• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.198-208
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• 2022

In this paper, an autonomous driving system is implemented for the Segye AI Robot Race Competition that multiple vehicles drive simultaneously. By utilizing the ERP42-racing platform, RTK-GPS, and LiDAR sensors provided in the competition, we propose an autonomous driving system that can drive safely and quickly in a road environment with multiple vehicles. This system consists of a recognition, judgement, and control parts. In the recognition stage, vehicle localization and obstacle detection through waypoint-based LiDAR ROI were performed. In the judgement stage, target velocity setting and obstacle avoidance judgement are determined in consideration of the straight/curved section and the distance between the vehicle and the neighboring vehicle. In the control stage, adaptive cruise longitudinal velocity control based on safe distance and lateral velocity control based on pure-pursuit are performed. To overcome the limited experimental environment, simulation and partial actual experiments were conducted together to develop and verify the proposed algorithms. After that, we participated in the Segye AI Robot Race Competition and performed autonomous driving racing with verified algorithms.

• Journal of the Korean Society for Railway
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• v.10 no.6
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• pp.692-700
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• 2007

A trial run of locally-developed tilting train has been in process on Chungbuk line since the test vehicle was first produced. For the system stabilization, interface verification among the systems including track, structure, catenary and signaling system, not to mention the rolling stock, is very crucial. In the area of wayside structure, the stability of track structure and train run shall be evaluated through the review of impact by increased speed by developed train on track structure. The study thus was intended to evaluate the impact on track while a tilting train is running the curve section, which is vulnerable to accelerated train speed. The analysis of tilting train test running the part of Chungbuk line and Honam line was conducted to identify the impact on existing track performance by tilting train. To identify the movement behavior of each part of track while tilting train, high speed train and traditional train (Mugunghwa and freight train) were running the existing line, wheel load, lateral wheel load, rail bending stress, vertical and lateral displacement of rail and vertical displacement of sleeper were compared and analyzed so as to evaluate the expected impact by tilting train for improving the train speed.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.17 no.3
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• pp.333-340
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• 2004

The use of the othotropic steel deck is steadily increased due to the advance of the technology in the steel bridges which recently have been longer. But the othotropic steel deck bridge is the structure that is very fragile to the fatigue, especially, the fatigue crack at the cross of the longitudinal rib and transversal rib is one of the biggest problems that othotropic steel deck bridges have. The causes of these fatigue cracks come from the secondary stress on out-plane behavior of transversal rib. In this study, we conducted the experiment to find the optimal details to improve fatigue strength on intersection between longitudinal rib and transversal rib in the othotropic steel deck bridge through numerical analysis using the experiment of the fatigue in the 3-dimensional real structure and program LUSAS. As a result of study, it is showed that the details of the korean standard section attached with a curved bulkhead plate is the most profitable. And, it is indicated that the stress which is generated when the reform improved section by parametic study can be reduced by about 50% at most or more. Along with the reduced stress and the longer interval between transversal ribs(G=400), the decreased steel amount by 4% and the shortened welding length by 34% make it possible to produce the othotropic steel deck bridge which is strong against fatigue.

• Journal of Korean Society of Transportation
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• v.22 no.3 s.74
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• pp.109-125
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• 2004

In recent decades, microscopic simulation models have become powerful tools to analyze traffic flow on highways and to assist the investigation of level of service. The existing microscopic simulation models simulate an individual vehicle's speed based on a constant free-flow speed dominantly specified by users and driver's behavior models reflecting vehicle interactions, such as car following and lane changing. They set a single free-flow speed for a single vehicle on a given link and neglect to consider the effects of highway design elements to it in their internal simulation. Due to this, the existing models are limitted to provide with identical simulation results on both curved and tangent sections of highways. This paper presents a model developed to estimate the change of free-flow speeds based on highway design elements. Nine neural network models were trained based on the field data collected from seven different freeway curve sections and three different locations at each section to capture the percent changes of free-flow speeds: 100 m upstream of the point of curve (PC) and the middle of the curve. The model employing seven highway design elements as its input variables was selected as the best : radius of curve, length of curve, superelevation, the number of lanes, grade variations, and the approaching free-flow speed on 100 m upstream of PC. Tests showed that the free-flow speeds estimated by the proposed model were statistically identical to the ones from the field at 95% confidence level at each three different locations described above. The root mean square errors at the starting and the middle of curve section were 6.68 and 10.06, and the R-squares at these points were 0.77 and 0.65, respectively. It was concluded from the study that the proposed model would be one of the potential tools introducing the effects of highway design elements to free-flow speeds in simulation.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.13 no.2
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• pp.245-256
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• 2000

