REMARKS IEEE International Electric Machines and Drives Conference (IEMDC) Student Design Competition Second Place, (In-Wheel motor Assembly an

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1 Minyoung Lee Mechanical Engineering Research Institute, KAIST, Daejeon, Republic of Korea. The Cho Chun Shik Graduate School for Green Transportation, KAIST, Daejeon, Republic of Korea. Mechatronics, and Control Laboratory, Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea. Cell phone: EDUCATION Ph.D. in the CCS Graduate School for Green Transportation, KAIST, Daejeon, Republic of Korea Feb Advisor: Prof. Kyung-Soo Kim. Ph.D. Dissertation Title: Measuring Vehicle Velocity in Real Time using Modulated Motion Blur of Camera Image Data M.S. in Mechanical Engineering, Hongik University, Seoul, Republic of Korea Feb Advisor: Prof.. M.S. Thesis Title: A Development of Sensor Fusion for the Localization B.S. in Mechanical and System Design Engineering, Hongik University, Seoul, Republic of Korea RESEARCH AREA Computer Vision for Autonomous Vehicle Sensor for Advanced Driver Assistant System Mobile Robot Localization RESEARCH EXPERIENCE 2016 Present, Development of weld line tracking vision sensor for automatic welding of primary barrier of membrane LNG hold, funded by Hyundai Heavy Industries, Republic of Korea Present, Establishment of foundation technology for displacement / load measurement, funded by Hyundai Motor Group, Republic of Korea , Development of a Prototype of Foldable Electric Vehicle, funded by Ministry of Land, Infrastructure and Transport, Republic of Korea , Smart Grid Demonstration Project (Smart Transportation), funded by Ministry of Trade, Industry and Energy, Republic of Korea. 2011, Development of Modular Sensor Fusion Technology to Improve Environmental Awareness of Intelligent Humanoid Robots, funded by Ministry of Education, Republic of Korea. 2012, A Study on the Estimation of Pedestrian Position Based on Inertial Measurement Device for Precise Location-Based Service, funded by Ministry of Education, Republic of Korea.

2 REMARKS IEEE International Electric Machines and Drives Conference (IEMDC) Student Design Competition Second Place, (In-Wheel motor Assembly and X-by-Wire Control of the Acceleration Pedal) - Best Paper Award, KRoC, Chonbuk, Republic of Korea Baja SAE KOREA at Yeungnam university, Powerfull # nd prize in KSAE Baja Competition. - PACE F1 car project PUBLICATIONS International Journal Authors Title of paper Title of journal Date Design and Analysis of the Infrared Journal of Mechanical 2011 Range Sensor System for Floor State Estimation Science and Technology Prototype design and evaluation of an International Journal of 2014 Dinh Dung Vu fsae-based pure electric vehicle with wireless charging technology Automotive Technology Youngjin Jang, Lateral Handling Improvement With International Journal of 2017 In-Soo Suh2, Dynamic Curvature Control For An Independent Rear Wheel Drive EV Automotive Technology Kwanghee Nam Min-Young Lee, Kyung-Soo Kim, Soohyun Kim Measuring Vehicle Velocity in Real Time using Modulated Motion Blur of Camera Image Data IEEE Transactions on Vehicular Technology 2017 International Conference Authors Title of paper Title of Conference Date Object Localization and Path The 7th International Estimation in Smart Sensor Network Exploration of Floor Surface for the Sangcheol Park, Blind

3 Gait Estimation based Pedestrian Localization Indoor Pedestrian Localization System for Location based Service Dynamic Model and Control Algorithm The 9th IEEE International January, Kibeom Lee, Minyoung Lee of HVAC System for Dynamic Wireless Charging EV Application Electric Machines and Drives Conference 2013 In-Wheel Motor Application in a 4WD The 9th IEEE International January, Electric Vehicle with Foldable Body Concept Electric Machines and Drives Conference 2013 Jedok Kim KibeomLee, In-Soo Suh Agile Dynamics with 4-wheel Independent and Integrated Control of a Micro Foldable EV FISITA 2014 June, 2014 Kibeom Lee, In-Soo Suh Development of a foldable micro electric vehicle for future urban driving with intelligent control Intelligent Transportation (ITSC), 2014 IEEE 17th International Conference on Nov, 2014 Kyung-Soo Kim. Jungseok Cho, Soohyun Kim Development of a Vehicle Body Velocity Sensor using Modulated Motion Blur Advanced Intelligent Mechatronics (AIM), 2017 IEEE International Conference on July 2017 Domestic Journal 저자논문제목저널명 논문 게재일 적외선기반구역정보와관성항법장 치정보를이용한센서네트워크환경 2012

