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( Kyungdeuk Kim ),( Surak Son ),( Yina Jeong ),( Byungkwan Lee ) 한국인터넷정보학회 2019 KSII Transactions on Internet and Information Syst Vol.13 No.8
Autonomous driving technology is divided into 0~5 levels. Of these, Level 5 is a fully autonomous vehicle that does not require a person to drive at all. The automobile industry has been trying to develop Level 5 to satisfy safety, but commercialization has not yet been achieved. In order to commercialize autonomous unmanned vehicles, there are several problems to be solved for driving safety. To solve one of these, this paper proposes ‘A Deep Learning Part-diagnosis Platform(DLPP) based on an In-vehicle On-board gateway for an Autonomous Vehicle` that diagnoses not only the parts of a vehicle and the sensors belonging to the parts, but also the influence upon other parts when a certain fault happens. The DLPP consists of an In-vehicle On-board gateway(IOG) and a Part Self-diagnosis Module(PSM). Though an existing vehicle gateway was used for the translation of messages happening in a vehicle, the IOG not only has the translation function of an existing gateway but also judges whether a fault happened in a sensor or parts by using a Loopback. The payloads which are used to judge a sensor as normal in the IOG is transferred to the PSM for self-diagnosis. The Part Self-diagnosis Module(PSM) diagnoses parts itself by using the payloads transferred from the IOG. Because the PSM is designed based on an LSTM algorithm, it diagnoses a vehicle's fault by considering the correlation between previous diagnosis result and current measured parts data.
( Seungbum Park ),( Kyungdeuk Lee ),( Daewoong Kim ),( Junghyeon Yoo ),( Jaemin Jung ),( Kyunghwan Park ) 한국운동역학회 2017 한국운동역학회지 Vol.27 No.3
Objective: The aim of this study was to analyze the effects of bobsleigh shoes on the lower extremity range of motion and start speed lap time and to develop bobsleigh shoes suitable for winter environments and Korean players based on sports science and optimized biomechanical performance. Background: The bobsleigh shoes used in the start section of the sport are one of the most important equipment for improving athletes` performances. Despite the importance of the start section, there are no shoes that are specifically designed for Korean bobsleigh athletes. Thus, Korean athletes have to wear sprint spike shoes instead of bobsleigh shoes to practice the start. Method: The subjects included four bobsleigh athletes from the Gangwon Province Bobsleigh Skeleton Federation. The study selected the bobsleigh shoe type A (company A) and type B (company B). We analyzed the lower extremity range of motion and sprint time (start line to 10 m) using a Motion Analysis System (USA). Results: In the measurement of the time required for the bobsleigh start section (10 m), the type A shoes demonstrated the fastest section record by 2.765±0.086 sec and yielded more efficient movements, hip and knee flexion, hip extension, ankle dorsiflexion, plantar flexion, and inversion than the type B shoes. Conclusion: Type A shoes can yield a better performance via effective lower extremity movements in the bobsleigh start section. Application: In the future, functional analysis should be conducted by comparing the upper material properties, comfort, and muscle fatigue of bobsleigh shoes based on the Type A shoes to develop such shoes suitable for Koreans.
( Seungbum Park ),( Kyungdeuk Lee ),( Daewoong Kim ),( Junghyeon Yoo ),( Jaemin Jung ),( Kyunghwan Park ),( Sungwon Park ),( Jinhoon Kim ) 한국운동역학회 2016 한국운동역학회지 Vol.26 No.3
Objective: The aim of this study was to analyze effects of the toe-spring angle of bobsleigh shoes on start speed lap time to develop Korean-specific bobsled shoes suitable for winter environments and for domestic players on the basis of sports science and optimized biomechanical performance. Method: Seven Korean bobsleigh athletes participated in this study, with three pairs of sprint spikes from three companies (Type A, Type B, Type C). To analyze sprint lap time and forefoot bending angle for each shoe, participants were instructed to drag a sled 15 meters from the start line at a maximum sprint. forefoot bending angle was collected by a high speed camera, and lap time speed was measured. Results: Lap time for type B shoes was 3.52±0.17 sec, type A was 3.55±0.19 sec, and type C was 3.56±0.18 sec. Forefoot bending angles were: angle 1, 6.88±5.55°; angle 2, 9.23±6.38°; angle 3, 15.56±5.39°; angle 4, 9.54±3.85°; angle 5, 9.22±5.08°; angle 6, 7.66±6.44°; and angle 7, 4.30±6.24° (p<.001). Forefoot bending in angle 3 was as follows: type A, 16.47±6.01°; type B, 14.30±4.96°; and type C, 15.90±5.17°. Conclusion: Hard outsoles and midsoles are better than soft type for reduced start lap time when developing a prototype Korean bobsled shoe.
