• Journal of the Optical Society of Korea
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• 제16권4호
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• pp.449-456
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• 2012

For two well-known modulation methods, stepwise current modulation (SCM) and pulse width modulation (PWM), the effects of driving current modulation conditions on chromaticity were experimentally investigated in a white LED lighting system. For the experimental implementation of both SCM and PWM, a white LED lighting was fabricated using phosphor converted (PC) white light emitting diodes (LEDs) and a driving circuit module was developed. By using them, the variations of illuminance, color coordinates, and spectrum were evaluated under various forward current conditions. Through the analysis in color coordinates, yellow shift in SCM and blue shift in PWM were observed on chromaticity diagrams with increasing average driving current. In addition, in order to analyze color deviation quantitatively, color distance before and after current increase, and the correlated color temperature (CCT) were calculated. As a result, for the white LED lighting in both modulation conditions, the maximum difference in the calculated CCT was obtained close to 1000 K. It means that careful consideration is required to be taken in the design of illumination systems to avoid serious problems such industrial accidents.

• 자동차안전학회지
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• 제13권4호
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• pp.7-13
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• 2021

This paper presents an vulnerable road user (VRU) classification and tracking algorithm using vision and LiDAR sensor fusion method for urban autonomous driving. The classification and tracking for vulnerable road users such as pedestrian, bicycle, and motorcycle are essential for autonomous driving in complex urban environments. In this paper, a real-time object image detection algorithm called Yolo and object tracking algorithm from LiDAR point cloud are fused in the high level. The proposed algorithm consists of four parts. First, the object bounding boxes on the pixel coordinate, which is obtained from YOLO, are transformed into the local coordinate of subject vehicle using the homography matrix. Second, a LiDAR point cloud is clustered based on Euclidean distance and the clusters are associated using GNN. In addition, the states of clusters including position, heading angle, velocity and acceleration information are estimated using geometric model free approach (GMFA) in real-time. Finally, the each LiDAR track is matched with a vision track using angle information of transformed vision track and assigned a classification id. The proposed fusion algorithm is evaluated via real vehicle test in the urban environment.

• 센서학회지
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• 제32권5호
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• pp.267-274
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• 2023

LiDAR, one of the most important sensing methods used in mobile robots and cars with assistive/autonomous driving functions, is used to locate surrounding obstacles or to build maps. For real-time path generation, the detection of potholes or puddles on the driving surface is crucial. To achieve this, we used the coordinates of the reflection points provided by LiDAR as well as the intensity information to classify water areas, which was achieved by applying a linear regression method to the intensity distribution. The rationale for using the LiDAR index as an input variable for linear regression is presented, and we demonstrated that it is not affected by errors in the distance measurement value. Because of LiDAR vertical scanning, if the reflective surface is not uniform, it is divided into different groups according to the intensity distribution, and a mathematical basis for this is presented. Through experiments in an outdoor driving area, we could distinguish between flat ground, potholes, and puddles, and kinematic analysis was performed to calculate the maximum width that could be crossed for a given vehicle body size and wheel radius.

• 한국항만학회지
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• 제14권3호
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• pp.303-312
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• 2000

In this paper, we describe an image processing algorithm which is able to recognize the road lane. This algorithm performs to recognize the interrelation between AGV and the other vehicle. We experimented on AGV driving test with color CCD camera which is setup on the top of vehicle and acquires the digital signal. This paper is composed of two parts. One is image preprocessing part to measure the condition of the condition of the lane and vehicle. This finds the information of lines using RGB ratio cutting algorithm, the edge detection and Hough transform. The other obtains the situation of other vehicles using the image processing and viewport. At first, 2 dimension image information derived from vision sensor is interpreted to the 3 dimension information by the angle and position of the CCD camera. Through these processes, if vehicle knows the driving conditions which are lane angle, distance error and real position of other vehicles, we should calculate the reference steering angle.

