• Journal of the Korean Society of Safety
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• v.30 no.2
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• pp.70-76
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• 2015

This study deals with the traffic accident of circular intersections. The purpose of the study is to develop the accident models by traffic violation type. In pursuing the above, this study gives particular attention to analyzing various factors that influence traffic accident and developing such the optimal models as Poisson and Negative binomial regression models. The main results are the followings. First, 4 negative binomial models which were statistically significant were developed. This was because the over-dispersion coefficients had a value greater than 1.96. Second, the common variables in these models were not adopted. The specific variables by model were analyzed to be traffic volume, conflicting ratio, number of circulatory lane, width of circulatory lane, number of traffic island by access road, number of reduction facility, feature of central island and crosswalk.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.05a
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• pp.288-291
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• 2022

본 논문은 4족 지능 로봇의 비평탄 지형 극복 기능을 구현하기 위해, 시뮬레이션 환경에서 제공하는 역기구학(Inverse Kinematic)과 개선된 강화 학습 방법(Partially Observable Markov Decision Process)을 분석하여 수립한 알고리즘을 동작 검증을 위한 임베디드 보드(Embedded Board)에 실제 적용하여 보았다. 이 연구를 통해 4족 보행 로봇의 효율적인 지형 극복형 보행 방식 설계 방법을 제안하며, 특히 IMU 센서의 지능적인 균형제어 방법을 평가하고 다양한 통신방식과 서보모터 제어 방식을 실험하고 구현하였다. 또한 모터 가감속 제어를 통해 보다 부드럽고 안정적인 보행을 구현한다.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.353-360
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• 2007

This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.4 s.97
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.05a
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• pp.294-297
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• 2022

본 논문에서는 비평탄 지형 보행이 가능한 이동형 로봇의 설계 최종 목적에 최적화된 12자유도 소형 4족 로봇의 하드웨어를 설계하였으며, 비평탄 지형을 극복하기 위한 지능적인 보행을 설계하고 그에 따른 각 관절별 모터들의 용량을 분석하고 시뮬레이션을 통해 최적의 파라미터값들을 도출한다

• Proceedings of the Korea Information Processing Society Conference
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• 2022.05a
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• pp.298-300
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• 2022

4족 보행 로봇의 보행을 이해하기 위하여 역기구학 분석은 필수적인 요소이다. 본 논문에서는 각 다리가 3개의 자유도를 갖는 보행 로봇에 대한 역기구학을 직관적인 방법으로 해석하여 제공한다. 또한 다리의 끝단에 대응하는 관절 각도를 계산하는 프로그램을 개발하였으며 관련된 입출력 값들의 관계를 그래프 형태로 확인하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.740-742
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• 2022

본 프로젝트에서는 다양한 지형에 구애받지 않고 전천후로 활동할 수 있는 로봇을 구현하기 위해 바퀴형 로봇 보다는 4족 보행 로봇을 채택하여 지형 극복에 더 유리하고 안정적인 자세 제어와 보행을 할 수 있는 동시에 LiDAR 센서와 카메라 모듈을 이용한 SLAM(동시적 위치 추정 및 지도작성)과 원격으로 사물과 사람들을 파악할 수 있는 원격조종 탐사로봇을 개발하고자 한다.

• Journal of Korean Society of Transportation
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• v.25 no.2 s.95
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• pp.63-72
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• 2007

The purpose of this study is to develop a traffic characteristic analysis, a correlation analysis with the variables of traffic characteristics, and accident estimation models while recognizing the seriousness of the traffic accidents. The analyses deal with the 181 4-legged signalized intersections that accounted for 1,183 out of 3,115 accidents in Cheongju in 2004. After measuring ADT, intersection area, average lane width, elevation, and other items as independent variables and the number of traffic accidents, the traffic accident rate (accidents per million entering vehicles) and equivalent property damage only (EPDO) figures as dependent variables which are estimated as influencing signalized intersection accidents, the estimation models are developed using correlation analysis and multiple regression analysis. In the analysis of the number of traffic accidents, the model indicates an $R^2$ of 0.612, and five independent variables are taken as significant factors. In the analysis of traffic accident rates, the model indicates an $R^2$ of 0.304 and five significant factors, including intersection area and ADT. Also, for the analysis or the EPDO numbers, which coincides with understanding the seriousness of the traffic accidents and the traffic characteristic analysis, the model indicates an $R^2$ of 0.559, and four independent variables (ADT, main street average lane width, elevation, and speed limit) as significant factors.

• Journal of Korean Society of Transportation
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• v.31 no.1
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• pp.65-76
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• 2013

Traffic accidents at signalized intersections have been increased annually so that it is required to examine the causation to reduce the accidents. However, the current existing accident models were developed mainly by using non-linear regression models such as Poisson methods. These non-linear regression methods lack to reveal the complicated causation for traffic accidents, though they are the right choice to study randomness and non-linearity of accidents. Therefore, it is required to utilize another statistical method to make up for the lack of the non-linear regression methods. This study developed accident prediction models for 4 legged signalized intersections with Poisson methods and compared them with structural equation models. This study used structural equation methods to reveal the complicated causation of traffic accidents, because the structural equation method has merits to explain more causational factors for accidents than others.

• Bulletin of the Korean Chemical Society
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• v.15 no.11
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• pp.980-984
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• 1994

Monomeric rhodium and iridium diimine complexes $Cp^*M(HNRNH)(Cp^*$ = 1,2,3,4,5-pentamethylcyclopentadienyl : (M=lr; R=o-$C_6H_4 (1a), 4,5-(CH_3)_2-C_6H_2-1,2 (1b), 4,5-(Cl)_2-C_6H_2-1,2$ (1c), NCC=CCN-1,2 (1d): M=Rh; R=NCC=CCN-1,2 (1e)) have been synthesized from $[CP^*MCl_2]_2$ and 2 equiv. of diamine in the presence of $NEt_3$. The Crystal structure of 1a was determined by X-ray diffraction method : 1a was crystallized in the monoclinic system, space group $P2_{1/c}$, with lattice constants a=9.543 (1) ${\AA}$, b=16.286 (1) ${\AA}$, c=10.068 (1) ${\AA}$ and ${\beta}$=99.25 (1), with Z= 4. Least-squares refinement of the structure led to R factor of 0.049. The coordination sphere of rhodium and iridium can be described as a 2-legged piano-stool. All complexes are highly colored. Electrochemical studies show that 1d and 1e display quasi-reversible reduction and 1a-1c display irreversible reductions, suggesting that the acceptor orbital might be localized on the diimine ring.