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타이어 슬립과 조향작동장치의 성능을 고려한 무인자동차 자율주행 제어
박찬호(C. H. Park),곽기성(G. S. Gwak),정호운(H. U. Jeong),홍도의(D. U. Hong),황성호(S. H. Hwang) 유공압건설기계학회 2015 드라이브·컨트롤 Vol.12 No.3
An autonomous vehicle control algorithm based on Ackerman Geometry is known to be reliable in low tire slip situation. However, vehicles at high speed make lateral errors due to high tire slip. In this paper, considering the tire slip of vehicles, the steering angle is determined based on the Ackerman Geometry and is supplemented tire slip angle by the Stanley steering algorithm. In addition, to prevent the tire slip, the algorithm, which restricts steering if a certain level of slip occurs, is used to reduce the lateral error. While many studies have been extended to include vehicle slip, studies also need to be carried out on the tire slip depending on hardware performance. The control algorithm of autonomous vehicles is compensated considering the sensor noise and the performance of steering actuator. Through the various simulations, it was found that the performance of steering actuator was the key factor affecting the performance of autonomous driving. Also, it was verified that the usefulness of steering algorithm considering the tire slip and performance of steering actuator.
박찬호(C. H, Park),허다경(D. K. Heo),김승언(S. E. Kim),최중해(J. H. Choi),박수우(S. W. Park),송병섭(B. S. Song) 한국재활복지공학회 2016 한국재활복지공학회 학술대회논문집 Vol.2016 No.11
Nowadays, the supply of powered wheelchair has been increasing and the safety accidents by wheelchair have been occurred frequently. Most of the accidents caused by the user’s poor driving and the result of the accidents lead serious problem to the user. Preventing the accident, an App. and active safety controller system for powered wheelchair was developed using ultrasound sensors and position sensitive device(PSD). The system will detect the location of obstacles and transfer the information of it to the user. After the system was designed and fabricated, the experiments of obstacles detection were carried out. The results showed that the designed system have excellent performances and the system could reduce the occurrence of accidents.
단순 스프링 모델 기반 에어 서스펜션의 높이제어 알고리즘
한재훈(J. H. Han),박찬호(C. H. Park),이상욱(S. W. Lee),황성호(S. H. Hwang) 유공압건설기계학회 2018 유공압건설기계학회 학술대회논문집 Vol.2018 No.6
This paper presents the algorithm that controls height of intelligent air suspension system for vehicles. The air suspension system mainly controls the heights of four air springs with real time feedback control. However, when applying this kind of control strategy, a rough road condition or signal noise causes unstable control. To prevent this problem, a new control algorithm that separates height measurements from actuating in control method is proposed. First, a mathematical model of air spring was developed. An operating time of each valve for air springs can be calculated from this mathematical model, which is necessary to control height without real time feedback system. From the simulation results, average error of the valve operating time between mathematical model and Amesim model was about 5%. It can be validated to prevent the unstable leveling signal problem in driving cycle simulation.
스마트 폰 애플리케이션 기반 청각선별과 설문 청각선별의 비교
허승덕(S. D. Heo),박찬호(C. H. Park),송병섭(B. S. Song) 한국재활복지공학회 2017 재활복지공학회논문지 Vol.11 No.1
언어 습득 이후 성인 난청은 진행 속도가 느려서 발견이 어렵다. 이들은 적절한 도구를 제공하면 자발적이고 적극적인 평가가 가능하다. 스마트 폰도 도구들 중 하나이며, 설문이나 애플리케이션을 이용하여 효과적인 평가가 가능하다. 이 연구에서는 순음청각선별(pure tone screening, PTS)을 위한 스마트 폰 앱을 개발 후 이의 효과성을 검증하기 위해, 난청자각 설문조사방법(hearing handciap inventory, HHI)을 동시에 진행한 후 결과를 비교하여 진행 속도가 느린 지연성 후천성 난청 발견을 위한 도구로서 가능성을 확인하고자 한다. 대상은 10대부터 80대 사이 남녀 22명으로 하였다. 가청역치 평균(PTAs)은 두 귀 같은 주파수 가청역치 중 좋은 것을 선택(최량청력, best hearing)하였다 HHI의 민감도와 특이도는 난청 자각 여부나 PTAs_4 ㎑를 기준으로 하였다. 두 검사 간 비교는 App_PTS의 PTAs와 HHI 점수 사이의 상관관계를 단순회귀 분석하였다. 민감도와 특이도는 두 기준 모두에서 1.000으로 관찰되었다. 최량청력 PTAs_4 ㎑와 HHI 사이에는 통계적으로 유의한 관계를 보였다(R-square= 0.951, p= .000). 설문을 이용한 청각선별은 정량적 계측을 통해 구현한 스마트 폰 애플리케이션 기반 청각선별과 높은 상관관계를 보였다. 따라서 app_PTS는 개인 친화적 도구로 생애 주기별 청각선별에 유용하게 사용할 수 있을 것이다. It is difficult to detect the adult hearing loss after the language acquisition because of its slow progression, which can be evaluated voluntarily and actively when the appropriate tools are provided. Smartphones are one of useful tools, and they can utilize surveys and/or applications for hearing screening. This study aims to verify the possibility as a tool discovering delayed acquired hearing losses by comparing the pure tone screening application (app_PTS) which was recently developed by our research team and hearing handciap inventory (HHI). The subjects were 22 people whose age ranges from 10s to 80s. For pure tone averages (PTAs), hearing threshold level was selected the best one in same frequency, in both ears. Sensitivity and specificity of HHI were confirmed based on self awareness of hearing loss and PTAs at 1, 2, 4 ㎑. Comparisons of two tests were measured by analyzing simple regression of correlation between PTAs of App_PTS and HHI scores. Sensitivity and specificity were 1.000 in both criteria. There was a statistically significant relationship between the PTAs_4 kHz and HHI (R-square = .951, p = .000). Hearing screening by questionnaire showed high correlation with smart phones based on application. Therefore, it can be useful as a hearing screening tool for individual life cycle using an user-friendly tool.
박상수(S. Park),박찬호(C. H. Park) 한국재활복지공학회 2019 한국재활복지공학회 학술대회논문집 Vol.2019 No.4
To assess the efficacy of a new toileting device, toilet-incorporated medical bed. the users of the device were interviewed. The bedridden patients who are fully conscious and can operate the device by themselves were very satisfied with the device and their dignity was significantly restored with the use of the toileting device. The carers of the patients who are too weak or unconscious expressed satisfaction with the device since the use of the device significantly mitigate the physical and spiritual burden of their excretion care.
권원옥,김학영,김영우,최용석,정영우,정병권,오명훈,박찬호,권혁제,Kwon, W.O.,Kim, H.Y.,Kim, Y.U.,Choi, Y.S.,Jung, Y.U.,Jung, B.K.,Oh, M.H.,Park, C.H.,Kwon, H.J. 한국전자통신연구원 2014 전자통신동향분석 Vol.29 No.4
마이크로프로세서 기술의 발전으로 멀티코어 저전력 x86 및 ARM CPU 기반의 마이크로서버가 출현하였다. 초기 마이크로서버는 기존 서버보다 작은 크기에 단순 집적도를 높인 구조에서 내 외부 스위치와 스토리지, 관리, 내부 연결망까지 기존의 랙 시스템을 대체 할 마이크로서버가 시장에 출시되고 있다. 특히 마이크로서버 시장에 ARM 프로세서의 가세로 x86 프로세서와 치열한 경쟁이 예상되고 있다. 본고를 통하여 마이크로서버의 특징과 시장, 제품 등에 관해서 살펴보도록 한다.