• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.8
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• pp.1-8
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• 2020

Air ducts installed for ventilation inside buildings accumulate contaminants during their service life. Robots are installed to clean the air duct at low cost, but they are still not fully automated and depend on manpower. In this study, an intersection detection algorithm for autonomous driving was applied to an air duct cleaning robot. Autonomous driving of the robot was achieved by calculating the distance and angle between the extracted point and the center point through the intersection detection algorithm from the camera image mounted on the robot. The training data consisted of CAD images of the duct interior as well as the cross-point coordinates and angles between the two boundary lines. The deep learning-based CNN model was applied as a detection algorithm. For training, the cross-point coordinates were obtained from CAD images. The accuracy was determined based on the differences in the actual and predicted areas and distances. A cleaning robot prototype was designed, consisting of a frame, a Raspberry Pi computer, a control unit and a drive unit. The algorithm was validated by video imagery of the robot in operation. The algorithm can be applied to vehicles operating in similar environments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.83-89
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• 2021

To improve the performance of self-driving cars, the introduction of V2X, a communication technology that connects vehicles, infrastructure, and vehicles, is essential. Even if traffic information of the other vehicle is known, the structure of the intersection and a distance calculation algorithm are required for accurate calculations at roundabouts. This paper proposes a design algorithm for a rotating intersection and implemented in Matlab that complies with the national design rules and enables accurate calculations. Assuming the roundabout and the entrance/exit path to be a circle, a method for measuring the distance between vehicles at an arbitrary point was proposed using the horizontal shift of the entrance circle to the main circle. The algorithm could be used in fully autonomous vehicles by designing a roundabout suitable for the terrain by arbitrarily varying the angle between branches and the radius of curvature of the entrance and exit roads, and transmitting a warning signal when a collision between two driving vehicles is expected.

• Journal of Korean Society of Transportation
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• v.25 no.6
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• pp.55-63
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• 2007

This research deals with the relations between intersection types and traffic accidents in the case of Korean expressways. The purpose of this research is to test the hypotheses that traffic accidents depend on intersection types and geometric design elements. The main research results are as follows. First, the accident comparisons that are drawn from junctions with interchanges, and trumpet interchanges with other types of interchanges respectively displays no significant meaning. However, the differences among four types of trumpet interchanges are found to be meaningful. In other words, the BO type trumpet interchanges seem to have far more traffic accidents than other types of trumpet interchanges. Second, hypothesis tests show that approximately 90 degree and one lane connection roads have lower accident rates. Based on this research, the following directions can be suggested for the safer types of intersections and geometric design elements in freeway construction. From a road safety point of view, it is advisable not to introduce BO type interchanges. It is also desirable that the intersection angle should be approximately 90 degrees. Furthermore, it would be wise to design one lane roads if the connection road has low traffic volumes.

• Journal of the Ergonomics Society of Korea
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• v.35 no.1
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• pp.11-27
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• 2016

Objective: The purpose of this study was to develop and evaluate high technology adaptive driving controls, such as mini steering wheel-lever system and joystick system, for the people with physical disabilities in the driving simulator. Background: The drivers with severe physical disabilities have problems in operation of the motor vehicle because of reduced muscle strength and limited range of motion. Therefore, if the remote control system with driver-by-wire technology is used for adaptive driving controls for people with physical limitations, the disabled people can improve their quality of life by driving a motor vehicle. Method: We developed the remotely controlled driving simulator with drive-by-wire technology, e.g., mini steering wheel-lever system and joystick system, in order to evaluate driving performance in a safe environment for people with severe physical disabilities. STISim Drive 3 software was used for driving test and the customized Labview program was used in order to control the servomotors and the adaptive driving devices. Thirty subjects participated in the study to evaluate driving performance associated with three different driving controls: conventional driving control, mini steering wheel-lever controls and joystick controls. We analyzed the driving performance in three different courses: straight lane course for acceleration and braking performance, a curved course for steering performance, and intersections for coupled performance. Results: The mini steering wheel-lever system and joystick system developed in this study showed no significant statistical difference (p>0.05) compared to the conventional driving system in the acceleration performance (specified speed travel time, average speed when passing on the right), steering performance (lane departure at the slow curved road, high-speed curved road and the intersection), and braking performance (brake reaction time). However, conventional driving system showed significant statistical difference (p<0.05) compared to the mini steering wheel-lever system or joystick system in the heading angle of the vehicle at the completion point of intersection and the passing speed of the vehicle at left turning. Characteristics of the subjects were found to give a significant effect (p<0.05) on the driving performance, except for the braking reaction time (p>0.05). The subjects with physical disabilities showed a tendency of relatively slow acceleration (p<0.05) at the straight lane course and intersection. The steering performance and braking performance were confirmed that there was no statistically significant difference (p>0.05) according to the characteristics of the subjects. Conclusion: The driving performance with mini steering wheel-lever system and joystick control system showed no significant statistical difference compared to conventional system in the driving simulator. Application: This study can be used to design primary controls with driver-by-wire technology for adaptive vehicle and to improve their community mobility for people with severe physical disabilities.

