• 한국정보통신학회논문지
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• 제10권11호
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• pp.1973-1977
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• 2006

본 논문에서는 IMU(Inertial Motion Unit), DVL(Doppler Velocity Log), USBL(Ultra Short Base Line) DGPS(Differential Global Positioning System) 등의 센서로부터 취득된 데이터를'융합하여 ROV(Remotely Operated Vehicle)와 AUV(Autonomous Underwater Vehicle)와 같은 수중체의 위치를 지구 전체영역에서 추정하기 위한 기본적인 알고리즘을 다루고 있다. 본 논문에 소개된 알고리즘은 6,000m급 과학 조사용 심해무인잠수정인 해미래[1]의 수중 위치추적에 사용될 예정이다.

• Tribology and Lubricants
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• 제30권3호
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• pp.156-167
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• 2014

This paper presents the test results of small dipstick-gage-type engine-oil-deterioration-detection sensor. The measured sensor signal characteristics for the capacitance and temperature are analyzed. The engine oil deterioration condition correlates with the electrical property of the dielectric constant that comprised with physical properties such as TAN (Total Acid Number), TBN (Total Base Number) and viscosity. Several problems encontered during the test of the sensor system are improved. The results of vehicle tests show that the capacitance signal is stable after the engine stops. Therefore, the sensor should start measuring the parameters for monitoring the engine oil condition after the engine stops. The engine is considered to be in a stopped state if the difference between the maximum and minimum values of the oil capacitance measured every 1 min is below 0.02 pF. The key test results in this paper will help in the development of an engine oil change warning algorithm.

• 한국전자통신학회논문지
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• 제13권2호
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• pp.313-320
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• 2018

자동차의 자율주행 기술이 확대되면서 '눈'의 역할을 하는 센서가 점차 중요시되고 있다. 최근 차량에 장착되는 라이다 센서는 채널이 많을수록 피사체에 반사된 신호 또한 풍부해짐에 따라 장애물, 지형, 차량 등 주변 환경 탐색의 정확도가 높아진다. 하지만, 라이다 센서는 채널 증가에 따른 열배 이상 가격의 차이가 있으며, 이러한 가격적인 문제로 보급형 차량보다는 고가의 차량에만 부분적으로 사용되고 있다. 본 연구는 저 가격의 16 채널의 라이다를 복수개로 구성하여 동시에 신호를 수집 처리하여 하나의 입체공간으로 융합하고 이를 나타낼 수 있게 함으로써 64 채널의 라이더와 같은 효과를 나타낼 수 있게 하였다. 이를 통해서 차량 심미성의 개선과 함께 보급화를 위한 기반을 제공할 수 있다.

• Journal of Biosystems Engineering
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• 제33권6호
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• pp.423-429
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• 2008

This study was performed to investigate the effects of inertial navigation system (INS) / global positioning system (GPS) sensor fusion for agricultural vehicle navigation. An extended Kalman filter algorithm was adopted for INS/GPS sensor fusion in an integrated mode, and the vehicle dynamic model was used instead of the navigation state error model. The INS/GPS system was consisted of a low-cost gyroscope, an odometer and a GPS receiver, and its performance was tested through computer simulations. When measurement noises of GPS receiver were 10, 1.0, 0.5, and 0.2 m ($1{\sigma}$), RMS position and heading errors of INS/GPS system at 5 m/s straight path were remarkably reduced with 10%, 35%, 40%, and 60% of those obtained from the GPS receiver, respectively. The decrease of position and heading errors by using INS/GPS rather than stand-alone GPS can provide more stable steering of agricultural equipments. Therefore, the low-cost INS/GPS system using the extended Kalman filter algorithm may enable the self-autonomous navigation to meet required performance like stable steering or more less position errors even in slow-speed operation.

• 한국인터넷방송통신학회논문지
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• 제10권5호
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• pp.245-249
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• 2010

현재 차량에서 일반적으로 많이 쓰이고 있는 변속 스위치의 방법은 전위차를 신호로하는 접촉식이다. 접촉식은 신호전달에 있어서 정확한 방식의 하나이지만 장시간 사용 시 접촉면의 노후화로 인하여 수명이 짧아진다. 비 접촉 방식으로 사용될 수 있는 자기센서를 사용 한다면 접촉면의 노후화를 해결 할 수 있다. 본 논문에서는 자기센서의 특징을 살려서 비 접촉식 방법으로 차량용 변속스위치에 적용 하여 기존 접촉식 방법의 문제를 해결하였다. 센서 출력 전압은 가변적인 전위차를 가지는데 스위치의 각동에 따라 통상 0mV에서 150mV의 값을 가진다. 본 연구에서는 5개의 상태 신호에 대한 두 개의 사인 신호를 사용 하였다.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.179-186
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• 2015

