• ETRI Journal
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• v.44 no.6
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• pp.1004-1019
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• 2022

For autonomous driving without high-definition maps, we present a model capable of generating multiple plausible paths from egocentric images for autonomous vehicles. Our generative model comprises two neural networks: feature extraction network (FEN) and path generation network (PGN). The FEN extracts meaningful features from an egocentric image, whereas the PGN generates multiple paths from the features, given a driving intention and speed. To ensure that the paths generated are plausible and consistent with the intention, we introduce an attentive discriminator and train it with the PGN under a generative adversarial network framework. Furthermore, we devise an interaction model between the positions in the paths and the intentions hidden in the positions and design a novel PGN architecture that reflects the interaction model for improving the accuracy and diversity of the generated paths. Finally, we introduce ETRIDriving, a dataset for autonomous driving, in which the recorded sensor data are labeled with discrete high-level driving actions, and demonstrate the state-of-the-art performance of the proposed model on ETRIDriving in terms of accuracy and diversity.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.6
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• pp.726-732
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• 2013

It is required for UGV(Unmanned Ground Vehicle) to have a LPP(Local Path Plan) component which generate a local path via the center of road by analyzing binary map to travel autonomously unpaved road in rough environment. In this paper, we present the method of boundary estimation for unpaved road and a local path planning method based on RANGER algorithm using the estimated boundary. In specially, the paper presents an approach to estimate road boundary and the selection method of candidate path to minimize the problem of zigzag driving based on Bayesian probability reasoning. Field test is conducted with scenarios in rough environment in which bush, tree and unpaved road are included and the performance of proposed method is validated.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.809-817
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• 2008

This paper describes an obstacle detecting system of an unmanned ground vehicle (UGV). The unmanned ground vehicle is consists of several systems such as vehicle control system, navigation system, obstacle detecting system and integration system. Among these systems, the obstacle detecting system is a driving assistance system of UGV. Through the UGV is driving, the system detects obstacles such as cars, human, tree, curb and hills and then send information of obstacles position to integration system for safety driving. In this research, the obstacle detecting system is composed of 5 laser scanners and develop algorithms of detecting obstacles, curb, uphill and downhill road.

• Journal of Environmental Science International
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• v.16 no.1
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• pp.129-142
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• 2007

The main purpose of this study was to comprehensively evaluate the local agenda 21 of Daegu City based on the evaluation model and propose important measures to solve its problems and improve the limitations. As a whole, the evaluation result of the local agenda 21 of Daegu City showed very low score, only 151 points out of 500 points and revealed it was below the level in all three domains of making process, designed content, and evaluation of implementation. The making process got only score below the half in all large indicators of under-standing, driving, and rationality. This unsystematic and irrational process inevitably resulted in ambiguous and proclamatory content mainly expressing willingness to do. This fact means that the local agenda 21 of Daegu City has not served as the comprehensive local environmental plan containing visions, policies, ends and means. It did not suggest evaluation system and institutionalization of evaluation. These results of evaluation suggested that the existing local agenda 21 of Daegu City was neither useful nor effective and thus the totally new local agenda 21 should be prepared. Finally, important measures in making process, designed content and evaluation of implementation were proposed for the remaking.

• Interaction and multiscale mechanics
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• v.4 no.1
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• pp.35-47
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• 2011

A global-local finite element modeling technique is employed in this paper to predict the fatigue life of radial truck tires. This paper assumes that a flaw exists inside the tire, in the local model. The local model uses an FEM fracture analysis in conjunction with a global-local technique in ABAQUS. A 3D finite element local model calculates the energy release rate at the belt edge. Using the analysis of the local model, a study of the energy release rate is performed in the crack region and used to determine the crack growth rate analysis. The result considers how different driving conditions contribute to the detrimental effects of belt separation in truck tire failure. The calculation of the total mileage on four sizes of radial truck tires has performed on the belt edge separation. The effect of the change of belt width design on the fatigue lifetime of tire belt separation is discussed.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.12
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• pp.1-12
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• 1996

A new local path planning algorithm using DPH (distance profile histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values from multiple ultrasonic sensors and genrates local points through which the mobile robot can avoid obstcles safely. The DPH (distance profile historgram) represents geometrical arrangement of obstacles around the robot in the local polar coordinate system which is assumed to be atached to the robot. To control robot's navigation, a three-layered control structure is adopted. The proposed local path planning algorithm is placed on the top level. And a point-to-point translation controller takes the middle level. The bottom level consists of a velcoity servo and sonar driver modules which take charge of driving physical hardwares. The validity of the propsoed method is demonstated through several experiments.

