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지리정보시스템 기반 경로계획을 이용한 지능형순항제어시스템 개발
임경일(Kyung-Il Lim),오재석(Jae-Saek Oh),이제욱(Je-Uk Lee),김정하(Jung-Ha Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.3
Autonomous driving is no longer atechnology of the future since the development of autonomous vehicles has now been realized, and many technologies have already been developed for the convenience of drivers. For example, autonomous vehiclesare one of the most important drive assistant systems. Among these many drive assistant systems, Cruise Control Systemsarenow a typical technology. This system constantly maintains a vehicle’s speed and distance from a vehicle in front by using Radar or LiDAR sensors in real time. Cruise Control Systems do not only serve their original role, but also fulfill another role as a ‘Driving Safety’ measure as they can detect a situation that a driver did not predict and can interveneby assuming a vehicle’s longitude control. However, these systems have the limitation of only focusing on driver safety. Therefore, in this paper, an Intelligent Cruise Control System that utilizes the path planning method and GIS is proposed toovercome some existing limitations.
도심지역에서 무인자율주행자동차를 위한 전역 및 지역경로계획의 구현
김충겸(Chung Kyeom Kim),임경일(Kyung Il Lim),한영민(Young Min Han),김병우(Byong Woo Kim) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
For driving of autonomous vehicle from the beginning to goal in downtown area, it is needed that significant external information such as road data and traffic information. Those are built with topological graph before driving, and global path planning creates an optimal path using topological graph, made already. On top of that, local path planning also generates an optimal path, recognizing a radius of gyration and real-time obstacle information, based on a global path. In this study, for autonomous vehicle’s successful and stable driving in downtown area, it will be show that global and local path planning method in which topological graph and vehicle information is reflected.
자율주행 자동차의 실 도로 차선 변경을 위한 장애물 검출 및 경로 계획에 관한 연구
오재석(Jae-Saek Oh),임경일(Kyung-Il Lim),김정하(Jung-Ha Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.2
Recently, in automotive technology area, intelligent safety systems have been actively accomplished for drivers, passengers, and pedestrians. Also, many researches are focused on development of autonomous vehicles. This paper propose the application of LiDAR sensors, which takes major role in perceiving environment, terrain classification, obstacle data clustering method, and local map building for autonomous driving. Finally, based on these results, planning for lane change path that vehicle tracking possible were created and the reliability of path generation were experimented.
[응용논문] 자율주행 차량과 차량센서 교정을 위한 외부 시스템 구성에 관한 연구
이동근(Dong Geun Lee),한재윤(Jae Yoon Han),박경령(Kyoung Ryoung Park),임경일(Kyung-Il Lim) 한국자동차공학회 2023 한국 자동차공학회논문집 Vol.31 No.3
To improve autonomous driving performance, vehicle and sensor extrinsic calibration is essential. There are two methods that can be used to perform extrinsic calibration: a target-based method and a non-target-based method. Target-based calibration is a method of calibrating between sensors by using a target. It can extract more accurate values. However, target-based calibration is limited because calibration between the vehicle and its sensors is impossible. The motion-based method calibrates the vehicle and its sensors based on the vehicle’s movement. However, this method requires a large space, various movements, and initial values. In this paper, these limitations were addressed by proposing both an external system for vehicle to sensor extrinsic calibration and a calibration method between the external system and the calibration room. To evaluate the validity of the proposed system and method, we constructed the calibration room environment by using a gazebo simulator.
도심 환경 속 판단 보조를 위한 교통섬 지형분할 및 객체분류
이동근(Dong Geun Lee),함준혁(JunHyeok Ham),한재윤(JaeYoon Han),임경일(Kyung-Il Lim) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.11
In the urban environment, terrains such as a “traffic island” are present for the convenience and safety of pedestrians. However, such terrains cause decision errors in the autonomous system. In the existing autonomous vehicles, a method of stopping or decelerating the vehicle for safety when an object is detected on the driving path or around the vehicle is applied. However, such methods not only make it difficult for the autonomous vehicles to drive smoothly in unusual situations such as a traffic island but also cause traffic jam with the possibility to cause traffic accidents in the urban environment. To mitigate this problem, we segmented the traffic island and roadway through semantic segmentation. Pedestrians on the traffic island are classified as the “safety group,” and the other areas are termed as the “non-safety group,” providing an efficient method for stable autonomous driving decisions in the Pangyo area.
