• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.56-64
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• 2013

We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.845-853
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• 2012

We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot's dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.2
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• pp.397-407
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• 2017

This study investigated current status of rest area for drowsy drivers on the highways and drew the related issues to define specifications and design criteria regarding expressway rest area for drowsy drivers on the highways. Based on the investigation result, geometric structure specifications and improvement plans are suggested. The entry part of a rest area for drowsy drivers on the highways was divided into deceleration transition section, deceleration lane and entry connection road while the exit part was divided into exit connection road, acceleration lane and acceleration transition section. The optimum length was estimated by considering the main lane vehicle traveling speed, traveling speed at the beginning/end point of entry/exit connection roads, deceleration and acceleration. In addition, reasonable design criteria were suggested by dividing the parking section of rest area for drowsy drivers according to parking style and cross-section composition, and length of parking space and then considering the ratio of vehicles using rest area for drowsy drivers, the ratio of heavy vehicles, and the design speed within a rest area for drowsy drivers. It is believed that the suggested design criteria on rest area for drowsy drivers on the highways can be utilized in the future planning and maintenance of rest area for drowsy drivers. Additionally, the defined criteria on installing rest area for drowsy drivers on the highways will prevent traffic accidents in resting facilities and highways as well as improve usage and safety of them.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.11
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• pp.1012-1019
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• 2015

This paper shows the acceleration of iterative physical optics(IPO) for radar cross section(RCS) by using two techniques effectively. For the analysis of the multiple reflection in the cavity, IPO uses the near field method, unlike shooting and bouncing rays method which uses the geometric optics(GO). However, it is still far slower than physical optics(PO) and it is needed to accelerate the speed of IPO for practical purpose. In order to address this problem, graphic processing unit(GPU) can be applied to reduce calculation time and adaptive iterative physical optics-change rate(AIPO-CR) method is also applicable effectively to optimize iteration for acceleration of calculation.

• Journal of Korean Society of Transportation
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• v.30 no.5
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• pp.83-90
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• 2012

Driver ordinarily takes sudden braking when urgent situation is developed or when the vehicle is involved in an unexpected accident. Therefore, the most common trace at a traffic accident scene is skid mark. Currently, in investigating traffic accident, overspeed is determined by the length of skid mark. However, in order to identify accurate cause of accident, estimation of pre-braking speed which takes into account speed reduction during transient time should be considered as a requirement. In a recent study, several ways to estimate pre-braking speed were suggested, but none considered to differentiate the decelerating transient brake section and skidding section. This study analyzed trends of decelerating transient brake section and skidding section by real braking test.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.2173-2178
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• 2008

Railroad is the major factor of vibration source in railway vehicles, and it must carefully maintained the original condition to secure the safety and good ride comfort of passenger. Measuring the condition of rail irregularities such as surface, alignment, gauge, twist and cant etc is required to maintain the good performance of railroad. Currently, the various rail irregularity measurement systems(EM120, ROGER1000K and the Total Rail Irregularity Measurement system of Korea High Speed Train) are operated in Korea to estimate the rail irregularity. It is hard to verify the correlation of one rail irregularity data of a measurement system with the other, because they have been adopted different rail irregularity estimation methods. The best method securing the reliability of the irregularity data is the direct confirmation on the ground where the measurement system had detected as a fault section, but it is impossible to apply all sections simultaneously due to limitation of time, labor, cost and equipments. There is a method to secure the reliability of the data by using acceleration values. Rail irregularities, the major factor of vibration in railway vehicle, are transmitted to the vehicle acceleration through masses, springs, dampers and joints as the system dynamic formation. In this study, Transition Function has been adopted by using the rail irregularity and the acceleration value regarding as input & output parameters respectively. It has been verified by comparing the analyzed results with real measured irregularity data from the Total Rail Irregularity Measurement system of Korea High Speed Train. Also various methods has been accomplished to verify the correlation between rail irregularities and acceleration values.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.5
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• pp.3573-3578
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• 2015

Transition curves are located between curve and straight section in railway. These transition curves are vulnerable to the ride comfort of passengers and safety of a vehicle because lateral acceleration, lateral jerk and roll velocity increase as curvature and cant change along the transition curves. In this paper, ride comfort on the transition curve was calculated on the basis of lateral acceleration and roll velocity measurements. The evaluation of ride comfort was conducted according to the methodology specified in European Standard. The distribution characteristics of the comfort index were investigated for the korean conventional line from the evaluation results. The influence of the curve radius and the vehicle speed on the ride comfort index was also investigated. Finally, the relationship between ride comfort and the rate of cant changes on transition curves was analyzed.

• Journal of Distribution Science
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• v.19 no.9
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• pp.79-90
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• 2021

Purpose: The covid-19 pandemic has led to the implementation of strict measure such as social distancing and lockdown around the globe and these measures has largely affected the retail industry. This study is to examine the negative impacts of the covid-19 pandemic on the acceleration of startups innovation in the retail industry. Research design, data and methodology: The current authors used the qualitative content approach and the data collection process in this procedure starts with a formulated and direct research question which means that rather than asking how a change in one variable leads to a change in the other, the research question seeks to understand the meanings and experiences derived from the piece of communication. Results: This section outlines how retail companies can overcome the adversely effect of the Covid-19 pandemic on the acceleration of startup innovation in the retail industry. The solutions are mostly from peer-reviewed articles. All retailers should respond to the negative impacts of the covid-19 pandemic to ensure their continuity while accelerating startups innovations in the sector. Conclusion: This study implies that the retailing industry, alongside other sectors, should respond to the negative effects of the covid-19 pandemic by encouraging innovations and adaptations. The study has shown that flexibility is very crucial to adapt during the crisis

• Proceedings of the KSR Conference
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• 2007.11a
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• pp.1594-1598
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• 2007

Energy saving is an important topic for each heavy user of the power system, including railway operators. Therefore, four strategy of train operations studied that maximum speed reduction, reduced acceleration rate, anticipatory coasting, and saw-tooth coasting for energy saving. The Simulation model of the study used to investigate the performance of a railway system, and it was used to study the effect of energy saving strategies for the train operation. The Study investigate train operation strategy for energy saving, investigate the effect of strategy, and find the energy optimization of acceleration, coasting, braking section used Run-Curve simulator from train data.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.1224-1228
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• 2009

The korean tilting train can increase the whole operating speed at a curved railroad, reducing the lateral acceleration with the tilting mechanism unlike the train developed before. However, increasing operating speed on the curved section, may cause safety problem of train travel. In general, a suspension system has important effects on driving safety. Therefore, optimization of suspension system is necessary to secure the safety of the tilting train. In this study, the tilting train suspension system has been optimized using Design of Experiments (DOE). First, the design parameter is selected using sensitivity analysis. A lateral acceleration which affects on the driving safety is chosen as the objective function. And the Design of Experiments (DOE) is used for optimization. As a result, new design parameters which show better performance than the existing suspension system has been suggested.