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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.
자동 전진 후진 전환 지점 선택 알고리즘을 이용한 모델 예측 제어 기반 자율 주차 알고리즘
김민성(Minsung Kim),임규범(GyuBeom Im),안준우(Joonwoo Ahn),김민수(Minsoo Kim),박재흥(Jaeheung Park) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
In this paper, we propose a method for autonomous parking algorithm using automatic selection of forward and backward switching points via model predictive control. An optimized switching point can be calculated by the comparison between forward and backward driving costs. The proposed method was validated by V-rep based simulation environment.
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, Minsung,Park, SuBeom,Hyun, Jinho American Chemical Society 2012 ACS APPLIED MATERIALS & INTERFACES Vol.4 No.10
<P>Magnetic nanoparticles (MNPs) were covalently immobilized on the surface of <I>Acetobacter xylinus</I> and the location of the bacteria was controlled to manipulate bacterial bioactivation. The bacteria were positioned in the middle of an incubation tube by applying an external magnetic field, and the cellulose produced at the different metabolizing locations was characterized by X-ray diffraction, electron microscopy, and differential scanning calorimetry. To the best of our knowledge, this is the first experiment in which MNPs were employed in the control of cell metabolism.</P><P><B>Graphic Abstract</B> <IMG SRC='http://pubs.acs.org/appl/literatum/publisher/achs/journals/content/aamick/2012/aamick.2012.4.issue-10/am301839c/production/images/medium/am-2012-01839c_0006.gif'></P>
Park, Minsung,Seo, Sungmin,Lee, Soo Jin,Jung, Jong Hwa Royal Society of Chemistry 2010 The Analyst Vol.135 No.11
<P>Fluorogenic based nitrobenzofuran-functionalized Ni@SiO<SUB>2</SUB> core/shell magnetic nanoparticles have been prepared by sol–gel grafting reaction. Their ability to detect and remove metal ions was evaluated by fluorophotometry. The nanoparticles exhibited a high affinity and selectivity for Cu<SUP>2+</SUP> over competing metal ions. Furthermore, the nanoparticles efficiently removed Cu<SUP>2+</SUP> in drinking water and human blood.</P> <P>Graphic Abstract</P><P>The nitrobenzofuran derivative immobilized Ni@SiO<SUB>2</SUB> core/shell nanoparticles (<B>1</B>) detected and separated Cu<SUP>2+</SUP> with a high degree of selectivity among heavy metal ions in aqueous solution. <IMG SRC='http://pubs.rsc.org/services/images/RSCpubs.ePlatform.Service.FreeContent.ImageService.svc/ImageService/image/GA?id=c0an00470g'> </P>
Feasibility Study of Gait Recognition Using Points in Three-Dimensional Space
Minsung Kim,Mingon Kim,Sumin Park,Junghoon Kwon,Jaeheung Park 한국지능시스템학회 2013 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.13 No.2
This study investigated the feasibility of gait recognition using points on the body in threedimensional (3D) space based on comparisons of four different feature vectors. To obtain the point trajectories on the body in 3D, gait motion data were captured from 10 participants using a 3D motion capture system, and four shoes with different heel heights were used to study the effects of heel height on gait recognition. Finally, the recognition rates were compared using four methods and different heel heights.
Park, Minsung,Seo, Sungmin,Lee, In Su,Jung, Jong Hwa Royal Society of Chemistry 2010 Chemical communications Vol.46 No.25
<P>A new fluorogenic based aminonaphthalimide-functionalized Fe<SUB>3</SUB>O<SUB>4</SUB>@SiO<SUB>2</SUB> core/shell magnetic nanoparticles <B>1</B> has been prepared, and its abilities to sense and separate metal ions were evaluated by fluorophotometry. The nanoparticles <B>1</B> exhibited a high affinity and selectivity for Hg<SUP>2+</SUP> and CH<SUB>3</SUB>Hg<SUP>+</SUP> ions over competing metal ions.</P> <P>Graphic Abstract</P><P>Aminonaphthalimide-functionalized Fe<SUB>3</SUB>O<SUB>4</SUB>@SiO<SUB>2</SUB> core/shell magnetic nanoparticles <B>1</B> recognized and separated Hg<SUP>2+</SUP> and CH<SUB>3</SUB>Hg<SUP>+</SUP> with a high degree of selectivity among heavy metal ions in aqueous solution. <IMG SRC='http://pubs.rsc.org/services/images/RSCpubs.ePlatform.Service.FreeContent.ImageService.svc/ImageService/image/GA?id=c002905j'> </P>