무인차량의 자율주행을 위한 지역경로계획 매니저

이영일,이호주,박용운,Lee, Young-Il,Lee, Ho-Joo,Park, Yong-Woon 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.6

The Mission environment of UGV(Unmanned Ground Vehicle) has a complexity and variety, and the status of system and sensor is dependent on the environment factors such as operation time, the weather and road type. It is necessary for UGV to cope adaptively with the various mission types, operation modes and operation environment as human operators do. To satisfy this necessity, we present an autonomy manager based on the autonomous architecture. In this paper, we design a path planning software architecture and LPP manager by using open autonomous architecture which is previously designed by ADD. Field test is conducted with UGV in order to verify the performance of LPP Manager based on the Autonomous Architecture with scenarios.

부고환 및 고환 정자를 이용한 세포질내 정자주입술에 관한 임상 연구

이영일,정병준,이상훈,김영선,Lee, Young-Il,Jung, Byeong-Jun,Lee, Sang-Hoon,Kim, Young-Sun 대한생식의학회 1999 Clinical and Experimental Reproductive Medicine Vol.26 No.3

Objective: The purpose of this study was to evaluate outcome of intracytoplasmic sperm injection (ICSI) using epididymal and testicular sperm in patients with azoospermia. Methods: From March, 1993 to May, 1999, a retrospective clinical analysis was done of a total of 140 cycles in 112 patients who underwent ICSI. Subjects were divided into three groups: ejaculated-ICSI group included 42 cycles in 34 patients with ejaculated sperm who underwent ICSI due to severe oligospermia and past history of failed or poor fertilization in the previous in vitro fertilization and embryo tranfer (IVF-ET) cycles, microsurgical epididymal sperm aspiration and intracytoplasmic sperm injection (MESA-ICSI) group included 50 cycles in 42 patients with congenital absence of the vas deferens (CAVD) or unreconstructable obstructive azoospermia and testicular sperm extraction and intracytoplasmic sperm injection (TESE-ICSI) group included 48 cycles in 36 patients with no spermatozoa which can be retrieved from epididymis or non-obstructive azoospermia. Results: Normal two-pronuclear fertilization rates were similar in three groups: 64.4% for ejaculated-ICSI group, 59.4% for MESA-ICSI group and 60.4% for TESE-ICSI group. The pregnancy rates were 26.2%, 26.0% and 25.0% respectively. There were no significant differences in the fertilization, cleavage, and clinical pregnancy rates among ICSI cycles using ejaculated, epididymal and testicular sperm. Conclusion: Epididymal and testicular sperm obtained in azoospermic patients can fertilize oocyte successfully and may lead to be similar fertilization rates and clinical pregnancy rates to ejaculated sperm.

무인차량의 주행성능을 고려한 장애물 격자지도 기반의 지역경로계획

이영일,이호주,고정호,Lee, Young-Il,Lee, Ho-Joo,Ko, Jung-Ho 한국군사과학기술학회 2010 한국군사과학기술학회지 Vol.13 No.2

A fundamental technology of UGV(Unmanned Ground Vehicle) to perform a given mission with success in various environment is a path planning method which generates a safe and optimal path to the goal. In this paper, we suggest a local path-planning method of UGV based on the binary map using world model data which is gathered from terrain perception sensors. In specially, we present three core algorithms such as shortest path computation algorithm, path optimization algorithm and path smoothing algorithm those are used in the each composition module of LPP component. A simulation is conducted with M&S(Modeling & Simulation) system in order to verify the performance of each core algorithm and the performance of LPP component with scenarios.

Modified $A^*$ - 방향별 속도지도를 활용한 무인차량의 지역경로계획

이영일,이호주,박용운,Lee, Young-Il,Lee, Ho-Joo,Park, Yong-Woon 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.3

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

야지환경의 비포장도로용 지역경로계획

이영일,최덕선,박용운,Lee, Young-Il,Choe, Tok Son,Park, Yong Woon 한국군사과학기술학회 2013 한국군사과학기술학회지 Vol.16 No.6

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.

모바일 단말정보 저장소 시스템

이영일,인민교,이강찬,이승윤,김창수,정회경,Lee, Young-Il,In, Min-Kyo,Lee, Kang-Chan,Lee, Seung-Yun,Kim, Chang-Su,Jung, Hoe-Kyung 한국정보통신학회 2008 한국정보통신학회논문지 Vol.12 No.11