• The Journal of the Acoustical Society of Korea
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• v.28 no.4
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• pp.318-327
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• 2009

In this paper, we propose a 3-D geometric localization method for near-field broadband source in shallow water environments. According to the waveguide invariant theory, slope of the interference pattern which is seen in a sensor spectrogram directly proportional to a range of the source. The relative ratio of the range between source and sensors was estimated by matching of two interference patterns in spectrogram. Then this ratio is applied to the Apollonius's circle which shows the locus of a source whose range ratio from two sensors is constant. Two Apollonius's circles from three sensors make the intersection point that means the horizontal range and the azimuth angle of the source. And this intersection point is constant with source depth. Therefore the source depth can be estimated using 3-D hyperboloid equation whose range difference from two sensors is constant. To evaluate a performance of the proposed localization algorithm, simulation is performed using acoustic propagation program and analysis of localization error is demonstrated. From simulation results, error estimate for range and depth is described within 50 m and 15 m respectively.

• Journal of the Korean GEO-environmental Society
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• v.11 no.8
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• pp.33-40
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• 2010

In this study, evaluation of basic unit of non-point pollutant, which is fundamental evaluation of non-point loading, was conducted using both road point and angle of intersection point in Maesong area, West coast highway by utilizing Event Mean Concentrations(EMC). Concentration of pollutants except heavy metals at these two points rapidly decreased in 30 minutes after start of runoff. According to the results of EMC, for both sampling points, it was determined that the concentrations of TSS(Total Suspended Solid), $BOD_5$(Biological Oxygen Demand), and DOC(Dissolved Organic Carbon) were higher than those of wastewater effluent standard in Korea, however, the concentrations of T-N(Total Nitrogen) and T-P(Total Phosphorus) were lower than those of the standard. In terms of heavy metals, Fe, Pb, and Zn showed higher concentrations than others. When compared with the units established by the Ministry of Environment in Korea, the basic units of $BOD_5$ and T-N in this study were lower. On the other hand, when compared with foreign units, Cu, Pb, and Zn showed approximately 10 times higher concentrations. It was estimated that a long term monitoring should be conducted for obtaining additional data and more reliable basic units for the non-point pollutnats based on the results from this study.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.23 no.1
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• pp.82-96
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• 2024

While analyzing traffic flow, speed, traffic volume, and density are important macroscopic indicators, and acceleration and spacing are the important microscopic indicators. The speed and traffic volume can be collected with the currently installed traffic information collection devices. However, acceleration and spacing data are necessary for safety and autonomous driving but cannot be collected using the current traffic information collection devices. 'You Look Only Once'(YOLO), an object recognition technique, has excellent accuracy and real-time performance and is used in various fields, including the transportation field. In this study, to measure acceleration and spacing using YOLO, we developed a model that measures acceleration and spacing through changes in vehicle speed at each interval and the differences in the travel time between vehicles by setting the measurement intervals closely. It was confirmed that the range of acceleration and spacing is different depending on the traffic characteristics of each point, and a comparative analysis was performed according to the reference distance and screen angle to secure the measurement rate. The measurement interval was 20m, and the closer the angle was to a right angle, the higher the measurement rate. These results will contribute to the analysis of safety by intersection and the domestic vehicle behavior model.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.1546-1551
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• 2004

