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[전기 전자부문] 원격 무인주행 차량의 비젼시스템에 관한 연구
문희창(Heechang Moon),김창민(Changman Kim),김상겸(Sanggyum Kim),김정하(Jungha Kim) 한국자동차공학회 2001 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2001 No.11_2
The purpose of this paper is application of vision system for the tele-operate unmanned vehicle. Tele-operate unmanned vehicle demand sensing of variable surrounding environment, speed of vehicle, unexpected accident and other conditions. The vehicle should tell the operator all condition and surroundings of vehicle. For kno'M1 these things, we suggest new tele-operate unmanned vehicle.<br/> Tele-operate unmanned vehicle is devide into two parts. One is longitudinal control part and the other is lateral control part Longitudinal control part is operated by acceleration and deceleration. For longitudinal control we used DC motor and hole sensor. For lateral control we used vision system and stepping motor. This vision system is specially designed for lane detection. In this paper, we suggest lane detection algorithm.<br/> Through fusion of several sensor, integration of parts system and new lane detection algorithm, we propose the advanced tele-operate unmanned vehicle.<br/>
문희창(Heechang Moon),이운성(Woonsung Lee),김정하(Jungha Kim) 한국자동차공학회 2003 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Our goal of this research is developing the tele-operated unmanned vehicle. In case of emergency, it needs the autonomous intelligent functions. Now we are trying to make a miniaturized unmanned vehicle, which is equipped with vision sensor before developing a full scale one. This system is classified by three major components. First, the vision system is composed of small CCD camera, wireless video transmitter and receiver, and host computer. Second, the vehicle control system which is combined with sensors and actuators. In here, we use photo interrupts and 2 DC motors for vehicle velocity and also a potential meter and a RC scrvo motor for steering angle control. Third, we need a communication system, which can transmit vehicle condition data to host computer and receive control value from it Therefore, we designed real time full duplex communication method by using wireless RF modules. Finally, we will make a miniaturized unmanned vehicle by using vision system. And also, we suggest the control method of vehicle and the wireless RF communication method.
무인자동차의 주행을 위한 국부지도 생성방법에 대한 연구
문희창(HeeChang Moon),이홍철(HongChul Lee),김정하(JungHa Kim) 한국자동차공학회 2006 한국자동차공학회 Symposium Vol.- No.-
This paper deals with local map building method using obstacle detecting sensors such as laser scanner, camera, and ultra sonic sensor for unmanned ground vehicle(UGV). The UGV is consists of several systems. For example navigation system, obstacle detecting system, vehicle control system and arbiter system. Among the systems, obstacle detecting system is to detect obstacles in front of the vehicle using obstacle detecting sensors. These sensors generate various types of output data. So fusing sensors data is vary important. The local map is good for adding the sensors data. In this paper, we introduce our UGV systems and local map building method for sensor data fusing.
시설보호 아동의 기질 및 사회적 지지와 긍정적,부정적 정서의 관계
문지윤 ( Chi Yun Moon ),임정하 ( Jungha Lim ) 대한가정학회 2011 Human Ecology Research(HER) Vol.49 No.3
The purpose of this study was to examine the relationships between temperament, social support and positive, as well as negative emotions of institutionalized children. The participants were 198 children aged from 10 to 13 years old. They were recruited from 20 childcare facilities in Seoul. Data were analyzed using Cronbach alphas, factor analyses, frequencies, percentiles, t-tests and hierarchical regression analyses. The major findings were as follows: 1) on average, girls showed higher emotionality in temperament compared to boys. Girls reported greater support of school teacher than boys. Boys experienced significantly higher positive emotions than girls, while girls reported significantly higher negative emotions than boys. 2) Positive emotions were influenced by the support of the institutionalized family as well as school teachers. Negative emotions were influenced by the support of the institutionalized family.
