• KIPS Transactions on Computer and Communication Systems
• /
• v.6 no.6
• /
• pp.271-280
• /
• 2017

In this paper, we propose a new safety system composed of wearable devices, driver's seat belt, and integrating controllers. The wearable device and driver's seat belt capture driver's biological information, while the integrating controller analyzes captured signal to alarm the driver or directly control the car appropriately according to the status of the driver. Previous studies regarding driver's safety from driver's seat, steering wheel, or facial camera to capture driver's physiological signal and facial information had difficulties in gathering accurate and continuous signals because the sensors required the upright posture of the driver. Utilizing wearable sensors, however, our proposed system can obtain continuous and highly accurate signals compared to the previous researches. Our advanced wearable apparatus features a sensor that measures the heart rate, skin conductivity, and skin temperature and applies filters to eliminate the noise generated by the automobile. Moreover, the acceleration sensor and the gyro sensor in our wearable device enable the reduction of the measurement errors. Based on the collected bio-signals, the criteria for identifying the driver's condition were presented. The accredited certification body has verified that the devices has the accuracy of the level of medical care. The laboratory test and the real automobile test demonstrate that our proposed system is good for the measurement of the driver's condition.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.19 no.12
• /
• pp.910-917
• /
• 2018

This paper describes the developments to improve the feeling and safety of the remote control system of unmanned vehicles. Generally, in the case of the remote control systems, a joystick-type device or a simple steering-wheel are used. There are many cases, in which there are operations without considering the feedback to users and driving feel. Recently, as the application area of the unmanned vehicles has been extended, the problems caused by not considering the feedback are emphasized. Therefore, the need for a force feedback-haptic control arises to solve these problems. In this study, the force feedback-haptic control algorithm considering the vehicle parameters is proposed. The vehicle parameters include first the state variables of dynamics, such as the body side-slip angle (${\beta}$) and yawrate (${\gamma}$), and second, the parameters representing the driving situations. Force feedback-haptic control technology consists of the algorithms for general and specific situations, and considers the situation transition process. To verify the algorithms, a simulator was constructed using the vehicle dynamics simulation tool with CAN communication environment. Using the simulator, the feasibility of the algorithms was verified in various scenarios.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2017.05a
• /
• pp.463-466
• /
• 2017

The purpose of this paper is to develop a module capable of all-directional driving different from conventional wheeled robots, and to solve the problems of the conventional mobile robot with side driving performance degradation, It is possible to overcome the disadvantages such as an increase in the time required for the unnecessary driving. The all - direction spherical wheel drive module for driving a ball - balancing robot is required to develop a power transfer mechanism and a driving algorithm for driving the robot in all directions using three rotor casters. 3DoF (Axis) A driver with built-in forward motion algorithm is embedded in the module and a driving motor module with 3DoF (axis) for driving direction and speed is installed. The movement mechanism depends on the sum of the rotation vectors of the respective driving wheels. It is possible to create various movement directions depending on the rotation and the vector sum of two or three drive wheels. It is possible to move in different directions according to the rotation vector field of each driving wheel. When a more innovative all-round spherical wheel drive module for forward movement is developed, it can be used in the driving part of the mobile robot to improve the performance of the robot more technically, and through the forward-direction robot platform with the drive module Conventional wheeled robots can overcome the disadvantage that the continuous straightening performance is lowered due to resistance to various environments. Therefore, it is necessary to use a full-direction driving function as well as a cleaning robot and a mobile robot applicable in the Americas and Europe It will be an essential technology for guide robots, boarding robots, mobile means, etc., and will contribute to the expansion of the intelligent service robot market and future automobile market.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.11
• /
• pp.6015-6022
• /
• 2013

It has been known that there are large amount of nitric acid and valuable metals, copper in the plating waste solution of automobile wheel. As nitric acid and valuable metals are high price and toxic, they should be recovered for economics and environment. Plating waste was extracted with TBP diluted with kerosene. The concentration of nitric acid in aqueous phase was analyzed by titration method by NaOH solution (0.1~1.0N) and the amount of metals by ICP-MS and ICP-AES. The concentration of copper in plating waste were 76,850 mg/L. The concentration of nitric acid in plating waste was 1.02 M. After three step extraction was performed with 50% TBP, each organic phase was stripped three times with distilled water to obtain 48.1% of nitric acid. Purity of final nitric acid was over 99.9% by ICP analysis. After recovery of nitric acid, copper was extracted with various solvent extractors like PC 88A, D2EPHA, LIX 84 and ISE 106. Among these extractors, 92% of copper was recovered by ISE 106 after 1st extraction and 30% $H_2SO_4$ stripping. Copper ion was reduced with $N_2H_4$ to make metal powders, respectively.

