• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.16-20
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• 2022

Accurate state estimation is important for autonomous driving. However, the estimation error increases in situations that a lot of longitudinal slip occurs. Therefore, this paper presents a vehicle state estimation method using an Extended Kalman Filter. The filter estimates the states of the host vehicle robust to wheel slip. It utilizes the measurements of the four-wheel rotational speeds, longitudinal acceleration, yaw-rate, and steering wheel angle. Nonlinear measurement model is represented by Ackermann Model. The main advantage of this approach is the accurate estimation of yaw rate due to the measurement of the steering wheel angle. The proposed algorithm is verified in scenarios of autonomous emergency braking (AEB), lane change (LC), lane keeping (LK) using an automated vehicle. The results show that the proposed algorithm guarantees accurate estimation in such scenarios.

• International Journal of High-Rise Buildings
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• v.12 no.2
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• pp.153-162
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• 2023

Achieving sustainable spaces is one of the emerging trends of tall buildings regarding their significant impacts on the cities. Reducing energy consumption and material using is investigated as a widely used approach to achieve more efficient tall buildings. Defining more efficient geometries and form modifications have been adopted for this goal. In this paper the effect of plan shape and diagrid angle on structural efficiency of diagrid tall buildings have been studied. A parametric workbench is applied to generate and analyze models. The goal is to find effective form parameters resulting in more efficient forms. Respectively, all models were generated in Rhino/grasshopper architecturally and analyzed by a finite element plug-in structurally. Based on the results, steeper angles almost cause more displacements and needs to be more stiffened. it can be seen almost more sided models need less weight for the structures and it could lead to more efficient forms.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.265-270
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• 1995

In orthogonal cutting a new approach for modeling of burr formation process when tool exits workpiece is proposed. The approach is based on the rigid-plastic FEM combined with the ductile fracture criterion and the element kill method. The approach is applied to simulate a plane strain cutting process. The results of the FEM are compared with those of the experiment. It is shown that the fracture location and fracture angle as well as cutting force can be predicted using the proposed approach with a good correlation to experimental results.

• Journal of Korean Foot and Ankle Society
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• v.17 no.2
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• pp.79-83
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• 2013

Calcaneus is largest tarsal bone and the fracture of calcaneus is most common tarsal fractures. Calcaneal fractures are divided into extra-articular and intra-articular fractures. Intra-articular calcaneal fractures could be classified as tongue type and joint depression type using simple lateral radiograph (Essex-Lopresti classification), but Sanders suggested new classification according to involving the posterior facet of calcaneus using computed tomography. The involvement of posterior facet was revealed as more complicated than Essex-Lopresti classification. The principle purpose of treatment of calcaneal fractures are restoration of calcaneal height (B$\ddot{o}$hler angle), width, axis, anatomical reduction of joint and restoration of function through the stable fixation. Good visualization of joint and anatomical reduction could be achieved by extended lateral approach. But, skin problem could be occurred after of extended lateral approach.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.4
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• pp.125-133
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• 1998

The objective of this study is to propose a new approach for modelling of burr formation process during orthogonal cutting when the tool exits the workpiece. This approach is based on the rigid-plastic finite element method combined with the ductile fracture criterion and the element kill method. This approach is applied to orthogonal cutting process to predict the fracture location and the fracture angle as well as the cutting force. To validate this approach, orthogonal cutting tests inside SEM(scanning electron microscope) at very low speed are carried out using A16061-T6 to observe the behavior of the material during the chip and the burr formation. The results of the experiment are compared with those of the finite element simulation.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.12
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• pp.679-688
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• 2003

In order to navigate the mobile robots safely in unknown environments, many researches have been studied to devise navigational algorithms for the mobile robots. In this paper, we propose a navigational algorithm that consists of an obstacle-avoidance behavior module, a goal-approach behavior module and a radial basis function network(RBFN) supervisor. In the obstacle-avoidance behavior module and goal-approach behavior module, the fuzzy-artificial immune networks are used to select a proper steering angle which makes the autonomous mobile robot(AMR) avoid obstacles and approach the given goal. The RBFN supervisor is employed to combine the obstacle-avoidance behavior and goal-approach behavior for reliable and smooth motion. The outputs of the RBFN are proper combinational weights for the behavior modules and velocity to steer the AMR appropriately. Some simulations and experiments have been conducted to confirm the validity of the proposed navigational algorithm.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.355-359
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• 2006

