• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.1
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• pp.35-45
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• 2013

A autonomous vehicle requires improved and robust perception systems than conventional perception systems of intelligent vehicles. In particular, single sensor based perception systems have been widely studied by using cameras and laser radar sensors which are the most representative sensors for perception by providing object information such as distance information and object features. The distance information of the laser radar sensor is used for road environment perception of road structures, vehicles, and pedestrians. The image information of the camera is used for visual recognition such as lanes, crosswalks, and traffic signs. However, single sensor based perception systems suffer from false positives and true negatives which are caused by sensor limitations and road environments. Accordingly, information fusion systems are essentially required to ensure the robustness and stability of perception systems in harsh environments. This paper describes a perception system for autonomous vehicles, which performs information fusion to recognize road environments. Particularly, vision and laser radar sensors are fused together to detect lanes, crosswalks, and obstacles. The proposed perception system was validated on various roads and environmental conditions with an autonomous vehicle.

• Journal of IKEEE
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• v.8 no.1 s.14
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• pp.96-107
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• 2004

In this paper, a new integral variable structure regulation controller(IVSRC) is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to origin without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in oder to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems together with the closed loop stability. The design of the proposed IVSRC is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two link manipulator under parameter uncertainties and payload variations, in view of no reaching phase, no overshoot, predetermined response with prescribed accuracy, easy change of output performance, separation of design phase, and so on.

• KDI Journal of Economic Policy
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• v.36 no.4
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• pp.135-169
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• 2014

This study empirically analyzes changes in production patterns of farmers by agricultural disaster insurance. The aim of this project is to achieve stability of farm management by paying insurance in case of a natural disaster. However, it causes farmers to change production patterns in the direction of increasing production, and leads the crop price to drop. This can be explained by producers' risk reduction through the disaster insurance. The empirical analysis is based on IV approach with using two stage least squares method. The first stage estimates by difference-in-differences methodology indicate that the production of insurable crops increases more about 80,000ton on average than that of non-insurable crops. In addition, to solve the endogeneity problem caused by general supply and demand model, I use the first stage estimates and find that the price index of the crops drops about 2.3% according to the production increase by 10,000ton. The credibility of these results is also attained by various robustness checks. These findings suggest that it is necessary for government to analyze the whole economy which consists of producer and consumer welfare when it determines the policy. Besides, it implies that it is essential to develop a new market to cope with the unintended effect.