Park, Seungbum,Lee, Kyungdeuk,Kim, Daewoong,Yoo, Junghyeon,Jung, Jaemin,Park, Kyunghwan Korean Society of Sport Biomechanics 2017 한국운동역학회지 Vol.27 No.3
Objective: The aim of this study was to analyze the effects of bobsleigh shoes on the lower extremity range of motion and start speed lap time and to develop bobsleigh shoes suitable for winter environments and Korean players based on sports science and optimized biomechanical performance. Background: The bobsleigh shoes used in the start section of the sport are one of the most important equipment for improving athletes' performances. Despite the importance of the start section, there are no shoes that are specifically designed for Korean bobsleigh athletes. Thus, Korean athletes have to wear sprint spike shoes instead of bobsleigh shoes to practice the start. Method: The subjects included four bobsleigh athletes from the Gangwon Province Bobsleigh Skeleton Federation. The study selected the bobsleigh shoe type A (company A) and type B (company B). We analyzed the lower extremity range of motion and sprint time (start line to 10 m) using a Motion Analysis System (USA). Results: In the measurement of the time required for the bobsleigh start section (10 m), the type A shoes demonstrated the fastest section record by $2.765{\pm}0.086sec$ and yielded more efficient movements, hip and knee flexion, hip extension, ankle dorsiflexion, plantar flexion, and inversion than the type B shoes. Conclusion: Type A shoes can yield a better performance via effective lower extremity movements in the bobsleigh start section. Application: In the future, functional analysis should be conducted by comparing the upper material properties, comfort, and muscle fatigue of bobsleigh shoes based on the Type A shoes to develop such shoes suitable for Koreans.
Park, Seungbum,Lee, Kyungdeuk,Kim, Daewoong,Yoo, Junghyeon,Jung, Jaemin,Park, Kyunghwan Korean Society of Sport Biomechanics 2017 한국운동역학회지 Vol.27 No.4
Objective: The bobsleigh shoes used in the start section are one of the most important equipment for improving the competition. Despite the importance of the start section, there are no shoes that are specific for bobsleigh athletes in Korea and Korean athletes have to wear sprint spike shoes and practice the start instead of wearing bobsleigh shoes. The objective of the present study was to provide data for improving the performance of Korean bobsleigh athletes by investigating the differences in their split time, plantar pressure, and forefoot bending angle based on skill levels at the start of a run under the same conditions as training conditions. Method: Six Korean bobsleigh athletes were divided into two groups, superior (n=3) and non-superior (n=3). A digital speedometer measured the split time at the start; the Pedar-X system (Novel, Germany) measured plantar pressure. Plantar pressures and split times were measured as the athletes pushed a bobsleigh and sprinted at full speed from the start line to the 10-m mark on the bobsleigh track. An ultra-high-speed camera was used to measure the forefoot bending angle during the start phase. Results: Significant between-group differences were found in split times (p<.000; superior = 2.38 s, non-superior = 2.52 s). The superior group had a larger rearfoot (p<.05) contact area, maximum rearfoot force (p<.01), and a larger change in angles 3 and 4 (p<.05). Conclusion: At the start of a bobsleigh run, proper use of the rearfoot for achieving effective driving force and increasing frictional resistance through a wider frictional force can shorten start time.
Empirical Modeling of Steering System for Autonomous Vehicles
Ju-Young Kim,Kyungdeuk Min,Young Chol Kim 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.2
To design an automatic steering controller with high performance for autonomous vehicle, it is necessary to have a precise model of the lateral dynamics with respect to the steering command input. This paper presents an empirical modeling of the steering system for an autonomous vehicle. The steering system here is represented by three individual transfer function models: a steering wheel actuator model from the steering command input to the steering angle of the shaft, a dynamic model between the steering angle and the yaw rate of the vehicle, and a dynamic model between the steering command and the lateral deviation of vehicle. These models are identified using frequency response data. Experiments were performed using a real vehicle. It is shown that the resulting identified models have been well fitted to the experimental data.
병렬 처리 컴퓨터를 위한 순차 프로그램 언어의 병렬 파싱 알고리즘
곽민호(MinHo Kwack),김경덕(KyungDeuk Kim),김용만(YongMan Kim),정승연(SeongYoun Jung) 한국정보과학회 1988 한국정보과학회 학술발표논문집 Vol.15 No.1
기존 순차 파싱 방법에서는 파싱 테이블을 기억하기 위한 메모리 공간의 필요와 에러 발생시에는 에러 수정후 원시 프로그램 전체를 순차적으로 파싱함으로써 수행시간이 많이 걸린다. 본 논문에서는 위와 같은 기존 순차 파싱의 단점을 보안한 것으로, 원시 프로그램을 병렬 파싱이 가능하게 나눈 병렬 레벨로 나누고 기존 순차 파싱의 기능을 대신하는 병렬 레벨 처리기와 병렬 레벨 순서 검사기를 구성하였다. 병렬 레벨 처리기에서는 병렬 레벨을 병렬로 처리할 수 있을 뿐만 아니라, 병렬 레벨 처리기 및 병렬 레벨 순서 검사기도 병렬 처리되며, 에러 발생시 에러가 있는 병렬 레벨만 따로 컴파일하므로 컴파일 시간의 단축과 기존 순차 파싱에서의 파싱 테이블을 위한 기억 장소 또한 필요하지 않다. 이런 기능을 이용 하여 멀티 프로세싱하에서의 병렬 파서 설계와 이에 의한 파싱 방법을 제안하였다.
Empirical Modeling of Steering System for Autonomous Vehicles
Kim, Ju-Young,Min, Kyungdeuk,Kim, Young Chol The Korean Institute of Electrical Engineers 2017 Journal of Electrical Engineering & Technology Vol.12 No.2
To design an automatic steering controller with high performance for autonomous vehicle, it is necessary to have a precise model of the lateral dynamics with respect to the steering command input. This paper presents an empirical modeling of the steering system for an autonomous vehicle. The steering system here is represented by three individual transfer function models: a steering wheel actuator model from the steering command input to the steering angle of the shaft, a dynamic model between the steering angle and the yaw rate of the vehicle, and a dynamic model between the steering command and the lateral deviation of vehicle. These models are identified using frequency response data. Experiments were performed using a real vehicle. It is shown that the resulting identified models have been well fitted to the experimental data.