• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.387-392
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• 2006

In the environment where AGVs(Automated Guided Vehicles) operate concurrently in limited space, collisions. deadlocks, and livelocks which have negative effect on the productivity of AGVs occure more frequently. The accelerated motion of an AGV is also the factor that make the AGV routing more difficult because the accelerated motion makes it difficult to estimate the vehicle's exact travel time. In this study, we propose methods of avoiding collisions, deadlocks, and livelocks using OAR(Occupancy Area Reservation) table, and selecting best route by estimating the travel time of an AGV in accelerated motion. A time-driven simulation validated the effectiveness of the proposed methods.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.271-275
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• 2006

This paper describes the design and realization of full attitude system based on MEMS IMU and GPS carrier phase. The work can be divided into two parts: First, initial heading is determined by using two GPS receivers. And this paper discusses the usage of space geometry conditions to reduce the range of ambiguity search. The method presented in this paper was tested on the static. On the static condition, an accuracy better than 0.06 degrees for heading for 3.48m long baseline has been achieved. Integration of GPS and low cost MEMS IMU are used to realize the real-time heading attitude system. Second, level attitude (pitch and roll) is determined using the method of frequency-velocity for the feedback control. At the same time, the method using the attitude based on MEMS IMU to help determination of the range of ambiguity search is proposed. The results done on the sea show that an alternative means to provide real-time, cost-effective, accurate and reliable attitude information for attitude surveys. Though motivated by a big ships application, the design can be applied to other vehicles.

• The Transactions of the Korean Institute of Power Electronics
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• v.25 no.1
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• pp.21-28
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• 2020

Integrated bidirectional OBC/LDC was developed to reduce the volume for elements, avoid space restriction, and increase efficiency in EV vehicles. In this study, a DC-DC converter in integrated OBC/LDC circuits was composed of an SRC circuit with a stable output voltage relative to an LLC circuit using a theoretical method and simulation. The resonant network of the selected circuit was optimized to minimize the power loss and element volume under constraints for the buck converter and the battery charging range. Moreover, the validity of the optimal model was verified through an analysis using a theoretical method and a numerical analysis based on power loss at the optimized resonant frequency.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.120-126
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• 2010

This paper presents to study the path tracking method of AGV(autonomous guided vehicle) which has a laser guidance system. An existing automatic guided vehicles(AGVs) which were able to drive on wired line only had a automatic guidance system. However, the automatic guidance systems that those used had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the laser guidance system which is consisted of a laser navigation and gyro, encoder. That is robust against noise, and flexible according to working environment through sensor fusion. The laser guidance system can do a perfect autonomous driving. However, the commercialization of perfect autonomous driving system is difficult, because the perfect autonomous driving system must recognize the whole environment of working space. Hence, this paper studied the path tracking of AGV using laser guidance system without wired line. The path tracking method is consisted of virtual path generation method and driving control method. To experiment, we use the fork-type AGV which is made by ourselves, and do a path tracking experiments repeatedly on same experimental environment. In result, we verified that proposed system is efficient and stable for actual fork-type AGV.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.39-45
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• 1998

Gas springs have been widely used in motor vehicles as well as in most areas of industry. Instead of coil springs, these gas springs are easily opreated to open(extension process) or close (compression process) the doors because $N_2$ gas with high pressure and oil are charged in tube. Most of manufacturers are using the trial ＆ error method in order to decide its specification(reaction force, damping force), which tends to waste time and money. Therefore, gas springs have been improved by properly changing the control pressure of $N_2$ Gas with its mounting location and weight to maximize its effect and to minimize its space. Although it has been researched on damping structure to minimize impact which is applied to vehicle when its back door is fully opened, the characteristics of damping structure are not known clearly. There(ore, this paper will not only clearly define the effect of important factors(open ＆ close force)for gas springs through theoretical analysis but also provide optimum design specification through development of program to avoid traditional method of specification determination such as the trail It error method which is widely used in whole industries including automotive industry.

• Journal of Ocean Engineering and Technology
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• v.30 no.5
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• pp.426-430
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• 2016

Recently, many unmanned surface vehicles (USVs) have been developed and researched for various fields such as the military, environment, and robotics. In order to perform purpose specific tasks, common autonomous navigation technologies are needed. Obstacle avoidance is important for safe autonomous navigation. This paper describes a vector field histogram+ (VFH+) based obstacle avoidance method that uses the monocular vision of an unmanned surface vehicle. After creating a polar histogram using VFH+, an open space without the histogram is selected in the moving direction. Instead of distance sensor data, monocular vision data are used for make the polar histogram, which includes obstacle information. An object on the water is recognized as an obstacle because this method is for USV. The results of a simulation with sea images showed that we can verify a change in the moving direction according to the position of objects.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.90-93
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• 2009

Recently, CAN(Controller Area Network) being used in vehicle network system is suitable Network Protocol for smart vehicles with a future that need many ECUs, and it guarantees stability and reliability. It is revealed that being equipped many ECU could reduce the increasing of energy consumption and energy cost from the increasing of Wiring Harness's space and weight. In this paper, future smart vehicle control Air conditioner and heater for convenient and comfortable driving as using CAN protocol and implement auto control system According to driver's requirement using temperature in the vehicle.

• Journal of the Korean Society of Propulsion Engineers
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• v.22 no.5
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• pp.115-124
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• 2018

Thermal protection materials (TPMs) are very crucial for the survival of any re-entry space vehicles. One of the systems used for rigorous validation of TPMs is an enhanced Huel type segmented arc-heated plasma wind tunnel. A 0.4 MW class arc-heated plasma wind tunnel has been constructed at Chonbuk National University which is capable of producing high enthalpy supersonic flow. In this paper we have studied the characteristics of plasma flow according to power and mass flow parameters.

• The Journal of the Convergence on Culture Technology
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• v.7 no.1
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• pp.551-557
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• 2021

With increase of electric vehicle in the road, the number of charging/discharging infrastructure for electric vehicle in public space is also increased rapidly. To charge or discharge the electric vehicle the user of electric vehicle and service provider should verify the each other's identity to minimize security vulnerability. This paper proposes mutual authentication scheme between electric vehicle and charging/discharging service provider with help of hash function and Message Authentication Code(MAC). Also efficient operating scheme for charging/discharging service system is proposed. The analysis shows that the system has robustness against security vulnerability. Also this system can keep the sensitive personal information of service user safely.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.832-842
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• 2020

The coordination control of multiple Underactuated Underwater Vehicles (UUVs) moving in three dimensional space is investigated in this paper. The coordinated path following control task is decomposed into two sub tasks, that is, path following control and coordination control. In the spatial curve path following control task, path following error dynamics is build in the Serret-Frenet coordinate frame. The virtual reference object can be chosen freely on the desired spatial path. Considering the speed of the UUV, the line-of-sight navigation is introduced to help the path following errors quickly converge to zero. In the coordination control sub task, the communication topology of multiple UUVs is described by the graph theory. The speed of each UUV is adjusted to achieve the coordination. The path following system and the coordination control system are viewed as the feedback connection system. Input-to-state stable of the coordinated path following system can be proved by small gain theorem. The simulation experiments can further demonstrate the good performance of the control method.