• 대한임베디드공학회논문지
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• 제6권5호
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• pp.303-309
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• 2011

In this paper, an intelligent force control technique is applied to an autonomous helicopter. Although most research on the autonomous helicopter system is about navigation and control, force control of an autonomous helicopter system is quite new and not presented yet. After controlling the position of the helicopter by the LQR method, force control is applied. The adaptive impedance force control algorithm is introduced and tested to regulate the desired force under unknown location and stiffness of the environment. To compensate for uncertainty from outer disturbance, a neural network is added to form an intelligent force control framework. Simulation studies show that the proposed force control algorithm works well.

• 한국정보통신학회논문지
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• 제7권1호
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• pp.158-163
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• 2003

다중 디스크 드라이브가 포함된 디스크 배열 시스템에서 디스크의 수가 증가 될 때 시스템 성능은 컨트롤러의 집중화 또는 버스로 사용되는 전송 경로의 병목현상에 의해 제한되어진다. 이러한 단점을 보완하기 위해 고성능 대용량의 RAID가 등장하였으며 RAID 시스템에서 컨트롤러 기능은 모든 디스크 드라이브에 분산되고 각 디스크는 그들의 임무를 수행하는 자율성을 가진 자율적 네트웍이 일반적 계층 시스템 보다 확장성이 좋고 시스템 자원을 보다 효율적으로 이용할 수 있어 디스크 수의 증가율에 따라 높은 읽기/쓰기 처리율의 성능을 제공한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1286-1290
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• 2004

This paper proposes a Distributed Autonomous Robotic System (DARS) based on an Artificial Immune Network (AIN) and a Classifier System (CS). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in environment. These actions are composed of two types: aggregation and dispersion. AIN decides one between these two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the CS in the local. The relation between global and local increases the performance of system. Also, the proposed system is more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.406-413
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• 2007

This paper proposes a self-recurrent wavelet neural network(SRWNN) based adaptive backstepping control technique for the robust steering control of autonomous underwater vehicles(AUVs) with unknown model uncertainties and external disturbance. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the steering model of AUV. The adaptation laws for the weights of SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for the on-line control of AUV. Finally, simulation results for steering control of an AUV with unknown model uncertainties and external disturbance are included to illustrate the effectiveness of the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.183-187
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• 2002

This paper proposes a remote control system that combines computer network and an autonomous mobile robot. We control remotely an autonomous mobile robot with vision via the internet to guide it under unknown environments in the real time. The main feature of this system is that local operators need a World Wide Web browser and a computer connected to the internet communication network and so they can command the robot in a remote location through our Home Page. This system offers an image compression method using motion H.263 concept which reduces large time delay that occurs in network during image transmission.

• 동력기계공학회지
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• 제9권4호
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• pp.194-201
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• 2005

In this paper, we propose an adaptive mechanism based on humoral immune algorithm and neural network identifier technique. It is also applied for an autonomous guided vehicle (AGV) system. When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged due to the abrupt change of PID parameters since the parameters are almost adjusted randomly. To slove this problem, we use the neural network identifier technique for modeling the plant humoral immune algorithm (HIA) which performs the parameter tuning of the considered model, respectively. Finally, the experimental results for control of steering and speed of AGV system illustrate the validity of the proposed control scheme. Also, these results for the proposed method show that it has better performance than other conventional controller design method such as PID controller.

• International Journal of Internet, Broadcasting and Communication
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• 제14권2호
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• pp.119-128
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• 2022

Recently, due to the development of related technologies for autonomous vehicles, driving work is changing more safely. However, the development of support technologies for level 5 full autonomous driving is still insufficient. That is, even in the case of an autonomous vehicle, the driver needs to drive through forward attention while driving. In this paper, we propose a method to monitor driving tasks by recognizing driver behavior. The proposed method uses pre-trained deep convolutional neural network models to recognize whether the driver's face or body has unnecessary movement. The use of pre-trained Deep Convolitional Neural Network (DCNN) models enables high accuracy in relatively short time, and has the advantage of overcoming limitations in collecting a small number of driver behavior learning data. The proposed method can be applied to an intelligent vehicle safety driving support system, such as driver drowsy driving detection and abnormal driving detection.

• International Journal of Computer Science & Network Security
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• 제23권1호
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• pp.11-16
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• 2023

Vehicular networks are part of the next generation wireless and smart Intelligent Transportation Systems (ITS). In the future, autonomous vehicles will be an integral part of ITS and will provide safe and reliable traveling features to the users. The reliability and security of data transmission in vehicular networks has been a challenging task. To manage data transmission in vehicular networks, road networks are divided into clusters and a cluster head is selected to handle the data. The selection of cluster heads is a challenge as vehicles are mobile and their connectivity is dynamically changing. In this paper, a novel secure cluster head selection algorithm is proposed for secure and reliable data sharing. The idea is to use the secrecy rate of each vehicle in the cluster and adaptively select the most secure vehicle as the cluster head. Simulation results show that the proposed scheme improves the reliability and security of the transmission significantly.

• ETRI Journal
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• 제45권2호
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• pp.329-337
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• 2023

For safe last-mile autonomous robot delivery services in complex environments, rapid and accurate collision prediction and detection is vital. This study proposes a suitable neural network model that relies on multiple navigation sensors. A light detection and ranging technique is used to measure the relative distances to potential collision obstacles along the robot's path of motion, and an accelerometer is used to detect impacts. The proposed method tightly couples relative distance and acceleration time-series data in a complementary fashion to minimize errors. A long short-term memory, fully connected layer, and SoftMax function are integrated to train and classify the rapidly changing collision countermeasure state during robot motion. Simulation results show that the proposed method effectively performs collision prediction and detection for various obstacles.

• 한국산학기술학회논문지
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• 제21권12호
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• pp.688-701
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• 2020

본 연구는 자동차 산업의 기술협력 네트워크의 특성과 변화 요인들에 대해 분석한다. 전 세계 주요 자동차 기업들이 2000년부터 2017년까지 출원한 112,009건의 자율주행 관련 특허를 사회연결망 분석(SNA: Social Network Analysis, 이하 SNA)을 활용하여 기술협력 네트워크의 구조를 분석한다. 네트워크 분석지표 중 구조적 특성 분석을 통해 밀도 등의 네트워크 특성을 분석한다. 연결 정도 중심성, 매개 중심성 및 관계 중심성 등의 지위적 특성 지표 분석을 통해서는 기술협력 네트워크의 구조적 특성을 확인한다. 분석 결과는 토요타, 현대자동차 등 완성차 기업들과 부품 공급 업체인 보쉬, 콘티넨탈 등이 자율주행과 관련한 기술 개발 실적이 높은 것으로 확인되었다. 네트워크의 구조적 특성 분석 결과 자율주행 기술 개발의 협력 네트워크에 참여한 기업들의 수가 증가하고 다양해졌으며 지위적 특성 지표들은 모두 감소하는 결과를 보였다. 이는 기업 간의 수평적이며 보완적인 기술협력 형태가 증가하는 현상으로 해석할 수 있다. 그리고 자동차 자율주행 기술 분야의 참여자가 많아지고 네트워크가 더 복잡해짐을 확인하였다.