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강정항 VTS 시스템 구축시 음영구역 최소화를 위한 레이더의 위치설정에 관한 연구
이승희 ( Seung-hi Lee ),김광일 ( Kwang-il Kim ),안장영 ( Jang-young Ahn ),이창헌 ( Chang-heon Lee ),최찬문 ( Chan-moon Choi ) 한국어업기술학회 2017 수산해양기술연구 Vol.53 No.2
We have studied the efficient operation of the radar and the appropriateness of the installation location, when constructing the VTS system. As the Civil-Military Complex Harbour (Kangjeong Port) is completed in 2016, we set the control area within 10 nautical miles centering on Kangjeong Port, and found out and removed the operational radar blind area of VTS system to provide safe navigation information for vessels that navigating this area. Assuming that two international cruise ships entering at the same time, we performed the radar simulation and compared the images by considering the three sites of Kangjeong Port, Miaksan and Seoguipo Port. Simulation results for a single radar installed at Kangjung Port indicate that the blind area was largely affected by two large cruise ships and the surrounding islands. The blind area due to Kogunsan was considerably large when installed in Miaksan, but the blind area due to the influences of Beomseom, Moonseom and Seopseom was negligibly large. It seems that additional radar installation is necessary as a complementary solution to solve this blind area. When two radars were installed at Miaksan and Kangjeong Port, the residual blind area due to the Seopseom was 0.25 ㎢ at 0.1~0.33 nautical miles in the southeast direction from Seopseom. In addition, the remaining blind area with two cruise ships mutually influenced was 0.18 km2, which did not occur with a single cruise ship.
실내 무인 자율 발렛파킹을 위한 Way-point 검출 및 경로 예측 방법
이다빈(Dabeen Lee),김승현(Seunghyun Kim),이승희(Seung-Hi Lee),정정주(Chung Choo Chung),김회율(Whoi-Yul Kim) 대한전자공학회 2018 대한전자공학회 학술대회 Vol.2018 No.11
In this paper, we propose a way-point detection method for an autonomous valet parking system in an indoor environment where circular LED way-points are installed on the ceiling. As a pre-processing, camera‘s exposure value is automatically adjusted using incremental searching to remove other objects except way-points. We set binarization threshold using a standard deviation from Gaussian function modeled by background intensity distribution. For predicting the path where a vehicle is going to drive, the detected way-points are classified into "straight path class’ and "turning path class’ according to the its’ location, and the least square based line fitting is applied to each class. The experimental result using dataset captured in the indoor parking lot shows good performance of way-point detection and path estimation.
뇌경색 한방치료중 독성간염(약물유인성 간염)으로 추정되는 간기능 손상의 1례
이민수,송미덕,이승희,Lee, Min-Su,Song, Mi-Deok,Lee, Seung-Hi 대한한방내과학회 2000 大韓韓方內科學會誌 Vol.21 No.5
Although there are a few reports concerning the hepatic injury of herbal medicine in western medicine, there is no reports concerning the hepatic injury of herbal medicine in oriental medicine. We experienced one case of the hepatic injury suggested toxic hepatitis (drug induced hepatitis) in the treatment of oriental medicine for cerebral infarction. We make a reports for the progress of treatment. One patient of Rt hemiparesis diagnosed cerebral infarction in Brain MRI was administered Taeumin Yuldahanso-tang, treated with physical therapy and improved in the state of Rt hemiparesis(Gr 2/3,4). In the course of treatment, the patient intermittently complained of general weakness, dizziness, pericephalic discomfort(頭不淸), nausea, both leg weakness so we changed Taeumin Yuldahanso-tang to Soyangin Dokwhaljiwhang-tang. Alter that, the patient complained of general weakness, abdominal discomfort, heat and fever($38.4^{\circ}C$). We recognized the elevated total bilirubin(1.7mg/dl), serum transaminase(AST534U/L ALT720U/L), serum gammg glutamyl transpepridase (GGT106mg/dl) and Alk phosphatase124U/L. In the abdominal ultrasonogram there is hepatomegaly (16.5cm). We supposed hepatic injury suggested toxic hepatitis(induced hepatitis) of herbal medicine. After we administered Saeng gan gunbi-tang for 2days and Alk phosphatase and GGT inadequately was elevated. After that, we stopped administering medicine and the serum transaminase, total bilirubin, serum gamma glutamyl transpeptidase and Alk phosphatase level was decreased. In the abdominal ultrasonogram there was no signal. In the case, we supposed that the changing Sasang constitution and Sasang herbal medicine may induce hepatic injury. We are suggesting the necessity of a test for the hepatic injury of herbal medicine.