• Journal of the korean Society of Automotive Engineers
• /
• v.24 no.5
• /
• pp.98-103
• /
• 2002

이제 카트 정렬과 휠 셋업에 필요한 최적의 변수들을 알아보았다. 실제 세팅은 위에서 언급한 내용 이외에도 많은 것들을 고려하여야 한다. 타이어 접지력의 세팅은 경기장, 날씨, 제품의 불 균일성 등을 고려하여 야 한다. 즉, 어떤 경기장은 코너의 반경이 다른 경기 장 보다 크며 어떤 경기장은 코너가 매우 많기도 하여 세팅을 상황에 맞게 하여야 하는 것이다. 각각의 변수를 세팅할 경우는 중간 값을 취하는 것이 바람직하여 이 중간 값을 취하는 것이 바람직하며 이 중간 값을 각각의 경기장의 특성에 맞추어 변화시키면 되는 것이다. 예를 들면, 접지력이 작게 발생되는 경기장(혹은 매우 추운날씨) 에서는 캐스터를 코기 하여 초기 회전 발생이 용이하게 할 수도 있다. 또한 토우인 값을 크게 하여 타이어가 마찰을 더욱 많이 발생하여 타이어의 온도가 급격히 상승하여 원하는 접지력의 수준에 용이하게 도달할 수 있게 하는 것이다. 그러나 이러한 세팅은 다른 핸들링 문제를 야기할 수 있다는 것을 이해하여야 하며 이러한 문제를 해결하는 또 다른 노력이 필요하게 되는 것이다. 가장 중요한 것은 후륜 내측으로부터는 조종 성능을 향상시키는데 필요한 접지력을 거의 기대하지 못한다는 것이며 마찰이 적게 발생하여 손쉽게 동력 손실을 초래하고 있다는 것이다. 그러므로 회전을 할 경우에도 속도를 낮추어서는 안되며 이렇게 하이야 핸들링이 매우 용이하게 되는 것이다. 그러나 위의 설명에서도 보았듯이 일부 세팅을 변경하면 여러 곳이 그 효과가 나타난다. 예를 들어 후륜의 간격을 변화시키면 카트에서 무게이동 뿐만 아니라 회전 시에 가속이나 감속에 의한 회전 토크의 효과도 달라지게 된다. 특정한 세팅의 변화가 어떻게 작용할 것이라는 확신을 가지고 있다고 할지라도 세팅에서 가장 중요한 것은 주행 기록이다. 여기서 설명되어진 많은 내용이 주행 기록을 향상시키기를 바라는 바이다.간이 육색과 총육색소 함량에는 영향을 미치지 않는 것으로 나타났다. 관능적 특성평가 중 육색과 육즙참출은 대조구와 비교하여 CLA급여 처리구가 유의적인 차이가 없었으나, 근내지방 축적 정도와 전체적인 기호성은 대조구에 비하여 CLA 급여 처리구가 유의적으로 높은 평가를 받았다(p<0.05). 간격은 술 후 1년 후까지도 지속적으로 감소하는 경향을 보였다. 따라서 이 기간동안에는 추적관찰이 필요한 것으로 생각된다.경미하게 나타났으며, 이는 2% 흥국 첨가식이의 섭취로 인한 bromobenzene 대사 및 유해산소 해독의 촉진에 기인되기 때문일 것으로 생각된다.다.과 및 지질과산화억제효과의 순과 일치하였다. 총 flavonoid 함량은 DPPH 라디칼 제거효과에 대한 $IC_{50}$/ 값과 높은 상관관계(r=-0.9924, p<0.01)를 나타내었다.이 우수한 심근보호 효과를 나타내나, 허혈시간이 2시간을 초과하면 심근의 혈역학적 기능과 미세구조의 변화는 중등도의 저온(22∼24$^{\circ}C$)에서 유의하게 악화되었다. 이 같은 결과로 볼 때 심근 허혈시간이 2시간을 초과한다면 심근 온도를 낮추어야 할 것으로 판단된다. 7.2, with 64.0% of office workers having an average level between 6- and 9. The degree of stress was higher for females than males, for unmarried salaried and hot-tempered persons. Those not doing exercise were subject to the highest levels of stress, and those a having sufficient sleep were found to be subject to less stress.

• Journal of Aerospace System Engineering
• /
• v.15 no.5
• /
• pp.24-32
• /
• 2021

Personal Air Vehicle (PAV), Cargo UAS (Cargo UAS), and existing manned and unmanned aircraft are key vehicles for urban air mobility (UAM), and should demonstrate compatibility for the design of aircraft systems. The safety assessment required by for certification to ensure safety and reliability should be systematically performed throughout the entire cycle from the beginning of the aircraft development process. However, with the increasing complexity of safety critical aviation systems and the application of state-of-the-art systems, conventional experience-based and procedural-based safety evaluation methods make ir difficult to objectively assess safety requirements and system safety. Therefore, Model-Based Safety Assessment (MBSA) using modeling and simulation techniques is actively being studied at domestic and foreign countries to address these problems. In this paper, we propose a Model-Based Safety Evaluation framework utilizing modeling and simulation-based integrated flight simulators. Our case studies on the Traffic Collision Availability System (TCAS) and Wheel Brake System (WBS) confirmed that they are practical for future safety assessments.