• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.30-32
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• 2004

With 3-D vision measuring, camera calibration is necessary to calculate parameters accurately. Camera calibration was developed widely in two categories. The first establishes reference points in space, and the second uses a grid type frame and statistical method. But, the former has difficulty to setup reference points and the latter has low accuracy. In this paper we present an algorithm for camera calibration using perspective ratio of the grid type frame with different line widths. It can easily estimate camera calibration parameters such as lens distortion, focal length, scale factor, pose, orientations, and distance. The advantage of this algorithm is that it can estimate the distance of the object. Also, the proposed camera calibration method is possible estimate distance in dynamic environment such as autonomous navigation. To validate proposed method, we set up the experiments with a frame on rotator at a distance of 1, 2, 3, 4[m] from camera and rotate the frame from -60 to 60 degrees. Both computer simulation and real data have been used to test the proposed method and very good results have been obtained. We have investigated the distance error affected by scale factor or different line widths and experimentally found an average scale factor that includes the least distance error with each image. The average scale factor tends to fluctuate with small variation and makes distance error decrease. Compared with classical methods that use stereo camera or two or three orthogonal planes, the proposed method is easy to use and flexible. It advances camera calibration one more step from static environments to real world such as autonomous land vehicle use.

• 한국정밀공학회지
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• 제26권2호
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• pp.63-70
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• 2009

This paper proposes a novel path finding approach of a mobile robot using RF strength in sensor network. In the experiments based on the proposed method, a mobile robot attempts to find its location, heading direction and the shortest path in the indoor environment. The experimental system consisting of mesh network shares node data and send them to base station. The triangulation and the proposed Grid method calculate the location and heading angle of the robot. In addition, the robot finds the shortest path by using the base station attached on it to receive data of environment around each node. Kalman filter reduces the straight line error when the robot estimates the strength of received signal. The experimental results show the effectiveness of the proposed algorithm.

• Reproductive and Developmental Biology
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• 제30권4호
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• pp.279-285
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• 2006

Vitrification has been suggested to be an effective method for the cryopreservation of human ES cells. However, the efficiency of vitrification with different vehicles remains a matter of ongoing controversy. The objective of this study was to assess the efficiency of cryopreservation in human ES cells by vitrification using different vehicles. A human ES cell line and a variety of vehicles, including micro-droplet (MD), open-pulled straw (OPS) and electron microscopic grid (EM-grid), were employed in an attempt to assess vitrification efficiency. In order to evaluate the survivability and the undifferentiated state of the post-vitrified human ES cells, we conducted alkaline phosphatase staining and characterization via both RT-PCR and immunofluorescence assays. The survival rates of the post-vitrified human ES cells using MD, OPS and EM-grid were determined to be 61.5%, 66.6% and 53.8%, respectively. There also exist significant differences between slow-freezing and vitrification (p<0.01). However, no significant differences were detected between the vehicle types. Finally, the pluripotency of human ES cells after thawing was verified by teratoma formation. Cryopreservation using vitrification is more effective than slow-freezing, and the efficiency of vehicles proved effective with regard to the preservation of human ES cells.

• Journal of Power Electronics
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• 제11권4호
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• pp.408-417
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• 2011