The laser Doppler technique is well-established as a velocity measurement technique of high precision for flow velocity. Recently, the laser Doppler technique has also been used to measure acceleration of fluid particles. Acceleration is interesting from a fluid mechanics point of view, since the Navier Stokes equations, specifically the left-hand-side, are formulated in terms of fluid acceleration. Further, there are several avenues to estimating the dissipation rate using the acceleration. However such measurements place additional demands on the design of the optical system; in particular fringe non-uniformity must be held below about 0.0001 to avoid systematic errors. Relations expressing fringe divergence as a function of the optical parameters of the system have been given in the literature; however, direct use of these formulae to minimize fringe divergence lead either to very large measurement volumes or to extremely high intersection angles. This dilemma can be resolved by using an off-axis receiving arrangement, in which the measurement volume is truncated by a pinhole in front of the detection plane. In the present study an optical design study is performed for optimizing laser Doppler systems for fluid acceleration measurements. This is followed by laboratory validation using a round free jet and a stagnation flow, two flows in which either fluid acceleration has been previously measured or in which the acceleration is known analytically. A 90 degree off-axis receiving angle is used with a pinhole or a slit.

• Journal of Korean Foot and Ankle Society
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• v.16 no.3
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• pp.169-174
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• 2012

Purpose: There are various methods proposed for the evaluation of the hindfoot alignment. However, due to structural calcaneus variances between patients, it is hard to assess this alignment definitively. Thus, this study proposes a new method for evaluating of the hindfoot alignment and its comparisons to the existing current methods. Materials and Methods: This study includes simple weight bearing hindfoot coronal view radiographs of 120 patients, taken between the time period of March 2008 to November 2009. Among the 120 patients, there was a 1:1 ratio of male to female with an average age of 40. The newly proposed method for evaluating this alignment is to draw a moment arm from the point where the sustentaculum tali meets the medial calcaneus border to the most prominent aspect of the lateral process of the calcaneal tuberosity. The angle produced via the intersection of this moment arm to the mid-longitudinal axis of the tibia is found and used to evaluate the hindfoot alignment. The inter and intra-observer reliability was evaluated using the coefficient of intraclass correlation. This study also investigates the comparisons between the newly proposed method to the traditionally used Saltzman et al hindfoot alignment evaluating technique. Results: The newly proposed method has higher inter and intra-observer reliability than the existing traditional Saltzman et al technique. Conclusion: This new method is recommended over the traditionally used Saltzman et al technique as it has a stronger confidence level and is appropriate for assessing hindfoot alignment in simple radiographs.

• Korean Journal of Materials Research
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• v.33 no.5
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• pp.214-221
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• 2023

As a filler metal for lowering the melting point of Ag, many alloy metal candidates have emerged, such as cadmium, with zinc, manganese, nickel, and titanium as active metals. However, since cadmium is known to be harmful to the human body, Cd-free filler metals are now mainly used. Still, no study has been conducted comparing the characteristics of joints prepared with and without cadmium. In addition, studies have yet to be conducted comparing the typical characteristics of brazing filler metals with special structures, and the joint characteristics of brazing filler metals with available frames. In this study, the characteristics of junctions of silver-based intercalation metals were compared based on the type of filler metal additives, using a special structure, a filler metal sandwich structure, to protect the internal base metal. The general filler metal was compared using the structure, and the thickness of the filler metal according to the thickness was reached. A comparison of the characteristics of the junction was conducted to identify the characteristics of an intersection of silver-based brazing filler metal and the effect on joint strength. Each filler metal's collective tensile strength was measured, and the relationship between joint characteristics and tensile joint strength was explored. The junction was estimated through micro strength measurement, contact angle measurement with the base metal when the filler metal was melted, XRD image observation, composition analysis for each phase through SEM-EDS, and microstructure phase acquisition.