Yoonjoo Jo,John Alderman Linton,Junho Choi,Junghae Moon,Jungeun Kim,Jiyoung Lee,Sinae Oh 대한가정의학회 2019 Korean Journal of Family Medicine Vol.40 No.2
Background: The definition of sarcopenia focuses on muscle mass and function. Sarcopenic obesity is the relative excess of fat tissue with decreased muscle mass. We examined the association between cigarette smoking and sarcopenia according to obesity in middle-aged and elderly Koreans.Methods: We conducted a cross-sectional study of 9,385 subjects (age ≥50 years) based on data from the fourth and fifth Korea National Health and Nutrition Examination Surveys (2008–2011). Smoking groups were categorized by smoking status and the number of cigarettes smoked daily. Sarcopenia was defined as weight-adjusted appendicular skeletal muscle mass of 2 standard deviations below the sex-specific mean for young adults. Obesity was defined as fat mass ≥30% for men and ≥40% for women. Subjects were categorized into three groups: sarcopenic obese (SO), sarcopenic non-obese (SNO), and normal. Multiple logistic regression analysis was performed to assess the association between smoking and SNO and SO.Results: Among men, current smokers were more associated with SNO than never-smokers (adjusted odds ratio [OR], 3.34; 95% confidence interval [CI], 1.09–10.26). However, there was no significant association between smoking status and SNO in women or SO in either sex. Among current smokers, moderate smokers (11–20 cigarettes/d) were more likely to be SNO (adjusted OR, 5.81; 95% CI, 1.12–30.31) and heavy smokers (>20 cigarettes/d) were more likely to be SO (adjusted OR, 9.53; 95% CI, 1.65–55.01) than light smokers (<11 cigarettes/d).Conclusion: In men, smoking was positively associated with SNO, and heavy smokers were more likely to be SO than light smokers.
C-EPS의 보조력 및 복원력제어 알고리즘 검증을 위한 시뮬레이터설계
장재훈(Jaehoon Jang),박명욱(Myungwook Park),문희창(Heechang Moon),김정하(Jungha Kim) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
Electric Power Steering(EPS) works with the help of an electric motor and a control unit which has some sensors. The motor runs on battery and will use electric power to assist the movement of steering when the driver turns the wheel. EPS system has many advantages over traditional HPS (Hydraulic Power Steering) system in space efficiency, engine efficiency and environmental problem. For exemple, Compared with a hydraulic power steering system that continuously drives a hydraulic pump, the EPS system drives the EPS motor only when necessary, resulting in reduced fuel consumption. EPS system is consist of many sensors and brushless motor(BLDC motor). The main function of EPS system is Assist control and Return control, damping compensation control, friction compensation control, Inertia compensation control. In this paper, the EPS systems control logic for various functions that will be validated practically through HILS and vehicle.
자동 발렛 파킹을 위한 테스트 플랫폼 설계 및 주행 검증
우훈제(HoonJe Woo),손성효(SungHyo Son),문희창(HeeChang Moon),성경복(KyungBok Sung),김정하(JungHa Kim) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
This paper introduces an automated valet parking system (AVP) which applies an autonomous driving concept into the current parking assistant system (PAS). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.
Yeon, Jihye,Kim, Jinmahn,Kim, Do-Young,Kim, Hyunmin,Kim, Jungha,Du, Eun Jo,Kang, KyeongJin,Lim, Hyun-Ho,Moon, Daewon,Kim, Kyuhyung Public Library of Science 2018 PLoS biology Vol.16 No.6
<▼1><P>Animal locomotion is mediated by a sensory system referred to as proprioception. Defects in the proprioceptive coordination of locomotion result in uncontrolled and inefficient movements. However, the molecular mechanisms underlying proprioception are not fully understood. Here, we identify two transient receptor potential cation (TRPC) channels, <I>trp-1</I> and <I>trp-2</I>, as necessary and sufficient for proprioceptive responses in <I>C</I>. <I>elegans</I> head steering locomotion. Both channels are expressed in the SMDD neurons, which are required and sufficient for head bending, and mediate coordinated head steering by sensing mechanical stretches due to the contraction of head muscle and orchestrating dorsal head muscle contractions. Moreover, the SMDD neurons play dual roles to sense muscle stretch as well as to control muscle contractions. These results demonstrate that distinct locomotion patterns require dynamic and homeostatic modulation of feedback signals between neurons and muscles.</P></▼1><▼2><P><B>Author summary</B></P><P>Proprioception provides the nervous system with feedback about body posture in animals and is essential for the generation of coherent locomotive behaviors, such as walking, running, or crawling. However, little is known about the identity of proprioceptive receptors that sense body movement to regulate locomotion and the extent to which proprioception modulates sensorimotor coordination. Here, we analyze the molecular mechanisms that control head steering locomotion of <I>Caenorhabditis elegans</I>. We show that this movement is regulated by the transient receptor potential cation (TRPC) channels TRP-1 and TRP-2 and the SMDD proprioceptive neurons. We observe that mutant animals for both channels are defective in head steering locomotion and that ectopic expression of TRP-1 or TPR-2 in a <I>C</I>. <I>elegans</I> chemosensory neuron confers head bending–dependent responses, suggesting roles for these channels in proprioception. We also find that SMDD neurons are both necessary and sufficient to generate head steering locomotion via the two channels. Moreover, we demonstrate that the proprioceptive system mediates locomotion coordination by desynchronizing activities in motor systems. We conclude that two TRPC channels in collaboration with the proprioceptive receptor SMDD neurons control head steering in worms during forward locomotion.</P></▼2>