The plug-in hybrid electric vehicles (PHEVs) are specialized hybrid electric vehicles that have the potential to obtain enough energy for average daily commuting from batteries. The PHEV battery would be recharged from the power grid at home or at work and would thus allow for a reduction in the overall fuel consumption. This paper proposes an integrated power electronics interface for PHEVs, which consists of a novel Eight-Switch Inverter (ESI) and an interleaved DC/DC converter, in order to reduce the cost, the mass and the size of the power electronics unit (PEU) with high performance at any operating mode. In the proposed configuration, a novel Eight-Switch Inverter (ESI) is able to function as a bidirectional single-phase AC/DC battery charger/ vehicle to grid (V2G) and to transfer electrical energy between the DC-link (connected to the battery) and the electric traction system as DC/AC inverter. In addition, a bidirectional-interleaved DC/DC converter with dual-loop controller is proposed for interfacing the ESI to a low-voltage battery pack in order to minimize the ripple of the battery current and to improve the efficiency of the DC system with lower inductor size. To validate the performance of the proposed configuration, the indirect field-oriented control (IFOC) based on particle swarm optimization (PSO) is proposed to optimize the efficiency of the AC drive system in PHEVs. The maximum efficiency of the motor is obtained by the evaluation of optimal rotor flux at any operating point, where the PSO is applied to evaluate the optimal flux. Moreover, an improved AC/DC controller based Proportional-Resonant Control (PRC) is proposed in order to reduce the THD of the input current in charger/V2G modes. The proposed configuration is analyzed and its performance is validated using simulated results obtained in MATLAB/ SIMULINK. Furthermore, it is experimentally validated with results obtained from the prototypes that have been developed and built in the laboratory based on TMS320F2808 DSP.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2011년도 전력전자학술대회
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• pp.429-430
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• 2011

This paper presents a simple and cost-effective stand-alone rapid battery charging system of 30kW for electric vehicles. The proposed system mainly consists of active front-end rectifier of neutral point clamped 3-level type and non-isolated bi-directional dc-dc converter of multi-phase interleaved half-bridge topology with coupled inductors. The charging system is designed to operate for both lithium-polymer and lithium-ion batteries. The complete charging sequence is made up of three sub-interval operating modes; pre-charging mode, constant-current mode, and constant-voltage mode. The pre-charging mode employs the staircase shaped current profile to accomplish shorter charging time while maintaining the reliable operation of the battery. The proposed system is able to reach the full-charge state within less than 16min for the battery capacity of 8kWh by supplying the charging current of 67A. The optimal discharging algorithm for Vehicle to the Grid (V2G) operation has been adopted to maintain the discharging current of 1C. Owing to the simple and compact power conversion scheme, the proposed solution has superior module-friendly mechanical structure which is absolutely required to realize flexible power expansion capability in a very high-current rapid charging system.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2012년도 전력전자학술대회 논문집
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• pp.201-202
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• 2012

This paper presents a simple and cost-effective stand-alone rapid battery charging system of 30kW for electric vehicles. The proposed system mainly consists of active front-end rectifier of neutral point clamped 3-level type and non-isolated bi-directional dc-dc converter of multi-phase interleaved half-bridge topology. The charging system is designed to operate for both lithium-polymer and lithium-ion batteries. The complete charging sequence is made up of three sub-interval operating modes; pre-charging mode, constant-current mode, and constant-voltage mode. Each mode is operated according to battery states: voltage, current and State of Charging (SOC). The proposed system is able to reach the full-charge state within less than 16min for the battery capacity of 8kWh by supplying the charging current of 67A. The optimal discharging algorithm for Vehicle to the Grid (V2G) operation has been adopted to maintain the discharging current of 1C. Owing to the simple and compact power conversion scheme, the proposed solution has superior module-friendly mechanical structure which is absolutely required to realize flexible power expansion capability in a very high-current rapid charging system. Experiment waveforms confirm the proposed functionality of the charging system.

• 로봇학회논문지
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• 제16권2호
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• pp.112-121
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• 2021

Unlike a typical small-sized robot navigating in a free space, an autonomous vehicle has to travel in a designated road which has lanes to follow and traffic rules to obey. High-Definition (HD) maps, which include road markings, traffic signs, and traffic lights with high location accuracy, can help an autonomous vehicle avoid the need to detect such challenging road surroundings. With space constraints and a pre-built HD map, a new type of path planning algorithm can be conceived as a substitute for conventional grid-based path planning algorithms, which require substantial planning time to cover large-scale free space. In this paper, we propose an obstacle-avoiding, cost-based planning algorithm in a continuous space that aims to pursue a globally-planned path with the help of HD map information. Experimentally, the proposed algorithm is shown to outperform other state-of-the-art path planning algorithms in terms of computation complexity in a typical urban road setting, thereby achieving real-time performance and safe avoidance of obstacles.

