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Vehicle-to-Infrastructure (V2I) 정보 연동 실내 자율발렛주차 시스템
김민수(Minsoo Kim),안준우(Joonwoo Ahn),이양우(Yangwoo Lee),박재흥(Jaeheung Park) 한국자동차공학회 2022 한국자동차공학회 부문종합 학술대회 Vol.2022 No.6
In this paper, we propose the autonomous valet parking system with vehicle-to-infrastructure (V2I) communications for indoor parking. The proposed system utilizes V2I communications to obtain a navigation plan. It includes the vehicle’s position and information about which direction to head at each intersection. With only this navigation plan, the autonomous vehicle avoids obstacles and drives in response to an intersection. The experimental results showed that, with the proposed system, the vehicle achieves efficient and safe navigation and successfully parks at a real indoor parking environment.
안준우(Joonwoo Ahn),김민수(Minsoo Kim),임규범(GyuBeom Im),김민성(Minsung Kim),박재흥(Jaeheung Park) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
In this paper, we propose an efficient and safe method for autonomous valet parking system with a driving strategy considering uncertain environment in parking spaces. The proposed method consists of a vehicle controller with decision-making algorithms, a global and local path generation algorithm, and a three-dimensional LiDAR-based parking lot detection algorithm. The proposed method was validated via simulation results.
수직 주차에서 AVM을 이용한 동시적 위치추정 및 지도 생성
안찬우(Chanwoo Ahn),박재흥(Jaeheung Park) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11
In this paper, we propose a Simultaeneous Localization And Mapping(SLAM) method for vertical parking scenario. Most commercial car uses ultrasonic sensor to localize vehicle’s position in parking lot. However, vehicle cannot be localized when there are not any obstacles around ego vehicle. The proposed method uses simple features from parking lines and localizes vehicle’s position without any assumption about obstacles around ego vehicle using only Around View Monitor(AVM). At first, cross point is proposed as a feature which can be used for tracking. Cross points on parking lines are detected using Deep Learning and parking lines are extracted using RANSAC and Canny Edge. Using detected cross points and parking lines, relative poses between frames are tracked using Iterative Closeset Point(ICP) and landmark based localization. Global position of detected cross point is used as landmark’s position and position of intersection from detected lines is used as local position of the corresponding cross point. Using landmark based localization, relative poses are calculated and accumulated errors are recovered. From above method, we build a 2D map which is continuously optimized. We evaluated our proposed approach on our own dataset and compared our result with LOAM(Lidar Odometry and Mapping in Real-time).
샘플링 기반 경로 계획과 모델 예측 제어를 이용한 자율 주차 시스템
김민성(Minsung Kim),박재흥(Jaeheung Park) 한국자동차공학회 2018 한국자동차공학회 부문종합 학술대회 Vol.2018 No.6
In this paper, we propose a path planning and a path following method for the autonomous parking system. In order to consider the non-holonomic constraint of a vehicle, RRT star is used to plan paths. Model predictive control with the vehicle kinematic model is proposed to follow the path. To realize the autonomous parking system, we also consider the path re-planning at the point where forward and reverse paths are switched. The proposed method was validated via simulation results.
주차환경에서 자율 주행 차량 실험을 위한 V-Rep 기반 시뮬레이터
임규범(GyuBeom Im),김민성(Minsung Kim),안준우(Joonwoo Ahn),김민수(Minsoo Kim),박재흥(Jaeheung Park) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
We propose a V-Rep vehicle simulator for autonomous vehicle testing in parking lot environment. When we validate a new algorithm or method in the real world, it could be dangerous and lead to safety accident or emergency situation. Therefore, it is beneficial to validate a new algorithm in a virtual simulator before doing in the real world. V-Rep simulator is a popularly used robot simulator. We can create our test environment and validate some algorithms using this simulator. And V-Rep is enable to interact with ROS (Robot Operating System) as a part of virtual parking lot environment. In this paper, we explain how to set up a parking lot environment and an autonomous vehicle model. And we explain how to validate planning, control algorithms using V-Rep and ROS.