4 에서의물체위치추정 Minyong Lee and Sensor fusion based ambulatory system Journal of the Korean for indoor localization Sensors Society 하지진단및재활을위한각속도계기반측정시스템 이민영, 김희승, 이수용 위치기반서비스를위한보행자의위 한국차세대컴퓨팅학회논 년 12 치추정 문지 월 주행로봇움직임추정용스테레오적외선조명기반 Visibility 센서 2011 김희승, 이민영, 박상 적외선거리센서를이용한시각장 한국차세대컴퓨팅학회논 년 8 월 철, 이수용 애자용계단감지시스템 문지 서인수, 이민영, 김제독 초소형개인이동수단용차량기술 현황 교통기술과정책 2012 년 10 월 Domestic Conference 저자논문제목학회명 논문 게재일 각속도계를이용한보행자걸음걸이 제 5 회한국로봇종합학술 년 7 월 분석 대회 이민영, 서인수 SMFIR 을이용한무선급속충전을위 한국 ITS 학회춘계학술대 2012 년 4 월 한지능형관리시스템 회 정광우, 이기범, 이민 4 륜구동접이식초소형전기자동차 한국자동차공학회부문종 2012 년 5 월 영, 서인수 개발을위한 In-Wheel 모터제어시 합학술대회 험장치개발과해석 이기범, 서인수, 이민 접이식초소형전기자동차의강성해 한국자동차공학회부문종 2012 년 5 월 영, 김제독 석을통한안전성검증 합학술대회

변조된모션블러와이를활용한차체의속도추정 KAIST, 기계기술연구소, 조천식녹색교통대학원, 기계공학과, MSC 연구실, 이민영차체와지면간의상대속도정보는차체안정화제어에있어가장중요한정보이다.

GPS 정보의경우빌딩숲, 터널등을지날때신호가불안정하며, 단일수신기를사용하는경우차체가어느방향으로움직이고있는지에대한정보는제공하지않는다.

하지만차량이주행하는도로의 Bank 각이큰경우에는차체가횡방향으로미끄러지는지혹은차체가기울어져있는것인지구분하기어렵다.

5 변조된모션블러와이를활용한차체의속도추정 KAIST, 기계기술연구소, 조천식녹색교통대학원, 기계공학과, MSC 연구실, 이민영차체와지면간의상대속도정보는차체안정화제어에있어가장중요한정보이다. 기존에는바퀴에장착된엔코더정보, GPS(Global Positioning System) 정보혹은 IMU(Inertial Measurement Unit) 정보등을활용하여간접적으로이상대속도를추정하였다. GPS 정보의경우빌딩숲, 터널등을지날때신호가불안정하며, 단일수신기를사용하는경우차체가어느방향으로움직이고있는지에대한정보는제공하지않는다. IMU 정보를사용하는경우에는필연적으로편류현상이발생하므로 GPS 정보와융합하거나차량동역학모델을이용하여차체의속도를추정할수있다. 하지만차량이주행하는도로의 Bank 각이큰경우에는차체가횡방향으로미끄러지는지혹은차체가기울어져있는것인지구분하기어렵다. Z ω z X U=(u, v) v c Y < 그림 > 변조된모션블러및이를활용한차체의속도추정 본연구에서는변조된모션블러를이용한차체의속도벡터의추정방법에대해제안한다. 차량의주행중, 지면을바라보도록설치된카메라의광학장치를특정패턴으로움직여줄때이미지센서에는변조된모션블러 (Modulated Motion Blur) 가기록되게된다. 이변조된모션블러는지면과차체의상대적인속도에대한정보가담겨있다. 이때변조된모션블러의기울기를추정하여차체와지면간의상대속도를계산할수있다. 제안한방법은환경변화에강인하며정확도가높고계산량이적어다양한분야에서쉽게활용할수있을것이라기대한다.

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