• 대한인간공학회지
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• 제30권2호
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• pp.285-290
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• 2011

Due to the ageing-related degradation in physical and cognitive abilities, the elderly have difficulty in car driving and this is related to the high rate of car accidents among them. This study investigated the kinematic characteristics of old drivers' steering in right turning at intersections by comparing with young drivers. Thirteen old(60~70) and thirteen young(20~30) drivers who participated in the experiment turned their cars right side at intersections in a driving simulator. As results, the completion time of right turning at intersection of old drivers was larger than that of young drivers. The speeds of vehicle at the beginning and ending point of the right turning area of old drivers were smaller than those of young drivers, and also the steering angle at the ending point of the turning area of the former was smaller than that of the latter. The normalized jerk of old driver's steering was significantly larger than that of young drivers. These results indicate that old drivers modify their steering movement repeatedly and take the driving strategy of avoiding risks due to their reduced physical capabilities.

• 한국가스학회지
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• 제13권2호
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• pp.30-35
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• 2009

본 연구는 지중에서 배관이 교차할 때 상부 강성관이 하부 연성관에 영향을 미치는 유효 깊이와 유효 길이에 대한 개념을 이용하여 두 매설 배관의 교차 정도와 배관 사이의 거리에 따른 하부 매설 배관의 영향범위를 파악 하고자한다. 이를 위하여 상부 배관과 하부 배관을 각각 원심력 철근콘크리트관과 가스수송용 강관으로 구현하였다. 이때 1.0m에 매설된 상부 배관으로부터 하부 배관은 각각 0.5m에서 5m의 매설심도를 가지며 두 배관의 교차각을 0, 30, 60, $90^{\circ}$로 변화하여 연구를 진행하였다. 그 결과 유효깊이는 두 매설 배관의 교차각이 증가함에 따라 증가하며, 두 매설관 사이의 거리가 증가함에 따라 감소하다 일정 값으로 수렴하게 된다. 또한 두 교차 배관의 교차 각 증가에 따른 유효길이와 휨응력 합의 관계를 정리하였다.

• 문화기술의 융합
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• 제4권4호
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• pp.367-372
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• 2018

본 논문은 무선 센서 네트워크의 경계노드를 효과적으로 검출하는 알고리즘을 제안한다. 경계노드는 센서 네트워크의 외부 경계 또는 홀의 경계에 존재하는 센서이다. 제안한 알고리즘은 센서의 위치정보만을 이용하여 네트워크의 경계노드를 검출한다. 또한 검출 속도를 향상시키기 위해 센서는 거리에 따라 근접한 센서와의 중첩영역을 먼저 계산한다. 알고리즘의 동작을 검증하기 위해 시뮬레이션을 수행하였다. 시뮬레이션에서 현실 세계를 최대한 반영하기 위해 정해진 영역에 여러 개의 장애물을 설치하고 센서의 개수를 500~1500개 범위에서 다르게 배치하였다. 시뮬레이션을 통하여 제안한 알고리즘이 네트워크 외부 및 홀의 경계에 존재하는 경계노드들을 효과적으로 검출하는 것을 확인하였다.

• 한국산학기술학회논문지
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• 제22권2호
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• pp.514-521
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• 2021

수식적 해법을 이용하여 교차로 교통사고 충돌 속도를 산정을 위해서는 충돌 전 차량 진입각 및 충돌 후 차량 이탈각 추정은 비교적 쉽지만, 충돌 후 차량의 감속을 분석하기는 매우 어렵다. 충돌 지점부터 최종 위치까지 이동하는 과정에서 노면 흔적이 발생하지 않으면, 충돌 후 차량의 감속을 분석하기 어렵다. 차량의 주행 특성에 따른 관성력과 충돌 부위 및 충돌 속도에 따른 편심력 등의 작용으로 충돌 후 차량 운동 궤적은 불규칙한 곡선 궤적을 보인다. 그러므로, 정확한 충돌 속도 분석을 위해서는 충돌 후 적정한 이탈각을 설정하는 것이 매우 중요하다. 본 연구에서는 컴퓨터 시뮬레이션(PC-Crash)을 이용한 모의 충돌 실험 자료에 근거하여 충돌 후 적정한 차량 이탈각과 충돌 속도와의 상관관계를 분석하여 회귀 분석 모형을 제안하고, 교차로 충돌사고에 차량 이탈각만을 적용한 충돌 속도 산출 방법을 제시하였다. 본 연구의 회귀 분석 모형에서 결정 계수는 0.864이므로 제시한 회귀 분석 모형이 매우 적합하다는 것을 알 수 있다.

