• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2008.11a
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• pp.241-246
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• 2008

With construction industry recession, many construction companies are increasingly conducting the development projects by themselves. However, housing projects requested by developers still stand large portion. Although many studies on feasibility analysis were released, they mainly focused on economic feasibility and lacked research on factors and criterions of overall project. Also, because previous studies overly break downed factors related to project, they rarely used in practice. Therefore, this study developed the feasibility analysis model of housing development projects to help main contractors to easily and effectively decide if it is feasible enough to promote the projects requested by developers, and verified the reliability of the model. In this study, thirty one driving factors were identified under seven different categories and the criterion of each factor was also developed. The survey on important index of each factor found "salability", "economic feasibility", "site location" and "method of raising fund" significant. 3 projects were tested by the model and its results showed resonable reliability.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.2
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• pp.129-137
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• 2020

Currently, The autonomous vehicle market is researching and developing four-level autonomous vehicles beyond the commercialization of three-level autonomous vehicles. Because unlike the level 3, the level 4 autonomous vehicle has to deal with an emergency directly, the most important aspect of a four-level autonomous vehicle is its stability. In this paper, we propose an Optimized Vehicle Routing System (OVRS) that determines the route with the lowest probability of an accident at the destination of the vehicle rather than an immediate response in an emergency. The OVRS analyzes road and surrounding vehicle information collected by The RSU communication to predict road hazards, and sets the route for the safer and faster road. The OVRS can improve the stability of the vehicle by executing the route guidance according to the road situation through the RSU on the road like the network routing method. As a result, the RPNN of the ASICM, one of the OVRS modules, was about 17% better than the CNN and 40% better than the LSTM. However, because the study was conducted in a virtual environment using a PC, the possibility of accident of the VPDM was not actually verified. Therefore, in the future, experiments with high accuracy on VPDM due to the collection of accident data and actual roads should be conducted in real vehicles and RSUs.

• Journal of Korean Tunnelling and Underground Space Association
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• v.20 no.2
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• pp.433-452
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• 2018

The shield tunneling method can minimize surface settlements by preventing the deformation of tunnel face and tunnel intrados due to tunnel excavation. For this purpose, it is very important to control the operating conditions of shield TBM. The face pressure and backfill pressure for tail void grouting should be the most important and immediate measure not only to restrain surface settlement, but also to influence the effective stress and pore water pressure around the circumstance of tunnel during excavation. The reaction of the ground to the application of face pressure and backfill pressure relies on the stiffness and permeability of ground. Especially, the reaction of saturated clayey ground formations, which shows the time-dependent deformation, is different from the permeable ground. Hence, in this paper it was investigated how the TBM operating conditions, ground stiffness, and permeability impact on the surface settlement of saturated clayey ground. For this purpose, a series of parametric studies were carried out by means of the stress-pore water pressure coupled FE analysis. The results show that the settlement of soft clayey ground is divided into the immediate settlement and consolidation settlement. Especially, the consolidation settlement depends on the ground stiffness and permeability. In addition, the existence of critical face pressure and backfill pressure was identified. The face pressure and backfill pressure above the critical value may cause an unexpected increase in the ground settlement.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.7
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• pp.380-388
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• 2016

Using the magnet gear, it is possible to transmit power without mechanical contact. As the drive shaft in a magnet gear-based speed reducer system is isolated from the drive shaft, the system is a two-inertia resonance system that should cope with an external load with the limited air-gap stiffness. On the other hand, the drive shaft or low-speed side is controlled only by the torque of the drive shaft through an air-gap, and the excessive oscillation or the slip can then be generated because of an abrupt disturbance that is different from the general mechanical gear system. Therefore, the disturbance loaded at the low speed side should be measured or estimated, and considered in the control of the driving shaft. This paper proposes a novel full-state feedback controller with a reduced-order observer for the speed reducer system using a magnet gear with a unified harmonic modulator. The control method was verified by simulation and experiment. To estimate the load at the low speed side, a novel observer was designed, in which the new state variable is introduced and the new state equation is formulated. Using a full-state feedback controller including the observer, the test result against disturbance was compared with two D.O.F PI speed controllers. The pole slip was compensated within relatively a short time, and the simulation result about the estimated variable shows a similar tendency to the test result. The test results showed that the magnet gear-based reducer can be applied to an accurate servo system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.1C
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• pp.26-35
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• 2006

In this paper, an automatic mobile robot system for a intelligent path planning using the detection scheme of the spatial coordinates based on stereo camera is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity map obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation. From some experiments on robot driving with 240 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the mobile robot and the objects, and relative distance between the other objects is found to be very low value of $2.19\%$ and $1.52\%$ on average, respectably.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.11B
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• pp.1346-1356
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• 2011