• Design & Manufacturing
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• 제17권1호
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• pp.48-55
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• 2023

In this study, on the structure simulation for manufacturing a high strength/light weight 48V battery housing for a mild hybrid vehicle was conducted. Compression analysis was performed in accordance with the international safety standards(ECE R100) for existing battery housings. The effect of plastic materials on compressive strength was analyzed. Three models of truss, honeycomb and grid rib for the battery housing were designed and the strength characteristics of the proposed models were analyzed through nonlinear buckling analysis. The effects of the previous existing rib, double-sided grid rib, double-sided honeycomb rib and double-sided grid rib with a subtractive draft for the upper cover on the compressive strength in each axial direction were examined. It was confirmed that the truss rib reinforcement of the battery housing was very effective compared to the existing model and it was also confirmed that the rib of the upper cover had no significant effect. In the results of individual 3-axis compression analysis, the compression load in the lateral long axis direction was the least and this result was found to be very important to achieve the overall goal in designing the battery housing. To reduce the weight of the presented battery housing model, the cell molding method was applied. It was confirmed that it was very effective in reducing injection pressure, clamping force and weight.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.937-944
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• 2022

Electric vehicles (EVs) have been growing to reduce energy consumption and greenhouse gas (GHG) emissions in the transportation sector. The increasing number of EVs requires adequate recharging infrastructure, and at the same time, adopts low- or zero-emission electricity production because the GHG emissions are highly dependent on primary sources of electricity production. Although previous research has studied solar photovoltaic (PV) -integrated EV charging stations, it is challenging to optimize spatial areas between where the charging stations are required and where the renewable energy sources (i.e., solar photovoltaic (PV)) are accessible. Therefore, the primary objective of this research is to support decisions of siting EV charging stations using a spatial data clustering method integrated with Geographic Information System (GIS). This research explores spatial relationships of PV power outputs (i.e., supply) and traffic flow (i.e., demand) and tests a community in the state of Indiana, USA for optimal sitting of EV charging stations. Under the assumption that EV charging stations should be placed where the potential electricity production and traffic flow are high to match supply and demand, this research identified three areas for installing EV charging stations powered by rooftop PV in the study area. The proposed strategies will drive the transition of existing energy infrastructure into decentralized power systems. This research will ultimately contribute to enhancing economic efficiency and environmental sustainability by enabling significant reductions in electricity distribution loss and GHG emissions driven by transportation energy.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제6권8호
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• pp.343-352
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• 2017

OPC UA로 명명된 국제 표준 IEC62541은 스마트 그리드(Smart Grid)와 스마트 팩토리(Smart Factory)의 응용 플랫폼을 위한 통신 프로토콜이다. 2011년 IEC TC57 그룹에서 표준화되었으며, 다른 표준들과의 협업을 통해 점차 사용범위를 넓히고 있다. 전기자동차 보급을 위한 정부 차원의 노력("전기차 충전인프라 확산 캠페인")으로 인해 스마트 팩토리에서 충전을 시도하는 전기자동차의 수는 점차적으로 증가할 것을 예상된다. 제어되지 않는 무분별한 전기자동차 충전으로 인해 스마트 팩토리의 최대수요전력을 초과하는 문제를 발생시킬 수 있다. 그러므로 스마트 팩토리 내에 전기자동차 충전 시 피크부하를 관리할 필요성이 있다. 그러나 현재의 전기자동차 충전을 위한 표준은 스마트 팩토리의 통신 프로토콜과 다르다. 다시 말해서, 편의성을 높이고, 부담을 줄 일 수 있는 프로토콜의 개발 또는 호환성 제공에 관한 연구가 필요하다. 본 논문은 스마트 팩토리에 설치되는 전기자동차 충전 시스템을 스마트 팩토리 관리시스템과 통합 관리하기 위한 플랫폼에 관한 것이다. 본 논문에서는 IEC61851과 IEC62541에 기반을 둔 전기자동차 충전기 관리 시스템을 구현한다.