• Proceedings of the KOR-KST Conference
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• 1999.10a
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• pp.229-234
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• 1999

본 논문은 한국도로용량편람의 신호교차로 용량분석에서 차로이용계수를 적용하는 방법을 신호교차로 용량분석의 절차와 이동류 구분 측면에서 살펴보았다. 고찰한 결과 차로이용계수의 개선방향은 다음과 같다. 첫째, v/c 비에 따라 차로이용계수를 적용함으로써, 반복계산이 불필요하게 발생한다. 따라서 편람 개정시 이러한 반복계산을 없애는 값을 산정해야 한다. 둘째, 차로이용계수는 직진 전용차로를 통과하는 직진교통량에 대해서만 적용해야 한다. 실제 현장에서 교통량 조사 상황을 고려해보면, 상당히 불합리한 값을 도출한 것이다. 따라서 차로이용계수를 적용하는 이동류를 정확히 설명하고 그 문제점을 분명히 해야 한다. 셋째, 차로이용계수는 직진 이동류에 대해서만 있다. 우리 나라 전역에 있는 소규모 교차로를 고려해 볼 때, 차로이용계수는 다양한 차로군(lane group)에 대하여 추가적으로 조사연구가 필요하다.

• The monthly packaging world
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• s.138
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• pp.94-98
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• 2004

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.20-20
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• 2017

궤도형 차량의 이동구조는 에너지 소비 측면에서 단점이 있지만 접지압의 감소로 인한 평지 및 야지험지에서도 원활한 주행이 가능한 장점으로 인해 농업분야의 플랫폼에서 많이 사용된다. 곡식을 베는 일과 탈곡하는 일을 한 번에 하는 콤바인도 이러한 무한궤도형 이동구조를 사용한다. 또한 궤도형 차량의 방향전환 및 주행속도 변환은 좌 우 궤도의 회전 속도를 다르게 하여 동시에 제어하기 때문에 정교한 주행 성능을 위해서는 궤도형 차량의 기구학 모델을 고려한 경로 계획이 필요하다. 본 연구에서는 직교형 포장에서 Round harvesting 기법 기반으로 궤도형 차량의 기구학 모델 및 포장정보를 고려한 자율주행 콤바인 경로계획 알고리즘을 개발하고자 하였다. 이를 위해 Labview 기반의 궤도형 차량 시뮬레이션을 구축하여 실제 포장정보를 이용해 생성 된 경로의 적용 가능성을 구명하고자 하였다. 자율주행 콤바인 경로 계획은 콤바인의 길이, 너비, 회전 시 좌 우 궤도의 속도 비, 직진 속도와 회전 속도 비, 회전 각도, 포장의 외부 경계선, 작업 겹침 량, 회경 횟수를 이용하여 좌현 새머리 선회를 포함한 내부 왕복작업 경로를 생성하며 외부 회경 횟수는 2~3회를 가정하였다. 자율주행 시뮬레이션은 차체와 궤도 자체의 미끄러짐과 작동기 지연시간을 단순화 한 궤도형 기구학 모델형태로 구성하였다. 추종 알고리즘은 선견 거리법을 사용하였으며, 측면 변이값과 방향 오차의 선형조합을 이용하여 조향변수를 정의하고 퍼지로직기반으로 좌 우 궤도 속도를 7 단계화하여 조향장치를 모델링하였다. 실험결과 개발 된 경로생성 알고리즘은 실제 취득 된 포장 외부 경계 GPS 위 경도를 이용해 자동으로 생성이 가능하며 간략화 된 콤바인 시뮬레이션에서 직진주행 RMS 위치 오차는 0.05 m, 선회구간에서 직진 구간 진입 시 RMS 위치 오차는 0.11 m, 직진 구간 RMSE 방향 오차는 3.2 deg로 콤바인 예취부 간격인 30 cm보다 작은 위치 오차를 보이며 생성된 경로 전체 추종이 가능함을 나타내었다.

• Journal of Advanced Navigation Technology
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• v.20 no.4
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• pp.314-320
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• 2016

Inertial navigation system (INS) has used aided systems and sensors to compensate navigation error. Global navigation satellite system (GNSS), velocity measurement sensor (VMS), and radar are commonly used to aid INS. Land navigation system (LNS) also mainly uses VMS when GNSS cannot be used such as at tunnel or on jammed scenario. A straight drive is required when VMS-aided navigation is used, because there is only speed of straight direction whereas no crossways and vertical directions. In local environment, even an expressway has lack of straight drive which is constraint of VMS-aided navigation algorithm. This paper proposes an enhanced VMS-aided navigation algorithm for LNS with indirect drive by restricting filter update condition. Also, there is a result of vehicle test to prove performance of the proposed algorithm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.5
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• pp.29-34
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• 2017

In this paper, we report a method of improving the productivity of lead wire fabricated through the rolling process by increasing its linear velocity. The most important point to consider when raising the linear velocity is that the original specifications must still be adhered to. In other words, the dimensional tolerance must be satisfied when increasing the linear velocity of the wire without causing cracks. However, if the linear velocity of the wire is increased, the degree of reduction must also be increased, which causes more damage to the wire and increases the load on its surface. Therefore, we studied a three step rolling process which can satisfy the specifications of the wire produced through the two step rolling process and improve the productivity. In this study, only the roll gap of the three-stage rolling roller is assumed to be a variable, while the other conditions are the same as the field conditions. In addition, through the PIANO (Process Integration, Design and Optimization) tool, the (optimum?) surface roughness and maximum stress are maintained.