• Imaging Science in Dentistry
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• 제47권2호
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• pp.93-97
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• 2017

Purpose: The purpose of this study was to evaluate the accuracy of panoramic imaging in measuring the right and left gonial angles by comparing the measured angles with the angles determined using a lateral cephalogram of adult patients with class I malocclusion. Materials and Methods: The gonial angles of 50 class I malocclusion patients (25 males and 25 females; mean age: 23 years) were measured using both a lateral cephalogram and a panoramic radiograph. In the lateral cephalograms, the gonial angle was measured at the point of intersection of the ramus plane and the mandibular plane. In the panoramic radiographs, the gonial angle was measured by drawing a line tangent to the lower border of the mandible and another line tangent to the distal border of the ascending ramus and the condyle on both sides. The data obtained from both radiographs were statistically compared. Results: No statistically significant difference was observed between the gonial angle measured using the lateral cephalograms and that determined using the panoramic radiographs. Further, there was no statistically significant difference in the measured gonial angle with respect to gender. The results also showed a statistically insignificant difference in the mean of the right and the left gonial angles measured using the panoramic radiographs. Conclusion: As the gonial angle measurements using panoramic radiographs and lateral cephalograms showed no statistically significant difference, panoramic radiography can be considered in orthodontics for measuring the gonial angle without any interference due to superimposed images.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.920-923
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using perspective invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of the simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two parallel walls are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points(V.P). Point features for computing cross ratios are extracted robustly using a vanishing point and the intersection points between floor and the vertical lines of door frames. The robustness and feasibility of our algorithms have been demonstrated through experiments in indoor environments using an indoor mobile robot, KASIRI-II(KAist SImple Roving Intelligence).

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1102-1107
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• 2009

An ultrasonic sensor has been widely used as a range sensor for its low cost and capability of detecting some obstacles, such as glasses and black surfaces, which are not well detected by a laser scanner and an IR sensor. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to obstacle avoidance using low-cost anisotropic ultrasonic sensors with wide beam angle. In this paper, obstacles can be detected by the proposed sensor configuration which consists of one transmitter and three receivers. Because even wide obstacles are represented by a point, which corresponds to the intersection of range data from each receiver of the anisotropic sensor, a robot cannot avoid wide obstacles successfully. This paper exploits the probabilistic mapping technique to avoid collision with various types of obstacles. The experimental results show that the proposed method can robustly avoid obstacles in most indoor environments.

• 한국정밀공학회지
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• 제32권7호
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• pp.661-666
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• 2015

This paper presents control performance improvement by modifying center of gravity (COG) of an underwater robotic platform. To reduce the oscillation or to increase the positioning accuracy, it is important to accurately know the COG of an underwater robotic platform. The COG is determined by the three measured tilting angles of the platform in different postures. The tilting angle is measured while the platform is hanged by two strings. Using coordinate transformation, the plane of intersection is defined from the angle of the platform and the position of the string. The COG of the robotic platform is directly calculated by the intersected point in three defined planes. The measured COG is implemented to the control algorithm that is pre-designed in the previous research, and the empirical result on tilting gives 48.26% improved oscillation performance comparing to the oscillation result with the ideal COG position.

• 전자공학회지
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• 제23권12호
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• pp.115-125
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using one degree perspective Invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of a simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two locally parallel sloe-lines are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points. Feature points for cross ratio are extracted robustly using a vanishing point and intersection points between two locally parallel side-lines and vertical lines. Also the local position estimation problem has been treated when feature points exist less than 4points in the viewed scene. The robustness and feasibility of our algorithms have been demonstrated through real world experiments In Indoor environments using an indoor mobile robot, KASIRI-II(KAist Simple Roving Intelligence).

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1996년도 춘계학술대회논문집
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• pp.36-47
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• 1996

By integrating the eye head-position monitioring devices, the present authors developed an eye-controlled human/computer interface based on the line-of-sight and an intentional blink to invoke commands. Also modified was an existing calibration method to reduce the visual angle between the target center and the intersection point of the derived line-of-sight. This modified calibration method allowed 108 or more command blocks to be displayed on the 14 inch monitor with the target acquisition probability(hit rate) of 98% when viewed at the distance of 500 mm apart. An active triggering method using an intentional blink was proposed and was shown to be a feasible and efficient alternative to invoke commands with total triggering time of 0.8 sec or less. The system could be used by the normal people as well as the handicapped individuals as a new human/computer interface.