• The Journal of Korea Robotics Society
• /
• v.16 no.2
• /
• pp.112-121
• /
• 2021

Unlike a typical small-sized robot navigating in a free space, an autonomous vehicle has to travel in a designated road which has lanes to follow and traffic rules to obey. High-Definition (HD) maps, which include road markings, traffic signs, and traffic lights with high location accuracy, can help an autonomous vehicle avoid the need to detect such challenging road surroundings. With space constraints and a pre-built HD map, a new type of path planning algorithm can be conceived as a substitute for conventional grid-based path planning algorithms, which require substantial planning time to cover large-scale free space. In this paper, we propose an obstacle-avoiding, cost-based planning algorithm in a continuous space that aims to pursue a globally-planned path with the help of HD map information. Experimentally, the proposed algorithm is shown to outperform other state-of-the-art path planning algorithms in terms of computation complexity in a typical urban road setting, thereby achieving real-time performance and safe avoidance of obstacles.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.19 no.8
• /
• pp.802-808
• /
• 2009

In this paper, the experimental study on the identification of noise sources and noise transmission paths was carried out for the cabin noise control of construction equipment. In order to investigate noise and vibration characteristics of cabin structure, sound absorption, transmission, and radiation tests were performed using cabin assembly models. The noise/vibration source levels were obtained from the real cabins of wheel loader and excavator. Using transfer functions of cabins and real cabins' source data, cabin noise was decomposed into airborne and structureborne noise transmissions. Finally noise sources and major transmission paths were successfully identified for wheel loader and excavator's cabins.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2006.11a
• /
• pp.686-689
• /
• 2006

In a wheel loader, the tail-pipe is installed at the exhaust tube of muffler for the reduction of exhaust noise and the cooling of engine room however, the cabin noise level can be largely increased due to the tail-pipe. In this paper, to grasp and reduce the cabin noise, a series of noise and vibration tests were carried out in addition to numerical simulations. As a result, the transmission path of exhaust noise toward the cabin was exactly identified and the improved shape of tail pipe, that can reduce the cabin noise, was derived through various numerical simulations and real tests.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.16 no.12 s.117
• /
• pp.1238-1243
• /
• 2006

In a wheel loader, the tail-pipe is installed at the exhaust tube of muffler for the reduction of exhaust noise and the cooling of engine room, however, the cabin noise level can be largely increased due to the tail-pipe. In this paper, to grasp and reduce the cabin noise, a series of noise and vibration tests were carried out in addition to numerical simulations. As a result, the transmission path of exhaust noise toward the cabin was exactly identified and the improved shape of tail pipe, that can reduce the cabin noise, was derived through various numerical simulations and real tests.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.19 no.7
• /
• pp.679-684
• /
• 2009

Low frequency exhaust noise of marine diesel engine is one of the most important noise sources in vessels. However, conventional absorptive silencers are ineffective to control exhaust noise because of low absorption in the low frequency range. In the paper, exhaust noise control of marine diesel engine was studied by using the hybrid silencer, which was composed of virtually divided array of concentric hole-cavity resonators and conventional absorptive silencer. A series of tests including field tests were performed to investigate the acoustic performance of the hybrid silencer. Consequently, its high performance of 5${\sim}$10 dB noise reduction in the low frequency range was confirmed and it is expected to be very helpful in reducing the exhaust noise of marine diesel engine.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.05a
• /
• pp.30-35
• /
• 2007

Various acoustic tests were carried out to investigate the acoustic performance of diesel engine exhaust silencers. In order to consider flow effects, test equipment composed of fan, duct and silencer was set up. Using the test equipment, insertion loss tests were carried out to improve the performance in the low-frequency ranges. Through a series of tests, the fact that array resonators may be effective in the low-frequency noise has been verified. Consequently, the hybrid-type silencer which is the combination of reflective silencer with array resonators and conventional absorptive silencer were proposed and its high acoustic performance in the low-frequency range has also been verified.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2008.11a
• /
• pp.155-158
• /
• 2008

This paper shows construction management focused on waste management in construction project in planning stage Construction waste is given a great deal of weight on total waste. And it is issued in government policy. But it show the limit of problem.As a result of having referenced idea as describe above, this paper will be studied by this process. First, present condition of development waste, cases is researched in construction projects. Second, problems of development pattern and management system are investigated and checked in project cases. Third, maintenance and management method project are proposed by application of planning Stage.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2009.04a
• /
• pp.84-89
• /
• 2009

In this paper, the experimental study on the identification of noise sources and noise transmission paths was carried out for the cabin noise control of construction equipment. In order to investigate noise and vibration characteristics of cabin structure, sound absorption, transmission, and radiation tests were performed using cabin assembly models. The noise/vibration source levels were obtained from the real cabins of wheel loader and excavator. Using transfer functions of cabins and real cabins' source data, cabin noise was decomposed into airborne and structureborne noise transmissions. Finally noise sources and major transmission paths were successfully identified for wheel loader and excavator's cabins.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2008.04a
• /
• pp.350-354
• /
• 2008

Low frequency exhaust noise of marine diesel engine is one of the most important noise sources in vessels. However, conventional absorptive silencers are limited because the absorptive material is not effective in low frequency range. In the paper, exhaust noise control of marine diesel engine has been studied by using the resonator type silencer, which was composed of concentric hole-cavity resonators. The acoustic performance of the resonator type silencer was verified by the insertion loss measurement considering flow effect. Consequently, its high performance, about $5{\sim}8dB$ noise reduction, in the low frequency range was confirmed by insertion loss measurements conducted in the ship.

• Proceedings of the International Microelectronics And Packaging Society Conference
• /
• 2002.11a
• /
• pp.191-194
• /
• 2002

본 연구는 친환경재료로서 생체, 전자, 환경재료로서 관심이 증가하고 있는 인산염계 저융점 유리의 열적특성 및 결정화에 대한 연구를 진행하였다. $K_2$O-CaO-P$_2$O$_{5}$ 삼성분계 인산염 유리에 대해 P$_2$O$_{5}$ 함량이 40~60mo1% 범위의 조성을 선정하여 전통 용융법에 의해 제조하였으며, 제조된 유리의 전자 패키징 및 저온소결 첨가제용 frit으로의 적용 가능성을 평가하기 위한 기초 연구로서, DSC, TMA를 통해 열적특성을 평가하였다. 제조된 유리의 연화온도는 320-5$50^{\circ}C$였으며, 열팽창 계수는 26~60$\times$$10^{-6}$/$^{\circ}C$의 범위였다. 제조된 유리의 열분석 결과로부터 최적 결정화 온도를 조사하였으며, 결정화 유리를 제조하여 XRD을 통해 결정상을 조사하였다.