For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment, a bran-new SINS stationary fast self-alignment approach is proposed. By means of analyzing the characteristic of the strapdown inertial navigation system (SINS) stationary alignment seriously, the new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS. Firstly, coarse alignment algorithm is presented. Secondly, a new fine alignment model for SINS stationary self-alignment is derived, and the observability of the model is analysed. Then, a modified Sage-Husa adaptive Kalman filter is introduced to estimate the misalignment angles. Finally, some computer simulation results illustrate the efficiency of the new approach and its advantages, such as higher alignment accuracy, shorter alignment time, more self-contained and less calculation.

• School Mathematics
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• v.5 no.4
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• pp.401-420
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• 2003

We have many problems in the teaching and learning of proof, especially in the demonstrative geometry of middle school mathematics introducing the proof for the first time. Above all, it is the serious problem that many students do not understand the meaning of proof. In this paper we intend to show that teaching the meaning of proof in terms of historic-genetic approach will be a method to improve the way of teaching proof. We investigate the development of proof which goes through three stages such as experimental, intuitional, and scientific stage as well as the development of geometry up to the completion of Euclid's Elements as Bran-ford set out, and analyze the teaching process for the purpose of looking for the way of improving the way of teaching proof through the historic-genetic approach. We conducted lessons about the angle-sum property of triangle in accordance with these three stages to the students of seventh grade. We show that the students will understand the meaning of proof meaningfully and properly through the historic-genetic approach.

• The korean journal of orthodontics
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• v.44 no.4
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• pp.184-194
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• 2014

Objective: To evaluate the relative importance of bilabial prominence in relation to other facial profile parameters in a normal population. Methods: Profile stimulus images of 38 individuals (28 female and 10 male; ages 19-25 years) were shown to an unrelated group of first-year students (n = 42; ages 18-24 years). The images were individually viewed on a 17-inch monitor. The observers received standardized instructions before viewing. A six-question questionnaire was completed using a Likert-type scale. The responses were analyzed by ordered logistic regression to identify associations between profile characteristics and observer preferences. The Bayesian Information Criterion was used to select variables that explained observer preferences most accurately. Results: Nasal, bilabial, and chin prominences; the nasofrontal angle; and lip curls had the greatest effect on overall profile attractiveness perceptions. The lip-chin-throat angle and upper lip curl had the greatest effect on forehead prominence perceptions. The bilabial prominence, nasolabial angle (particularly the lower component), and mentolabial angle had the greatest effect on nasal prominence perceptions. The bilabial prominence, nasolabial angle, chin prominence, and submental length had the greatest effect on lip prominence perceptions. The bilabial prominence, nasolabial angle, mentolabial angle, and submental length had the greatest effect on chin prominence perceptions. Conclusions: More prominent lips, within normal limits, may be considered more attractive in the profile view. Profile parameters have a greater influence on their neighboring aesthetic units but indirectly influence related profile parameters, endorsing the importance of achieving an aesthetic balance between relative prominences of all aesthetic units of the facial profile.

• Journal of the Korea Convergence Society
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• v.8 no.3
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• pp.185-190
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• 2017

This study investigates the bending stress, shear stress and deformation energy happening at the inner fiber structure when the bending moment is applied to he specimen with flat shape composed of carbon fiber. As CFRP is composed of innumerable fibers with multi-axes, the stress under bending condition can be effectively distributed. Theses stresses is shown to increase again at the starting point as this angle of $60^{\circ}$. Therefore, the condition at the stacking angle of $60^{\circ}$ is seen to become most adequate under the state where the bending stress happens. On the basis of this study result, the damage property by the bending at the plate due to stacking angle was examined through the analytic approach. it is thought that this study can be devoted to the safe design for damage prevention and durabilty improvement. Also, the esthetic sense can be shown as the designed factor of shape with flat plate is grafted onto the convergence technique.