송훈(Song Hoon),윤기병(Yoon Ki-Byung),이명식(Lee Myung-Sik),김성아(Kim Sung-Ah),김성식(Kim Sung-Sik),임경일(Lim Kyung-Il) 대한건축학회 2003 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.23 No.2
This paper intends to examine technical possibility to use KOSDIC drawing exchange format in the domain of GIS application. SDTS is defined as a international standard format for GIS data exchange. For the data exchange with SDTS data model, CADD profile is already defined so that many different CAD format such as DXF can be integrated. Based on the profile, KOSDIC format is examined to exchange data as a national standard. It also proposes policies to be use KOSDIC as a national standard for drawing data exchange in the domain of GIS.
임정철,임경일,강삼석,이제혁,우정현 대한신경외과학회 1980 Journal of Korean neurosurgical society Vol.9 No.1
Variable manifestations of neurofibromatosis are properly defined as a hereditary, harmatomatous disorder, probably of neural crest origin, involving not only neuroectoderm and mesoderm but also endoderm, with the potential of appearing in any organ system of the body. Recently, we have experienced 3 cases of nuerofibromatosis, one case associated with glioblastoma multiforme in left frontal lobe, another case associated with multiple neurofibromas in thoracic region and cauda equina, the third case associated with retroperitoneal neurofibroma and dural ectasia.
급성 심근경색 : Gd-DTPA 조영증강 자기공명영상 Gd-DTPA Enhanced Magnetic Resonance Imaging
정경일,김제현,이창호,이영주,김한수,소동문,이영돈,박경주,왕희정,탁승제,이철주,김선용,김옥화,임태환,문창현,최병일,서정호 아주대학교 의과학연구소 1996 아주의학 Vol.1 No.1
This study was undertaken to determine the value of gadolinium dimeglumine (Gd-DTPA) enhanced MRI in the diagnosis of acute myocardial infarction. Seven cats were subjected to 2 hours of left anterior descending coronary arteryocclusion (group 1) and 8 cats to 1 hour of occlusion (group 2). Reperfusion was followed by taking Tl-weighted MR images at 5, 15, 30, 45, 60 minutes after Gd-DTPA (0.2 mmol/kg) injection. Myocardial enhancement patterns were categorized into three zones (central ischemic, peripheral ischemic, and normal) or two zones (ischemic and normal) and the presence of injured myocardium in each zone was confirmed by 2,3,5-triphenyltetrazolium chloride (TTC) staining. Signal intensity (SI) of each zone was evaluated relative to back muscle in regard to its chronological changes and difference among the zones. Group 1 displayed three zones of enhancement in 6 cats whereas 1 cat in group 1 and all in group 2 showed two zones of enhancement. Intermediate SI central zone was compatible but smaller than TTC nonstained area, and determined to be a persistently occlusive injury. High SI peripheral zone in group 1 and high SI ischemic zone in group 2 were stained and determined as reperfused injury although reversibility was not definite. The peak SI, occurring 15 minutes after Gd-DTPA injection, of 2.47±0.48 at peripheral zone was greater than that of 1.66±0.36 at central zone in group 1 and of 1.81±0.41 at ischemic zone in group 2 (p < 0.05). SI of injured myocardium increased more rapidly and decreased more gradually than that of normal myocardium. That the features of SI change with time in injured myocardium was compatible with the results of other studies using different contrast agents. Gd-DTPA enhanced MRI differentiated persistently occlusive injury as central intermediate SI, and reperfused injury as homogenous high SI, with the maximal contrast between the two at 15 minutes after contrast injection, thus indicating the value of Gd-DTPA enhanced MRI in the diagnosis of acute myocardial infarction.