• Proceedings of the Korea Water Resources Association Conference
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• 2004.05b
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• pp.124-133
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• 2004

Global climate variations are expected to affect local hydro-meteorological variables like precipitation and temperature. The Southern Oscillation (SO) is one of the major driving forces that give impact on regional and local climatic variation. The relationships between SO and local climate variation are, however, characterized by strong nonlinear variation patterns. In this paper, the nonlinear dynamic relationship between the Southern Oscillation Index (SOI), precipitation, and temperature in Fukuoka, Japan, is investigated using by a nonlinear multivariable approach. This approach is based on the joint variation of these variables in the phase space. The joint phase-space variation of SOI, precipitation, and temperature is studied with the primary objective to obtain a better understanding of the dynamical evolution of local hydro-meteorological variables affected by global atmospheric-oceanic phenomena.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.834-839
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• 2007

This paper investigates the distortion of magnetic field of a brushless DC (BLDC) motor due to deformed rubber magnet. Global or local deformation of rubber magnet in the BLDC motor is mathematically modeled by using the Fourier series. Distorted magnetic field is calculated by using the finite element method, and unbalanced magnetic force are calculated by using the Maxwell stress tensor. The first harmonic deformation in the global deformation of rubber magnet generates the first harmonic driving frequency of the unbalanced magnetic force, and the rest harmonic deformations of rubber magnet except the harmonic deformation with multiple of common divisor of pole and slot introduces the driving frequencies with multiple of slot number ${\pm}1$ to the unbalanced magnetic force. However, the harmonic deformation with multiple of common divisor of pole and slot does not generate unbalanced magnetic force due to the rotational symmetry. When the rubber magnet is locally deformed, the unbalanced magnetic force has the first harmonic driving frequency and the driving frequencies with multiples of slot number ${\pm}1$.

• Analyses & Alternatives
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• v.6 no.1
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• pp.223-258
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• 2022

The 2018 local elections completely upended the composition of Busan's city council, with the council membership changing from being solidly and consistently conservative to being over 80% liberal. What explains this anomalous outcome? While existing literature suggests the outcome of the 2018 city council elections was the consequence of a combination of structural and strategic factors, such as the decline of regional voting, we argue that the individual-level evaluation of President Moon Jae-in is one of the primary factors driving this result. Although coattails effects are commonly considered in concurrent national legislative elections, the Presidentialized and nationalized politics of Korea makes it possible for Presidential elections to affect local elections as well. We assess our explanation through an analysis of repeated cross-sectional survey data collected just before the 2018 local elections. The results of the analysis show that support for the Democratic Party is very strongly predicted by individual-level evaluation of President Moon. When considered in the context of the timing of presidential and local elections, the results suggest that Presidential coattail effects are capable of destabilizing established political patterns, such as regional voting, if perhaps only in a sporadic and idiosyncratic fashion, depending on whether or not local elections are held early on in a President's term.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.374-388
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• 2016

In Jeju-Do, there is the 1100 Road, 516 Road, and Bijarimro, which are typical mountain sight-seeing roads in Jeju. These roads are local roads that have been the location for many traffic accidents. This study focused on these roads, categorized the type of traffic accident and analyzed the accident characteristics. The major accident factors were analyzed through trip AHP analysis, Comparative analysis of the velocity distribution and the factors affecting traffic accidents were analyzed. Tourists took many trips on these roads. The mixing rate of the rental cars was 36.70%~71.60% in 1100 road and Bijarimro. Currently, these local roads are regulated by a speed limit of 60km/h. However, it might be necessary to reduce the speed limit to 40km/h considering the geometric line form of the road and the climate in these areas. The speed limit of more than 40km/h is found 87.0% on 516 Roads, 88.57% on 1100 roads, and 93.1% on Bjarimro, In these roads, the speed ratio is higher as described above. Therefore, these roads have been found to have a higher risk of traffic accidents by overspeeding driving. The overspeed driving ratio of these roads was 87.0%~93.1%, The overspeed driving enforcement method at one spot has only the effect of reducing the speed at that enforcement place; the effect cannot be expected for the other places or sections. It is necessary to introduce a section overspeed driving enforcement system utilizing the average velocity in these areas to prevent traffic accidents.