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김병광,이철하,권수림,정창영,천창환,박민우,나용천,Kim, Byoung-Kwang,Lee, Cheol Ha,Kwon, Surim,Jung, Changyoung,Chun, Chang Hwan,Park, Min Woo,Na, Yongcheon 한국자동차안전학회 2017 자동차안전학회지 Vol.9 No.2
An autonomous driving system based on a precise digital map is developed. The system is implemented to the Hyundai's Tucsan fuel cell car, which has a camera, smart cruise control (SCC) and Blind spot detection (BSD) radars, 4-Layer LiDARs, and a standard GPS module. The precise digital map has various information such as lanes, speed bumps, crosswalks and land marks, etc. They can be distinguished as lane-level. The system fuses sensed data around the vehicle for localization and estimates the vehicle's location in the precise map. Objects around the vehicle are detected by the sensor fusion system. Collision threat assessment is performed by detecting dangerous vehicles on the precise map. When an obstacle is on the driving path, the system estimates time to collision and slow down the speed. The vehicle has driven autonomously in the Hyundai-Kia Namyang Research Center.
이재영(Jae Young Lee),이철하(Cheol Ha Lee) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
An experimental study of the dynamic characteristics of the free rising oblate spherical bubble is investigated. As noted by Saffman, the characteristics of the spiral motion are defined with parameters of the spiral frequency, spiral radius, and rising velocity. High speed camera recorded every detail information of free rising bubble. The spiral number, the bubble rise velocity, and the angular velocities were measured for the bubble size between 1.0㎜ to 20.0㎜ in diameter. In order to make clear trajectory, we employed the Fast Fourier Transformation for the normal digital camera data to synchronize with the high speed camera data. It was found that the spiral number suggested here was monotonically decreased as the bubble size increases. The present observation, however tells us that previous Saffman’s formulation shows a good agreement with the trend, but over estimated spiral number. Therefore, it is recommended that Saffman’s theoretical study is needed to be improved.