Park, Jaeheung,Lee, Taegon,Park, Jaehun,Lim, Manho American Chemical Society 2013 The journal of physical chemistry. B, Condensed ma Vol.117 No.10
<P>Femtosecond vibrational spectroscopy was used to investigate the photoexcitation dynamics of NO-bound ferric myoglobin (Mb<SUP>III</SUP>NO) in D<SUB>2</SUB>O solution at 294 K after excitation with a 575 nm pulse. The stretching mode of NO in Mb<SUP>III</SUP>NO consists of a major band at 1922 cm<SUP>–1</SUP> (97.7%) and a minor band at 1902 cm<SUP>–1</SUP> (2.3%), suggesting that Mb<SUP>III</SUP>NO in room temperature solution has two conformational substates. The time-resolved spectra show small but significant new absorption features at the lower-energy side of the main band (1920–1800 cm<SUP>–1</SUP>). One new absorption feature in the region of 1920–1880 cm<SUP>–1</SUP> exhibits the <SUP>15</SUP>NO isotope shift (37 cm<SUP>–1</SUP>) the same as that of the NO band in the ground electronic state of Mb<SUP>III</SUP>NO. This absorption shifts toward higher energy and narrows with a time constant of 2.4 ps, indicating that it evolves with rapid electronic and thermal relaxation of the photoexcited Mb<SUP>III</SUP>NO without photodeligation of the NO from the heme. Absorption features assigned to proteins undergoing thermal relaxation without NO deligation add up to 14 ± 1% of the total bleach, implying that the photolysis quantum yield of Mb<SUP>III</SUP>NO with a Q-band excitation is ≤0.86 ± 0.01. The remaining absorption bands peaked near 1867, 1845, and 1815 cm<SUP>–1</SUP>, each showing the <SUP>15</SUP>NO isotope shift the same as that of the free NO radical (33 cm<SUP>–1</SUP>), were assigned to the vibrational band of the photodeligated NO, the NO band of Mb<SUP>III</SUP>NO in an intermediate electronic state with low-spin Fe(III)–NO(radical) character (denoted as the R state), and the NO band of the vibrationally excited NO in the R state, respectively. A kinetics model successfully reproducing the time-dependent intensity changes of the transient bands suggests that every rebound NO forms the R state that eventually relaxes into the ground electronic state nonexponentially. Most of the photodissociated NO undergoes fast geminate recombination (GR), and the rebinding kinetics depends on the conformation of the protein. GR of NO to Mb<SUP>III</SUP> in the major conformation shows highly nonexponential kinetics described by a stretched exponential function, exp(−(<I>t</I>/290 ps)<SUP>0.44</SUP>. The NO rebinding to Mb<SUP>III</SUP> in the minor conformation is exponential, exp(−<I>t</I>/1.8 ns), suggesting that the distal histidine, the interaction of which dictates the conformation of Mb<SUP>III</SUP>NO, participates in mediating the binding of NO to Mb<SUP>III</SUP>. In Mb<SUP>III</SUP>NO, the elusive low-spin Fe(III)–NO(radical) state, proposed in electronic structure calculations, indeed exists at >12 kJ/mol above the ground state and takes part in the bond formation of Fe(III)–NO, suggesting that it plays a significant role in the function of NO-bound ferric protein. Time-resolved vibrational spectra with high sensitivity reveal rich photophysical and photochemical processes of photoexcited Mb<SUP>III</SUP>NO.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/jpcbfk/2013/jpcbfk.2013.117.issue-10/jp400055d/production/images/medium/jp-2013-00055d_0013.gif'></P>
Geminate rebinding dynamics of nitric oxide to ferric hemoglobin in D2O solution.
Park, Jaeheung,Lee, Taegon,Lim, Manho Royal Society of Chemistry 2013 PHOTOCHEMICAL AND PHOTOBIOLOGICAL SCIENCES Vol.12 No.6
<P>Femtosecond mid-infrared (mid-IR) spectroscopy was used to probe geminate rebinding (GR) dynamics of photo-released nitric oxide (NO) to ferric hemoglobin (Hb(III)) in D2O solution at room temperature. Time-resolved vibrational spectra exhibit two overlapping NO bands for NO-bound Hb(III) (Hb(III)NO), a major band at 1925 cm(-1) (89%) and a minor one at 1905 cm(-1) (11%), suggesting that Hb(III)NO has at least two conformational substates. Both bands decay nonexponentially, each with a different time scale, and the decays are described by a stretched exponential function; the major band's decay is described by 0.96 exp(-t/40 ps)(0.86) + 0.04 and the minor band's decay is described by exp(-t/85 ps)(0.75). These decays arise mainly from the GR of the photo-released NO to Hb(III), indicating that the bound state's conformer influences the NO binding. In particular, the His64 residue, known to have inward conformation in the major band and outward conformation in the minor band, plays a significant role in controlling the binding of NO to Hb(III). The GR of NO to ferric Hb is slower than that to ferrous Hb, which shows fast and efficient GR due to the high reactivity of NO to the heme Fe(ii). The slower GR of NO to Hb(III) may be caused by the lower reactivity of NO to the heme Fe(iii).</P>