APC Lab

Adaptive and Predictive Control Lab

School of ICT, Robotics and Mechanical Engineering at HanKyong National University

" If I have seen further it is by standing on the shoulders of Giants "

- Isaac Newton -

APC Lab aims to...

conduct creative and valuable studies that can change the world! We are waiting for your challenge!

Research Areas

0. Our future E-mobility technology

1. Autonomous Driving with Fail-Safe System

Autonomous driving - car-following and double lane change

Controller : model-free adaptive control algorithms
Velocity : 0 ~ 100 kph
Steering : path tracking (straight path -> double lane change at 30 sec and 50 sec)
Evaluation : using CarMaker

Attitude (roll, pitch, yaw angles) control for autonomous driving of underwater vehicles (by Matlab/Simulink)

Controller : model-based linear quadratic control
Velocity : about 4 m/s
Evaluation : using Matlab/Simulink

Longitudinal and lateral control for autonomous driving and fail-safe system

Controller : model-free adaptive control algorithms
Velocity : 0 ~ 70 kph (0 kph -> constant 70 kph)
Steering : path tracking (straight path -> lane change at 30 sec)
Evaluation : using CarMaker

Test platform for research on autonomous driving and fail safe system of vehicle

Mass : about 300 kg
Size : about 1,600 mm x 1,160 mm x 550 mm
Velocity : ~ 20 kph (max. 40 kph)
Environment sensors for autonomous driving (to be installed later)
- Lidar(Sick)
- Camera(Microsoft webcam)

Autonomous vehicle

Sensor : GPS, IMU, Lidar, Camera
Waypoint - GPS x-y point data
Path tracking controller - Pure Pursuit

2. Active Safety System

Hils(Human in the Loop system) based evaluation using CarMaker software

- Vehicle dynamic performance

- Designed controller performance

: autonomous driving, chassis control, etc

- Driver model performance

: Longitudinal driver model

: Lateral driver model

3. Control Theory

4. Artificial Intelligence for Prediction and Control

5. Factory Automation and Smart Logistics [ Autonomous driving with module ]

Four-wheel independent steering and driving vehicle

- Integrated steering and driving module

- Reduction gear

- Suspension system with spring

- Steering angle limit +/- 270 deg

Steering mode

- Four-wheel steering, front wheel steering

- Zero-radius turning and crab steering

Autonomous truck for factory automation and smart logistics

- 1-layer laser scanner based perception

- Safety level decision

- Two motors control for steering

- Object tracking with collision avoidance

Movie : demonstration at 2019 KOREA MAT (Material Handling and Logistics Exhibition)

1 Wheel-based driving and steering module for autonomous truck (detachable system)

Robot arm control for smart logistics

Specification [ UR3e ]

Mass : 3 kg
Reach : 500 mm
Power : 300 W
Working range

: Base - (+/-) 360 deg

: Shoulder - (+/-) 360 deg

: Elbow - (+/-) 360 deg

Notice Board

2024 : Students 이광록, 정준호, 이성제, 유병훈, 고동희, 이은규 joined APC Lab as an intern for research.

2022.03 : Student La, Han Byeol joined APC Lab for Master course for research.

- Her research interests are described at the Member menu(Intern).

2021.08 : Student Kim, Se Hwan joined APC Lab as an intern for research.

- His research interests are described at the Member menu(Intern).

2020.05 : Student Jang, Moon Jung joined APC Lab as an intern for research.

- Her research interests are described at the Member menu(Master).

2020.01 : Student Park, Chan Ho and Kim Hak Ju joined APC Lab as an intern for research.

- Their research interests are described at the Member menu(Intern).

2019.11 : Domestic conference: KSAE 2019 (Korean Society of Automotive Engineers)

- 2019 KSAE Annual Fall Conference, Nov 20 ~ 23, HICO

2019.06 : International Conference (ASME-ISPS2019)

- 2019 ASME-ISPS2019 Conference, June 27 ~ 28, University of California, San Diego, CA, USA

2019.05 : Domestic conference: KSAE 2019 (Korean Society of Automotive Engineers)

- 2019 KSAE Annual Spring Conference, May 9 ~ 11, Jeju Island

2018.08 : International conference: ETME 2018 (Emerging Technologies in Mechanical Engineering)

- 2018 Emerging Technologies in Mechanical Engineering, August 19 ~ 22, Jeju

2018.07 : Student Min, Hee Sun joined APC Lab as an intern for research.

- Her research interest are described at the Member menu(Intern).

2018.02 : Congratulation! Website for vehicle club(Team SV) at HKNU was opened!

- Click to visit --> Team-SV

2018.05 : Domestic conference: ICROS 2018 (Institute of Control, Robotics and Systems)

- 2018 33rd ICROS Annual Conference, May 17 ~ 19, Byeon San Resort

2018.06 : Domestic conference: KSAE 2018 (Korean Society of Automotive Engineers)

- 2018 KSAE Annual Spring Conference, June 7 ~ 9, BEXCO, Busan

2017.10 : Two students joined APC Lab as an intern for autonomous vehicle research.

- Their research interests are described at the Member menu(Intern).

Contact information

Address : 327 Jungang-ro Anseong, Gyeonggi, 17579, Korea
Office : I-304
Tel : 031-670-5117
E-mail : oks@hknu.ac.kr

Please, contact by e-mail or telephone if you are interested in the adaptive and predictive control laboratory

Department of Mechanical Engineering at Hankyong National University(HKNU)

327 Jungang-ro, Anseong-si, Gyeonggi-do, 17579, Republic of Korea

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