A moment-curvature relationship to simulate the behavior of reinforced concrete beam under cyclic loading is introduced. Unlike previous moment-curvature models and the layered section approach, the proposed model takes into consideration the bond-slip effect by using monotonic moment-curvature relationship constructed on the basis of the bond-slip relation and corresponding equilibrium equation at each nodal point. In addition, the use of curved unloading and reloading branches inferred from the stress-strain relation of steel gives more exact numerical result. The advantages of the proposed model, comparing to layered section approach, may be on the reduction in calculation time and memory space in case of its application to large structures. The modification of the moment-curvature relation to reflect the fixed-end rotation and pinching effect is also introduced. Finally, correlation studies between analytical results and experimental studies are conducted to establish the validity of the proposed model.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.5
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• pp.2021-2031
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• 2013

Due to the rapid economic growth within the nation, the quality of life of individuals have improved dramatically. The scope of living activities of individuals have also extended, resulting in a rapidly increasing demand for automobiles. The number of vehicles registered in Korea is rapidly increasing and will reach 188.71 million as of December 2012. Compared to the registered residents of 50.94 million provided by the Ministry of Public Administration and Security, the registered population reflects about 4 people per every automobile. Due to the high demands for vehicles, the demands for parking lots in collective housing and businesses are also increasing. In reality, the current state of expansion of parking lots are underground, due to the limited available space on ground level. Specifically, the slope of a parking lot cannot exceed 17% linear slope and 14% curved slope according to the 'parking lot laws', however studies show that the driver feels at risk for safety when stopped on the parking ramp while driving in the parking lot. This study seeks to examine the suitability of parking lot ramps, concerning the safety aspects of the driver. First, the ramp type was categorized as linear or curved, then test drives were performed based on variations of slopes, slant distances, directions and points. A survey was administered to the driver after the completion of the test drive, in order to element design for an ideal ramp. In the case of curved ramp, the results of the estimate suggests a counterclockwise, slope at a maximum of 12% incline. The maximum slope for a linear ramp was analyzed to be between 13~14%, suggesting that slope greater than 15% need to be eliminated. In conclusion, it is anticipated that the element design parking ramp reported in this study will help to serve as a reference for future parking lot related guidelines, and provide cost effective traffic safety mechanisms in future parking lot businesses to follow.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.5A
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• pp.407-415
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• 2010

In Korea, more than 90% of the total number of steel bridges built for 40~70 m span length is a steel box-girder bridge type. A steel box-girder bridge is suitable for long span or curved bridges with outstanding flexural and torsional rigidity as well as good constructability and safety. However, a steel box-girder bridge is uneconomical, requiring many secondary members and workmanship such as stiffeners and ribs requiring welding attachments to flanges or webs. Therefore, in US and Japan, a plate girder bridge, which is relatively cheap and easy to construct is generally used. One type of the plate girder bridge is the two- or three-main girder plate bridge, which is a composite plate girder bridge that minimizes the number of required main girders by increasing the distance between the adjacent girders. Also, for the simplification of girder section, the stiffener which requires attachment to the web is not required. The two-main steel girder plate bridge is a representative type of plate girder bridges, which is suitable for bridges with 10 m effective width and has been developed in the early 1960s in France. To ensure greater safety of two- or three-main girder plate bridges, a larger steel section is used in the bridge domestically than in Europe or Japan. Also, the total number of two- or three-main girder plate bridge constructed in Korea is significantly less than the steel box girder bridge due to a lack of designers' familiarity with more complex design detailing of the bridge compare to that of a steel box girder bridge design. In this study, a new construction method called Turn Over method is proposed to minimize the steel section size used in a two- or three-main girder plate bridge by applying prestressing force to the member using confining concrete section's weight to reduce construction cost. Also, a full scale 20 m Turn Over girder specimen and a Turn Over girder bridge specimen were tested to evaluate constructability and structural safety of the members constructed using Turn Over process.

