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
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
Copyright (c) 2022 Adaptive and Predictive Control Laboratory at HKNU. All Rights Reserved.