• 한국정밀공학회지
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• 제31권4호
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• pp.303-309
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• 2014

This paper contains how to integrate production resources of 4M1E (Man, Machine, Material, Method and Energy), analyze and collect various type of management information which emphasize the need of a common platform's 4M1E Middleware and Autonomous Configuration. Management efficiency improved by the functionality of integrated management information and digitizing information with standardized data.

• 한국자동차공학회논문집
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• 제15권3호
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• pp.1-9
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• 2007

A major concern for Autonomous Military Robot in the rough terrain is the problem of moving robot from an initial configuration to goal configuration. In this paper, We generate a local path to looking for the best route to move an goal configuration while avoiding known obstacle from world model, not violating the mobility constraints of robot. Trough a Simulator for Unmanned Autonomous Vehicle, We can simulate a traversability of unmanned autonomous vehicle based on steering, acceleration, braking command obtained from local path planning.

• 한국통신학회논문지
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• 제40권3호
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• pp.516-528
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• 2015

본 논문에서는 소스 미디어를 가진 단일 모바일 스마트 기기로부터 나머지 다수의 스마트 모바일 기기로 효율적이며 규모 확장성 있는 미디어 스트리밍을 가능하게 하는 모바일 ad hoc 네트워크 구조와 그 구조의 자율적인 네트워크 형성 기법을 제안한다. 스트리밍 트래픽을 분산 전송하는 확장성 있는 네트워크 구조를 구성하기 위해서 IEEE 802.11 infrastructure 네트워크와 ad hoc 네트워크를 혼합하여 계층적으로 구성하며, 소스 미디어를 가진 기기는 무선접속점을 통하여 각 네트워크 그룹 소유자에게 스트리밍 트래픽을 전송한다. 이 구조는 특정한 기기 노드의 역할에 의존하지 않고, 기기의 상태 및 성능과 무선 네트워크 상태를 기반으로 한 장치별 경쟁을 통하여 자율적으로 형성된다. 본 논문에서 제안하는 방법은 무선 네트워크 프로토콜과 모바일 운영체제 수준의 수정이나 관리자 권한 획득 없이 상용 모바일 스마트 기기에 적용이 가능하며, 제안하는 기법을 사용하여 단일 무선 랜 환경에서 다수의 스마트 기기 간의 효율적인 미디어 스트리밍 서비스를 제공할 수 있다. 제안하는 계층적 스트리밍 네트워크 구조는 성능 실험을 통하여 단일 IEEE 802.11 infrastructure 네트워크보다 성능 및 규모 확장성 측면에서 더 우수함을 보였다.

• 자동차안전학회지
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• 제14권4호
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• pp.60-69
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• 2022

Recently, the importance of simulation validation in a virtual environment for autonomous driving system validation is increasing. At the same time, interest in the advancement of the virtual driving environment is also increasing. To develop autonomous driving technology, a simulation environment similar to the real-world environment is needed. For this reason, not only the road model is configured in the virtual driving environment, but also the driving environment configuration that includes the surrounding environments -traffic, object, etc- is necessary. In this article, FMTC, which is a test bed for autonomous vehicles, is implemented in a virtual environment and advanced to form a virtual driving environment similar to that of real FMTC. In addition, the similarity of the virtual driving environment is verified through comparative analysis with the real FMTC.

• 자동차안전학회지
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• 제14권1호
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• pp.20-25
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• 2022

This paper presents a development of simulation environment for validation of autonomous driving (AD) algorithm based on Robot Operating System (ROS). ROS is one of the commonly-used frameworks utilized to control autonomous vehicles. For the evaluation of AD algorithm, a 3D autonomous driving simulator has been developed based on LGSVL. Two additional sensors are implemented in the simulation vehicle. First, Lidar sensor is mounted on the ego vehicle for real-time driving environment perception. Second, GPS sensor is equipped to estimate ego vehicle's position. With the vehicle sensor configuration in the simulation, the AD algorithm can predict the local environment and determine control commands with motion planning. The simulation environment has been evaluated with lane changing and keeping scenarios. The simulation results show that the proposed 3D simulator can successfully imitate the operation of a real-world vehicle.

• 대한임베디드공학회논문지
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• 제18권5호
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• pp.249-257
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• 2023

This paper discusses the increasing need for autonomous delivery robots due to the current growth in the delivery market, rising delivery fees, high costs of hiring delivery personnel, and the need for contactless services. Additionally, the cost of hardware and complex software systems required to build and operate autonomous delivery robots is high. To provide a low-cost alternative to this, this paper proposes a autonomous delivery robot platform using a low-cost sensor combination of 2D LIDAR, depth camera and tracking camera to replace the existing expensive 3D LIDAR. The proposed robot was developed using the RTAB-Map SLAM open source package for 2D mapping and overcomes the limitations of low-cost sensors by using the convex hull algorithm. The paper details the hardware and software configuration of the robot and presents the results of driving experiments. The proposed platform has significant potential for various industries, including the delivery and other industries.

• 한국전자통신학회논문지
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• 제17권1호
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• pp.49-58
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• 2022

최근 4차 산업혁명의 시작으로 인해 자율주행 관련 시장이 빠르게 발전하고 있다. 빠르게 발전하는 자율주행 기술의 기술 동향을 파악하기 위해서 자율주행의 Level 0부터 Level 5까지의 특징 및 차이점에 대해서 알아보고자 한다. 자율주행 차량의 전반적인 구성, 인식기술, 보조기술들을 분석하고, 이를 통해 자율주행 기술에 대한 구조 및 알고리즘을 파악하고자 한다. 또한 초음파 센서와 카메라를 이용한 모의 자율주행 RC카를 제작하여 인식기술과 보조기술의 필요성을 파악한다.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• 한국정밀공학회지
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• 제16권2호통권95호
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• pp.176-182
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• 1999

This paper presents a new autonomous kinematic calibration technique by using a laser-vision sensor called "Perceptron TriCam Contour". Because the sensor measures by capturing the image of a projected laser line on the surface of the object, we set up a long, straight line of a very fine string inside the robot workspace, and then allow the sensor mounted on a robot to measure the point intersection of the line of string and the projected laser line. The point data collected by changing robot configuration and sensor measuring are constrained to on a single straght line such that the closed-loop calibration method can be applied. The obtained calibration method is simple and accurate and also suitable for on-site calibration in an industrial environment. The method is implemented using Hyundai VORG-35 for its effectiveness.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.457-458
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• 2010