• Journal of Korean Society of Transportation
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• v.21 no.1
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• pp.127-136
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• 2003

Road safety is defined under the minimum design standard and design examination process is consisted of the standard according to current road design. However, road safety in practical way is correlative to not only all element of roads but also road shape, such as, between straight line and curved line and between curved lines. Also. it is related to alignments such as horizontal alignment and vertical alignment, and cross section. That is, the practical road design should be examined in both sides of 3 dimension and consecutiveness (consistency) as the actual road is a 3 - dimensional successive object. The paper presents a concept for acceleration to evaluate consistency of road considering actual road shape on 3-dimension. Acceleration of vehicle is influential to road consistency based on running state of vehicles and state of drivers. The magnitude of acceleration. especially, is a quite influential element to drivers. Based on above, the acceleration on each point on 3-D road can be calculated and then displacement can be done. Computation of acceleration means total calculation on each axis. Speed profile refers to “Development of a safety evaluation model for highway horizontal alignment based on running speed(Jeong, Jun-Hwa, 2001)” and then acceleration can be calculated by using the speed pronto. According to literature review, definition of acceleration on 3-D and g-g-g diagram are established. For example, as a result of the evaluation, if the acceleration is out of range, the road is out of consistency. The paper shows calculation for change of acceleration on imaginary road under minimum design standard and the change tried to be applied to consistency. However accurate acceleration is not shown because the speed forecasting model is limited and the paper did not consider state of vehicles (suspension, tires and model of vehicles). If speed pronto is defined exactly, acceleration is calculated on all road shapes, such as. compound curve and clothoid curve. and then it is appled to consistency evaluation. Unfortunately, speed forecasting model on 3 -D road and on compound curves have rarely presented. Speed forecasting model and speed profile model need to be established and standard of consistency evaluation need to developed and verified by experimental vehicles.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.2
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• pp.655-666
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• 2014

Recently, as the appearance and exterior design of the construction structure are highlighted, the irregularly shaped structures are increasing in a construction facility. Many softwares provide a quantity take-off function of 3D object under BIM environment, however, they are focused on the limited function based on the solid modeling method. Because the vast geometric information of the curved surface is difficult to extract in the 3D objects that consist of major changes in vertical section shape as the irregularly shaped structures, it is difficult to express a 3D object as a solid model. On the other hand, the irregularly shaped structures can be expressed in relatively free in the surface model because the surface model consists of points, lines and surfaces. Accordingly, the surface modeling method is suitable for the modeling of large irregularly shaped structures. This study suggests a quantity take-off algorithm for the irregularly shaped structures using the surface modeling approach that is beneficial in the design work of structures. Some case projects are used for verifying the accuracy of the proposed method.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.2
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• pp.627-635
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• 2014

Currently the highest speed limit on the road traffic congestion or because you can not cope with climate change to cause a traffic accident may be a factor. According to the Road Traffic Act as well as 20% to 50% in case of inclement weather, but the driver must slow speed left to the judgment of the difficulties, and to slow the vehicle and the relative velocity between the vehicle does not run longer be a big influence on the environment and safety. Thus, variable speed control for drivers on the road, specify the appropriate maximum speed limit in bad weather It keeps motorists slowed the run rate to prevent accidents or reduce the severity of accident damage is expected to be possible. The purpose of this study is the frequent traffic accidents Continuous Busan (City Freeway) around the variable speed control in the appropriate sections so that it can be done by analyzing the characteristics of traffic accidents were the severity of the accident. Highway and urban environment, the geometry of the structure because it has a lot of Curved planar point compared to wet and dry road surfaces by simulated rain wet had bom the more the speed the greater the risk of an accident was the result. Based on these results, the primary section, first urban highway tunnel, near the lamp, near Toll Plaza, near binary Outlet after considering various factors such as speed reduction is needed in the first period by conducting awareness and recognize the need for the participation of the driver and the future city installation and operation of highways in all sectors is expected to be expanded.