In this paper, a novel lateral control system is proposed for the purpose of improving lane keeping performance which is independent from GPS signals. Lane keeping is a key function for the realization of unmanned driving systems. In order to obtain this objective, a vision sensor based real-time lane detection scheme is developed. Furthermore, we employ a data fusion along with a real-time steering angle of the test vehicle to improve its lane keeping performance. The fused direction data can be obtained by an IMU sensor and vision sensor. The performance of the proposed system was verified by computer simulations along with field tests using MOHAVE, a commercial vehicle from Kia Motors of Korea.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.399-399
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• 2000

In this paper, path generation using the sensor platform is proposed. The sensor platform is composed two electric motors which make panning and tilting motions. An algorithm fur a real path form and an obstacle length is realized using a scanning algorithm to rotating the sensors on the sensor platform. An ARV (Autonomous Robot Vehicle) is able to recognize the given path by adapting this algorithm. In order for the ARV to navigate the path flexibly, a kinematic model needed to be constructed. The kinematic model of the ARV was reformed around its body center through a relative velocity relationship to controllability, which derives from the nonholonomic characteristics. The optimal controller that is based on tile kinematic model is operated purposefully to track a reference vehicle's path. The path generation algorithm is composed of two parks. On e part is the generating path pattern, and the other is used to avoid an obstacle. The optimal controller is used for tracking the reference path which is generated by recognizing the path pattern. Results of simulation show that this algorithm for an ARV is sufficient for path generation by small number of sensors and for low cost controller.

• 센서학회지
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• 제9권5호
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• pp.373-379
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• 2000

본 논문에서는 차량이 자동으로 도로를 추적하는 자율주행을 실현하기 위한 선행조건으로서 자기차선의 자장으로부터 차량의 위치와 방향을 추정하기 위한 시스템을 제안한다. 자기차선에 사용되는 원통형 영구자석인 단일자기원에 자기 쌍극자 모델이 적용될 수 있음을 검증하기 위해서 자기센서를 이용하여 위치에 따른 원형 영구자석 자장의 3축 성분을 측정하고 실험 데이터를 자기 쌍극자 모델과 비교하였다. 실험 데이터를 기반으로 한 모델을 이용하여 자장의 3축 성분에 의하여 센서의 위치를 추정할 수 있음을 보인다. 단일 자기원에 검증된 자기 쌍극자 모델을 자기차선으로 확장하고, 센서의 위치와 방향에 따른 자장의 3축 성분의 실험 데이터를 획득한다. 실험 데이터의 맵핑을 이용하여 자장의 3축 성분에 따른 센서의 위치와 방향을 추정한다. 자기차선 상에서 차량의 위치와 센서를 제안된 방법에 의해 추정하고 컴퓨터 시뮬레이션을 통하여 차선추적에 적용한다.

• 국제초고층학회논문집
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• 제3권2호
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• pp.155-165
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• 2014

This study measured and compared the variation of ventilation rate and fan energy consumption according to various control strategies after installing wireless sensor-based pilot ventilation system in order to verify the applicability of demand-controlled ventilation (DCV) strategy that was efficient ventilation control strategy for underground parking lot. The underground parking lot pilot ventilation system controlled the ventilation rate by directly or indirectly tracking the traffic load in real-time after sensing data, using vehicle detection sensors and carbon monoxide (CO) and carbon dioxide ($CO_2$) sensor. The ventilation system has operated for 9 hours per a day. It responded real-time data every 10 minutes, providing ventilation rate in conformance with the input traffic load or contaminant level at that time. A ventilation rate of pilot ventilation system can be controlled at 8 levels. The reason is that a ventilation unit consists of 8 high-speed nozzle jet fans. This study proposed vehicle detection sensor based demand-controlled ventilation (VDS-DCV) strategy that would accurately trace direct traffic load and CO sensor based demand-controlled ventilation (CO-DCV) strategy that would indirectly estimate traffic load through the concentration of contaminants. In order to apply DCV strategy based on real-time traffic load, the minimum required ventilation rate per a single vehicle was applied. It was derived through the design ventilation rate and total parking capacity in the underground parking lot. This is because current ventilation standard established per unit floor area or unit volume of the space made it difficult to apply DCV strategy according to the real-time variation of traffic load. According to the results in this study, two DCV strategies in the underground parking lot are considered to be a good alternative approach that satisfies both energy saving and healthy indoor environment in comparison with the conventional control strategies.

• International Journal of Automotive Technology
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• 제1권2호
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• pp.61-69
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• 2000

This paper will address the basic requirements for realizing a stop and go cruise control system. Issues discussed comprise: functional, sensor and basic HMI requirements, primary characterization of naturalistic stop & go driving, and the basic approach of the transformation of situational knowledge in an elementary controller.