• Ocean and Polar Research
• /
• v.36 no.4
• /
• pp.465-473
• /
• 2014

This paper proposes a formation control method by which multi-mining robots maintain a specified formation and follow a path. To secure the path tracking performance, a pure-pursuit algorithm is considered for each individual robot, and to minimize the deviation from the reference path, speed reduction in the steering motion is added. For the formation, in which two robots are parallel in a lateral direction, the robots track the specified path at a constant distance. In this way, the Leader-Follower method is adopted and the following robot knows the position and heading angle of the leader robot. Through the experimental test using two ground vehicle models, the performance is verified.

• Journal of Veterinary Clinics
• /
• v.20 no.2
• /
• pp.248-251
• /
• 2003

Esophageal obstruction as a result of persistence of the right aortic arch was diagnosed in a 3-month-old male Persian cat. Regurgitation right after weaning and retardation were noted in this cat. Survey radiographic signs on the lateral view include ventral deviation of the thoracic trachea caused by draping of the dilated esophagus over the dorsum of the trachea and a distinct interface of the dorsal wall of the esophagus silhouetting with the cranial thoracic hypaxial muscles. On the ventrodorsal view, the cranial mediastinum was widened with soft tissue density. The trachea was deviated to the right. In an esophagram, the segmental dilation of the esophagus with constriction of the lumen just cranial to the heart base was apparent. Thoracotomy was performed and corrective surgery was carried out. At surgery, it was confirmed that the esophagus was constricted at the cranial to the base of the heart.

• The korean journal of orthodontics
• /
• v.5 no.1
• /
• pp.11-19
• /
• 1975

This study was undertaken to investigate the exact values of the cephalometric standards of Hellman dental age III B groups of Korean in the reontgenocephalometry. The subjects consisted of 25 males and the same number of females with the normal occlusion and acceptable profile. Each lateral cephalometric head film was taken with the teeth in occlusion and the Focal-film distance was 300cm. Their linear and angular measurements were made directly. The following conclusions were obtained; 1) The author made the tables of standard deviation from the measured values. 2) The degree of the facial convexity of Korean children was larger than that of the white. 3) The labial inclination of the lower central incisor in male was a little greater than that in female.

• Journal of Oral Medicine and Pain
• /
• v.6 no.1
• /
• pp.35-44
• /
• 1981

This study was undertaken to investigate the values of Gonial angle of the aged from 50 to 87 which consisted of 75 males and 47 females and the other values of the cephalometric standards of the aged which consisted of 42 males and 26 females with normal occlusion and acceptable profile. Each lateral cephalometric head films were taken with the teeth in occlusion utilizing the Siemens Cephalometer. The following conclusions were obtained : 1. The author made the tables of standard deviation from the measured values. 2. The degree of the Gonial angel of the aged was larger than that of Korean adults. 3. The degree of length in the values of the cephalometric standards of old aged men was larger than that of women.

• Steel and Composite Structures
• /
• v.26 no.1
• /
• pp.1-15
• /
• 2018

This study reported, the effect of random variation in system properties on bending response of single wall carbon nanotube reinforced composite (SWCNTRC) plates subjected to transverse uniform loading is examined. System parameters such as the SWCNT armchair, material properties, plate thickness and volume fraction of SWCNT are modelled as basic random variables. The basic formulation is based on higher order shear deformation theory to model the system behaviour of the SWCNTRC composite plate. A C0 finite element method in conjunction with the first order perturbation technique procedure developed earlier by the authors for the plate subjected to lateral loading is employed to obtain the mean and variance of the transverse deflection of the plate. The performance of the stochastic SWCNTRC composite model is demonstrated through a comparison of mean transverse central deflection with those results available in the literature and standard deviation of the deflection with an independent First Order perturbation Technique (FOPT), Second Order perturbation Technique (SOPT) and Monte Carlo simulation.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.22 no.3
• /
• pp.241-249
• /
• 2014

This paper presents a path planning algorithm of an autonomous vehicle (ADAM III) for collision avoidance in the presence of multiple obstacles. Under the requirements that a low-cost GPS is used and its computation should be completed with a sampling time of sub-second, heading angle estimation is proposed to improve performance degradation of its measurement and a hierarchical structure for path planning is used. Once it is decided that obstacle avoidance is necessary, the path planning consists in three steps: waypoint generation, trajectory candidate generation, and trajectory selection. While the waypoints and the corresponding trajectory candidates are generated based on position of obstacles, the final desired trajectory is determined with considerations of kinematic constraints as well as an optimal condition in a term of lateral deviation. Finally the proposed algorithm was validated experimentally through field tests and its demonstration was performed in Autonomous Vehicle Competition (AVC) 2013.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.428-428
• /
• 2000

A robust intelligent algorithm for AGV navigation control is presented here based on both magnetic and gyro sensors to track a reference trajectory. Since the proposed system uses an intermittent array of short magnetic tape strips, it lends itself to a very easy installation and maintenance compared to other types of positioning references such as electric wire, magnets, RF and laser beacons. The neural network is to predict the lateral deviation of the AGV in the intervals where no magnetic tape references are available. Further, the use of intelligent control ensures a robust and flexible control performance. Computer simulation of AGV control demonstrates its adequate tracking performances even where the sensor information is not available. Real experiments using Samsung AGV are also on the way for real verification

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.52 no.9
• /
• pp.526-532
• /
• 2003

This paper describes a recognition method of a road direction for an autonomous vehicle based on magnetic sensors. Using the sensors mounted on a vehicle and the magnetic markers embedded along the center of road, the autonomous vehicle can recognize a road direction and control a steering angle. Using the front lateral deviation of a vehicle and the rear one, the road direction is calculated. The analysis of magnetic field, the acquisition technique of training data, the training method of neural network and the computer simulation are presented. According to the computer simulation, the proposed method is simulated, and its performance is verified. Also, the experimental test is confirmed its reliability.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.3
• /
• pp.238-245
• /
• 2001

This paper describes a method for detecting a close leading vehicle using the contour of the vehi-cles rear wheels. The contour of a leading vehicles rear wheels in 속 front road image from a B/W CCD camera mounted on the central front bumper of the vehicle, has vertical components and can be discerned clearly in contrast to the road surface. After extracting positive edges and negative edges using the Sobel op-erator in the raw image, every point that can be recognized as a feature of the contour of the leading vehicle wheel is determined. This process can detect the presence of a close leading vehicle, and it is also possible to calculate the distance to the leading vehicle and the lateral deviation angle. This method might be useful for developing and LSA (Low Speed Automation) system that can relieve drivers stress in the stop-and-go traffic conditions encoun-tered on urban roads.

• The korean journal of orthodontics
• /
• v.15 no.1
• /
• pp.23-42
• /
• 1985

The morphology and growth changes of the Craniofacial Complex are important in orthodontics and cephalometrics for analysis and evaluation of facial bone growth are widely used. The author analyzed the data using lateral cephalometric roentgenogram of 75 Korean male and 50 Korean females age of 6 to 10 with normal occlusion to provide informations-relative rates of facial bone growth of Korean which is to be contributed in Korean standard. The results were as follows: 1. Means, standard deviation and coefficient of variation of Korean children were obtained. 2. The item which showed significent difference between male and female was craniofacial height in absolute dimension. 9. No difference of sex was showed in increment of craniofacial height and depth. 4. Among the craniofacial depth increments, the lower facial depth dimension increased most, midfacial depth dimension increased less, and cranial depth dimension increased the least. 5. The horizontal body of mandible showed rapid growing tendency more than did the ascending ramus.