MPC-based active steering for autonomous vehicle systems
Young Ok Lee(이영옥),Chung Choo Chung(정정주),Seung-Hi Lee(이승희),Young Seop Son(손영섭) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
In this paper, we present how model predictive control (MPC) is applied to lane keeping system (LKS). Due to a slow sampling rate of the vision system, the conventional LKS using single rate control may cause uncomfortable steering control rate in a high vehicle speed. By applying MPC to active steering, the proposed MPC-based active steering prevents undesirable oscillatory steering control command even at a vehicle speed of 30[㎧]. The effectiveness of the MPC is validated by simulation for the LKS equipped with a camera module having a slow sampling rate.
근사 타이어 및 횡방향 차량동역학 모델을 이용하는 사이드 슬립각 예측
강창묵(Chang Mook Kang),이승희(Seung-Hi Lee),손영섭(Youngseop Son),김보아(Bo-Ah Kim),이규호(Kyu Ho Lee),정정주(Chung Choo Chung) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper develops a state estimator based side slip angle estimation, which involves approximate tire model, lateral dynamics model, and feedback of measurements. We developed the estimator using a special vehicle lateral dynamics model by the approximation of the roll motion of a vehicle. In this paper, we will present how to design the estimator. Experimental evaluation was conducted to demonstrate its performance. Some performance comparisons with RT3000 and Carsim are to be persented.
상태 공간 외란 관측기를 가지는 자율 차량의 강인한 조향 제어
김상현(Sang Hyun Kim),이승희(Seung-Hi Lee),이영옥(Young Ok Lee),손영섭(Youngseop Son),정정주(Chung Choo Chung) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
Uncertainty and disturbance significantly affect lane keeping and lane changing control performance. A robust steering control method is proposed, using a state space disturbance observer. Unlike conventional disturbance compensation methods, the proposed state space disturbance observer requires no disturbance model or plant model inversion. Moreover, the disturbance observer is effective in compensating for transient disturbance inputs and thus more useful in improving lane keeping or changing control performance. Application results assure that the proposed robust steering control scheme is a very promising technique in achieving robust steering control performance.
근사 모델예측 제어기를 이용한 자율주행 차량의 능동조향
이영옥(Young Ok Lee),이승희(Seung-Hi Lee),손영섭(Young Seop Son),정정주(Chung Choo Chung) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11
In this paper, we present how model predictive control (MPC), approximate MPC, and proximate MPC are applied to lane keeping system (LKS). The proposed proximate MPC has suboptimal solution closed to its optimal value with reduced iteration in online optimization. Nodal state vectors are generated in the feasible state space, for which the quadratic optimization problem is solved off-line. Vertices are determined to represent a given state as an interpolation between them. An approximate optimal solution is computed from the interpolation between the optimal solutions at each vertex, and is used for warm-start on-line optimization to produce a proximate optimal solution.
이건일(Geon-Il Lee),강창묵(Chang Mook Kang),이승희(Seung-Hi Lee),정정주(Chung Choo Chung) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.11
Assigning the correspondences among moving objects, which are measured from two different sensors such as radar and vision, is difficult when the ego vehicle is changing its lane. In this paper, we propose a robust and reliable decision method of the correspondences between radar and vision when the ego vehicle is changing its lane. A particle filter that consider the yaw rate of the ego vehicle and a convex hull method are proposed to improve the object ID association. In addition, the overall architecture of sensor fusion is described with the proposed association method. The proposed methods have been validated in actual vehicle experiments. The test results show that the proposed algorithm can effectively associate the objects from two different sensors on Yeoju smart highway with the minimum curvature radius of 1,124m and a lane width of 3.5m in the lane-changing situation.