Due to the improvement of mobile device capabilities, a demand for various contents service is increasing. But the differences from heterogeneous mobile devices force to develop contents which is dependent on a mobile. To solve this problem, adaptation course that reorganize contents by the device capability is hooded. In this course, device description is described using device description language but there are some problems that is absence of device description repository and the way to get device description data. In this paper, I suggest device description acquisition module and define the interfaces to access device description repository that I designed and implemented. 모바일 단말의 성능 향상으로 다양한 콘텐츠 서비스에 대한 요구가 증대되고 있다. 하지만 이기종 모바일 단말간의 콘텐츠 표현성능이 하드웨어나 소프트웨어 등의 측면에서 차이가 있어 단말에 종속적인 콘텐츠 개발을 강요하게 된다. 이를 해결하기 위해서는 콘텐츠를 단말의 성능에 맞추어 재구성하는 적응화(Adaptation)과정이 필요하다. 이때 적응화 과정에서 사용되는 단말의 성능 정보를 단말정보 표현 언어를 통해 기술하는데, 이 단말정보 데이터를 저장하고 콘텐츠 제공 서버(Contents Provider)에 제공해 주는 역할을 하는 단말정보 저장소 시스템(Device Description Repository)의 부재 및 단말정보 데이터의 확보가 요구된다. 이에 본 논문에서는 단말정보 데이터를 확보하기 위해 단말정보의 변환 방법을 제시하고 단말정보 저장소 시스템에 접근하기 위한 표준 인터페이스를 확장하여 정의하였으며, 이를 기반으로 단말정보 저장소 시스템을 설계 및 구현하였다.

도심환경 자율주행을 위한 자율매니저 기반 경로계획 기법

이영일,안성용,김종희,Lee, Young-Il,Ahn, Seong-Yong,Kim, Chong-Hui 한국군사과학기술학회 2013 한국군사과학기술학회지 Vol.16 No.6

In this paper, we propose a local path planning method based on RANGER algorithm and autonomy manager for autonomous navigation of UGV in urban environment. LPP method is designed to generate the local path in sensing area by using lane and curb of pavement and autonomy manager is designed to make a decision which transit the status of LPP component to a proper status for current navigation environment. A field test is conducted with scenarios in real urban environment in which crossroad, crosswalk and pavement are included and the performance of proposed method is validated.

DSP 프로세서를 이용한 실시간 ANC 시스템 구현에 관한 연구

이영일,최홍섭,Lee Young Il,Choi Hong Sub 대한음성학회 2004 말소리 Vol.52 No.-

This paper is aiming at real-time implementation of adaptive noise cancellation system using DSP processor. ACHARF algorithm, which guarantees stability and fast convergence by adaptive compensator, is used on this DSP system. For the experiments, TLV320AIC23 stereo CODEC of TI Inc. is used with TMS320C6413 DSP processor. Signals of primary input and reference input are obtained by two microphones. The primary input is the voice plus noise signal and the reference input is white noise or real noise. The experimental results show that ANC system using DSP processor with ACHARF is verified to be an effective speech enhancement method for various speech processing units.

무인잠수정의 자율운항시스템을 위한 시뮬레이터 개발

이영일,민종수,송진국,김용기,Lee, Young-Il,Min, Jong-Soo,Song, Jin-Kook,Kim, Yong-Gi 한국정보통신학회 2008 한국정보통신학회논문지 Vol.12 No.3

시뮬레이터의 목적은 새로운 기술의 검증방법을 제공하거나 새로운 기술을 특정 응용분야에 적용시키기 위한 효율적인 방법을 제공하는 것이다. 무인잠수정의 개발 과정에 있어, 시뮬레이션은 고비용과 위험성을 내포하는 현장 시험의 효율적인 대안으로 제시될 수 있다. 본 논문에서는 RVC 지능시스템 모델에 기반을 두어 개발된, 무인잠수정을 위한 자율운항시스템의 성능검증을 위해 3D 시뮬레이터를 설계 및 구현한다. 제안하는 시뮬레이터는 환경관리자(Environment Manager), 객체(Object), 그리고 3차원 뷰어(3D Viewer)로 구성된다. 구성요소 중 객체는 운항환경을 구성하는 지형, 장애물, 무인잠수정과 같은 물리적인 요소를 모델링한 것이다. 이러한 객체들은 환경 관리자에서 표현하는 대상에 맞게 생성하고 초기화된다. 환경 관리자는 생성된 객체들이 상호 작용할 수 있도록 중개자 역할을 수행하고 3차원 뷰어에게 3차원 표현에 필요한 정보를 전달한다. 3차원 뷰어는 전달받은 정보를 바탕으로 OpenGL의 프리미티브를 조합하여 3차원적으로 시각화한다. The goal of a simulator is to provide for the testing of new technologies and to facilitate the eventual transfer of these technologies to the applications. In the Development Step, Simulation can provide a cost effective alternative to expensive and hazardous field testing. In this paper, a 3D simulator is developed to test UUV navigation system bated on RVC model. The simulation system consists of a environment manager, objects and a 3D viewer. Objects are modeling all physical elements such as map, obstacle and UUV which reside in a underwater environment. Those objects are created and initialized by environment manager. The environment manager plays the role of intermediator which allows created objects to interact with each other, and transmits information on the objects to 3D viewer. The 3D viewer analyzes the received information and visualizes 3D graphic by using OpenGL primitives.

무인차량의 주행성분석을 위한 방향별 속도지도 생성

이영일,이호주,지태영,Lee, Young-Il,Lee, Ho-Joo,Jee, Tae-Young 한국군사과학기술학회 2009 한국군사과학기술학회지 Vol.12 No.5

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.