Transportation has been playing important role in our society by providing for people, freight, and information. However, it cuts its own throat by causing car accidents, traffic congestion, and air pollution. The main cause of these problems is a noticeable growth in the number of vehicles. The easiest way to mitigate these problems is to build new road infrastructures unless resources such as time, money, and space are limited. Therefore, there is a need to manage the existing road infrastructures effectively and safely. In this paper, we propose a road reservation scheme that provides fast and safe response for emergency vehicles using ubiquitous sensor network. Our idea is to allow emergency vehicle to reserve a road on a freeway for arriving to the scene of the accident quickly and safely. We evaluate the performance by three reservation method (No, Hop, and Full) to show that emergency vehicles such as ambulances, fire trucks, or police cars can rapidly and safely reach their destination. Simulation results show that the average speed of road reservation is about 1.09 ~ 1.20 times faster than that of non-reservation at various flow rates. However, road reservation should consider the speed of the emergency vehicle and the road density of the emergency vehicle processing direction, as a result of Hop Reservation and Full Reservation performance comparison analysis. We confirm that road reservation can guarantee safe driving of emergency vehicles without reducing their speed and help to mitigate traffic congestion.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.5 no.1
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• pp.17-25
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• 2011

This paper aims to find the optimal control gain for enhancing the convenience of electric walking frames and design a control algorithm. With the recent advances in medical technology, there has been a rapid increase in the aging population and a variety of mobile walking frames have been developed for improvement of the quality of life. However, the manual walking frames of such mobile aids don't have any electric motor which helps facilitate elderly users' walking and thus are not efficient enough for the old people of weak strength to use especially when moving on uneven surfaces such as slopes or thresholds. The types of electric walking frames have been developed to overcome such inefficiency. Electric walking frames require users' control operations for motor driving unlike manual frames. Therefore, when they are not properly handled, it causes considerable inconvenience to their users. The present study compared the electric walking frames with manual ones in terms of operational convenience and attempted to improve the user convenience of walking frames varying the control value for user convenience based on certain standards. This paper presented a haptic sensor designed to recognize the will to walk and measure the degree of convenience and proposed a control algorithm for improvement of convenience. For user convenience, this paper evaluated the relative convenience of walking frames in view of changing differences between the center of vehicle (COV) and the center of position (COP). With the employment of an electric walking frame and a new measuring method, all the processes were experimentally tested and validated.

• Journal of the Ergonomics Society of Korea
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• v.34 no.3
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• pp.247-264
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• 2015

Objective: The purpose of this study is to determine the priority of information presentation and the effective menu type to be placed in the center of a gauge cluster display for commercial trucks and to present a set of ergonomic designs for the gauge cluster display. Background: An effective ergonomic design is specifically needed for the development of the gauge cluster display for the commercial trucks, because more diverse and heavier information is delivered to truck drivers, compared to the information to passenger car drivers. Method: First, all the information that must be shown on the commercial truck display was collected. Then, the severity, frequency of use, and display design parameters were evaluated for those information by commercial truck drivers. Next, an analysis on the information attributes and the heuristic evaluation utilizing the display design principles were carried out. According to the results, a design alternative of the main screen to be displayed was constructed by priority. A comparative analysis between the alternative and existing main screens was also conducted to see the efficacy of the designs. Lastly, we conducted an experiment for the selection of menu type. The experiment was conducted using the driving simulator with an eye-tracking device. The independent variables were four types of the menu reflecting the commercial truck characteristics such as grid type, icon type, list type, and flow type. We measured preference, total execution time, the total duration of fixation on the gauge cluster area, and the total number of fixation on the gauge cluster area as dependent variables. Results: Four types of driver convenience information and six types of driver assistance information were selected as the information to be placed primarily on the main screen of the gauge cluster. The Grid type was the most effective among the menu types. Conclusion: In this study, the information that appears on the main screen of the display, the division of the display and the design of the menu type for commercial truck drivers were suggested. Application: This study is expected to be utilized as guidelines on the ergonomic design of a gauge cluster display for commercial trucks.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.6
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• pp.6-11
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• 2010

Amount of power generated from solar photovoltaic can vary according to solar flux of sunlight due to nature of solar cell panel, and an angle that the sun and the surface of cell makes brings difference in amount of power generation. Solar flux is decided by location of surface of the Earth that is classified into longitude and latitude, but on the other hand, an angle that the sung and the surface of cell makes can be changed by changing the angle of a solar power generation device at the fixed location. A method of changing the angle of a solar power generation device as a measure for improving practical power generation efficiency. and studies about a solar tracking device for this are in active. This study conducted a research on a solar tracking system for improvement of solar power generation efficiency. A solar tracking system of this study is composed of a sensor part to confirm a location of the sun with a semiconductor photosensor using the photo conductive effect, and it analyzed output signal of a sensor by using microprocessor and it produced a control signal of driving part for tracking the sun. A solar power generator (25W) was produced to analyze performance of a solar tracking system and usefulness of a solar tracking device that was designed and produced in this study was confirmed through experiments.