• Journal of the Korean Vacuum Society
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• v.7 no.2
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• pp.118-126
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• 1998

A study to improve filling of semiconductor contact holes by enhancement of the directionality of the source beams has been undertaken. The collimation of source beams was improved by the ionized cluster beam deposition technique with modification of the cell geometry. The collimation tested with neutral beam was excellent. But, the Cu flims were grown in a columnar mode due to the lack of surface mobilit of the impinged clusters. A shadow effect also caused cleavage and consequent discontinuity at the steos as films grow. By applying acceleration voltage, the columnar growth in a contact hole of 0.5 $\mu$m diameter and 1 $\mu$m height disappeared and considerable coverage at the side wall of the contacts as well as perfect bottom coverage were observed. These are all due to the assistants of the accelerated ionized clusters with high kinetic energy. Thus we demonstrated that the ICB deposition technique can be used to completely fill sub-half-micron contact holes with high aspect ratio.

• Journal of Gifted/Talented Education
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• v.26 no.1
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• pp.101-122
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• 2016

The purpose of this study is to explore a possibility finding gifted underachievers who have high spatial ability, but low verbal ability in elementary science field. In Korea, because teachers used to refer students' academic achievement only when they recommend gifted students, underachievers used to be excluded. The participants are 5th-grade students in elementary school. In this research, developed teaching materials were given to students to find underachievers. Results of spatial ability test, verbal ability test, science academic achievement, non-verbal test, and interviews about light propagation concept were obtained. By analyzing results of this study, we found that spatial ability is the most important factors to understand light propagation. And there are some features to understand light propagation according to spatial ability. Lastly, this study shows the possibility of non-verbal test to find gifted underachievers with high spatial ability and low verbal ability.

• Journal of IKEEE
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• v.26 no.4
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• pp.602-613
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• 2022

This paper proposes an algorithm for correcting indirect situations resulting from the wheelchair moving the stairs with wheel-type caterpillar and seat position variable. For analyzing the Yawing movement model, the change of Yaw value was estimated using Roll, Pitch, and Yaw in the driving environment, and it was used as a control variable and the information of the wheel drive controller. The verification confirmed the correction of about 10° of Yawing movement within about 7 seconds. It was confirmed that the angular velocity was reduced by 47.5% in seat position change.

• Journal of the Korea Society of Computer and Information
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• v.14 no.11
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• pp.31-40
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• 2009

The most common cleaning methods of cleaning robot can be divided into two categories: the random and the boustrophedon method. A cleaning robot using the random method moves straight until it bumps into an obstacle. If it collides with an obstacle, the cleaning robot turns a specific angle and continues moving straight. Therefore, the random method often tends to clean the already clean area repeatedly. In addition, it takes a long time to complete cleaning. A cleaning robot using the boustrophedon method moves straight until it collides with an obstacle. If it meets an obstacle, the cleaning robot moves to the next uncleaned space through turning and moving ahead. when resuming cleaning from the new region, a cleaning robot moves in the direction opposite to the direction of the previous cleaning. Because the boustrophedon method cleans a cleaning space more densely, its performance is excellent in an obstacle-free space or a small space. However, In a space with obstacles or a complex structure, it takes a long time to complete the cleaning work. Cleaning should be systematically approached with a good understanding of the work area. The virtual map-based cleaning robot proposed in this paper cleaned a work space efficiently. The efficiency of the proposed method was measured through simulation.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.2 no.1 s.2
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• pp.41-52
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• 2003

The purpose of this study was to test the effects of the pedestrian green signal adjustment on clearance of the turning vehicles impeding the through traffic flow at the signalized intersections, and thereby, suggest some operational criteria for adjustment of the pedestrian green signal. In order to test such effects, the pedestrian green time was adjusted so that it could started a few seconds later than the vehicle green time during peak hours, and thereby, the turning vehicle volume not cleared at the intersection was measured by extending the time gap by 2 seconds. (In general, the pedestrian green signal turns on at the same time as the vehicle green signal.) The results of this test can be summed up as follows; first, the longer the time gap was, the turning vehicle volume not cleared from the intersection decreased more. Second, in case there existed a storage space between intersection and crosswalk the effect of the turning vehicles on the through traffic flows was minimal. Third, at the pelican, the effect of the turning vehicles on the through traffic flow was minimal due to the structure of the intersection and the phase sequence. In conclusion, it was found that the adjustment of pedestrian green signal had the effect of enhancing the intersection operation. When adjusting the pedestrian green signal, it was deemed necessary to thoroughly survey the geometric structure of the intersection and collect the data on the turning traffic volume and thereby, apply the results of analysis flexibly to each intersection.