• 전기학회논문지P
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• 제55권3호
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• pp.123-127
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• 2006

In a heating control system, the indoor temperature controller transfers temperature signals inputted from the temperature sensor and the user to the valve controller. The valve controller receives these signals then the valve controller controls the valve driving motor on two position control and controls the indoor temperature. When setting up a new valve driving motor from a long distance it is necessary to set up a new valve controller. But occasionary, due to construction, It is impossible to wire between the existing valve controller and the new valve controller. In this situation, the new and existing valve controllers can communicate via power line communication. In this paper it is proposed heating control system controls on two position control via power line communication.

• 한국공작기계학회논문집
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• 제16권3호
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• pp.56-63
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• 2007

Modern diesel vehicle has to comply with the EURO IV, V regulation with low level of particulate matter and smoke emission Moreover, emission standards of each countries are becoming stringent in advanced countries such as USA and Europe. Because Bio-diesel is similar to diesel fuel, it is essential to judge the environmental and health effects deriving from the use of Bio-diesel in diesel engine. The deterioration characteristics of emission in accordance with aging vehicles must be regulated for Bio-diesel. Therefore, under 1200 driving hours, 220,000km driving distance condition and full load, the deterioration characteristics of emission were estimated. We could reduce sulfur contents of fuel, particulate matter and smoke emission by using Bio-diesel and conform the influence of engine performance, emission, and fuel consumption by Bio-diesel deterioration

• 한국공작기계학회논문집
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• 제14권3호
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• pp.110-115
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• 2005

Driving performance is affected by a steering mechanism and characteristics of the ground at off-road skateboarding. In order to drive on off-road, it is necessary off-road wheel and high performance steering mechanism to adapt on various configuration of the ground. In this paper, design factors are studied to affect to steering radius such as inclination angle of a king-bolt, distance of a wheel axle, and rolling angle of a deck plate. A steering system is adhered to inclination face of the deck plate. And, inclination angle is existed between the king-bolt and the flat face of the deck plate. Therefore, the wheel axle of the steering system can be steered by control of the rolling angle of the deck plate.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.855-860
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• 2007

This paper describes a human driver model developed based on finite preview optimal control method. The human driver steering model is constructed to minimize a performance index which is a quadratic form of lateral position error, yaw angle error and steering input. Simulation studies are conducted using a vehicle simulation software, Carsim. The Carsim vehicle model is validated using vehicle test data. In order to validate the human driving steering model, the human driver steering model is compared to the driving data on a virtual test track(VTT) and the actual vehicle test data. It is shown that human driver steering behaviors can be well represented by the human driver steering model presented in this paper

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.20-25
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• 1993

The control of the motion of a mobile robot is studied. The driving and steering motor assembly is located in the front of the mobile robot. The position of the mobile robot is determined by the steering angle and driving distance. For the controller design, a time-series multivariate model of the autogressive exogenous (ARX) type is used to describe the input-output relation. The discounted least square method is used to estimate parameters of the time-series model. A self-tuning controller is so designed that the position of the center of the mobile robot track the given trajectory. Simulation result controlled by a self-tuning controller is presented to illustrate the approach.

• 한국생산제조학회지
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• 제7권4호
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• pp.42-49
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• 1998

This wear debris can be harvested from the lubricants of operating machinery and its morphology is directly related to the damage to the interacting surface from which the particles originated. The morphological identification of wear debris can therefore provide very early detection of a fault and can also often facilitate a diagnosis. The purpose of this study is to attempt the developement of intelligent system for moving condition diagnosis of the machine driving system. The four shape parameter(50% volumetric diameter, aspect, roundness and reflectivity) of war debris are used as inputs to the neural network and learned the moving condition of five values(material3, applied load 1, sliding distance 1). It is shown that identification results depend on the ranges of these shape parameter learned. The three kinds of the wear debris had a different pattern characteristics and recognized the moving condition and materials very well by neural network.