 하나의 시스템으로부터 목표 조향각을 부여받는 것을 가상하여 별도의 MCU를 통해 목표 조향각을 송신한 후, 조향 유압실린더에 의한 전륜의 조향각 시간 응답 특성을 조사하였다. 실험은 트랙터의 전륜을 지면으로부터 들어올린 무 부하 상태에서 진행하였으며, 목표 조향각은 $7.5^{\circ}$, $15.0^{\circ}$, $22.5^{\circ}$ 등 3단계로 변경하며 시간응답 특성을 측정하였다. 최대 오버슈트 11%, 최소 오버슈트 8.6%, 정상상태 오차 약 $0.825^{\circ}$, 시정수(Time Constant)는 3단계의 목표 조향각 설정에서 각각 0.706초, 0.488초, 0.38초로 나타났다.

• Journal of Advanced Navigation Technology
• /
• v.24 no.5
• /
• pp.374-381
• /
• 2020

In order to improve the vertical position accuracy, the advantages of GPS and barometric altimeter are combined and used, but in order to fuse the two sensors, the geoid altitude must be compensated. In this paper, we proposed a technique that can calculate geoid altitude in real time even in low-cost embedded systems applied to drones or autonomous vehicles. Since the reference EGM08 is determined by a polynomial of the 2160th order, real-time calculation is impossible in the embedded system. Therefore, by introducing a linear interpolation technique, the amount of calculation was increased, and the storage space was saved by 75% by using the integer geoid height as a grid point. The accuracy of the proposed technique was evaluated through simulation, and it was confirmed that the accuracy of the maximum error is -1.215 m even in the region where the geoid change is rapid.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.163-165
• /
• 2006

The subway passengers are usually alert to the current location of the train in order not to miss the destination or transfer stations. The Global Positioning System (GPS), although expensive, can give an alarm if properly programmed, but cannot receive the satellite signals, underground. Therefore, a novel approach to context-aware location-based subway information system is motivated. The passengers, who are equipped with mobile devices such as laptop, PDA, and mobile phone as clients of the Personal Area Network (PAN), request the Bluetooth connection to the server which is installed in each car of the train. While the sorrel broadcasts the location-based information including the previous station, the current velocity of the train, the distance and time to the next station, the clients provide additional services based on the recognized context of the information, and what the passengers individually want. The services are spontaneous and autonomous rather than passive. The services include not only the information on the nearby stations, exit numbers, connection buses but also the location-based alarms which can be set specific to various personal requests, and sounded by the location of the train rather than time. Whereas the arrival time may not be accurate due to the delays of the train, the location can be accurately traced and broadcast by the server. Also, the clients do not need any expensive systems like GFS. Towards validating the proposed approach, we implemented a Bluetooth PAN including a PC server, two PDA clients and a laptop client. We modeled a train on the Incheon Subway Line #1 and a train on the Seoul-to-Incheon Line on the server, simulated the virtual trains together with the real clients. and verified that all the services were successfully provided.

• Journal of Auto-vehicle Safety Association
• /
• v.9 no.1
• /
• pp.6-12
• /
• 2017

Regulation for the testing and operation of automated vehicles on public roadways has been recently developed all over the world. For example, the licensing standards and the evaluation technology for automated vehicles have been proposed in California, Nevada and EU. But specific safety evaluation scenarios for automated vehicles have not been proposed yet. This paper presents safety evaluation scenarios for extraordinary service permission of automated vehicles on highways. A total of seven scenarios are selected in consideration of safety priority and real traffic situation. Six scenarios are relevant with lane keeping and one scenario is relevant with lane change. All scenarios are developed based on existing ADAS evaluation scenarios and repeated simulation of automated vehicle algorithm. Safety evaluation factors as well as scenarios are developed. The safety factors are based on existing ADAS ISO requirements, ADAS safety factors and current traffic regulations. For the scenarios, a hunter vehicle is needed in addition to automated vehicle evaluated. The hunter vehicle performs multiple roles like preceding vehicle, cut-in vehicle and so on. The hunter vehicle is also automated vehicle equipped with high performance GPS, radar and Lidar. All the scenarios can be implemented by driving a lap on a KATRI ITS test track. These scenarios and safety evaluation factors are investigated via both a computer simulation and an experimental vehicle test on the test track. The experimental vehicle test was conducted with two automated vehicles, which are the evaluated vehicle and the hunter vehicle.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.6
• /
• pp.584-593
• /
• 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.