• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.323-328
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• 2011

In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the 3-D obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.39-44
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• 2022

This paper presents LiDAR static obstacle map based vehicle position correction algorithm for urban autonomous driving. Real Time Kinematic (RTK) GPS is commonly used in highway automated vehicle systems. For urban automated vehicle systems, RTK GPS have some trouble in shaded area. Therefore, this paper represents a method to estimate the position of the host vehicle using AVM camera, front camera, LiDAR and low-cost GPS based on Extended Kalman Filter (EKF). Static obstacle map (STOM) is constructed only with static object based on Bayesian rule. To run the algorithm, HD map and Static obstacle reference map (STORM) must be prepared in advance. STORM is constructed by accumulating and voxelizing the static obstacle map (STOM). The algorithm consists of three main process. The first process is to acquire sensor data from low-cost GPS, AVM camera, front camera, and LiDAR. Second, low-cost GPS data is used to define initial point. Third, AVM camera, front camera, LiDAR point cloud matching to HD map and STORM is conducted using Normal Distribution Transformation (NDT) method. Third, position of the host vehicle position is corrected based on the Extended Kalman Filter (EKF).The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment and showed better performance than only lane-detection algorithm. It is expected to be more robust and accurate than raw lidar point cloud matching algorithm in autonomous driving.

• Journal of Korean Society of Transportation
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• v.20 no.5
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• pp.55-66
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• 2002

In many countries the principle of shielding is employed to permit a more logical approach to restricting new construction and prescribing obstacle marking and lighting. It also reduces the number of cases of new construction requiring review by authorities. Shielding principles are employed when some object, an existing building or natural terrain, already penetrates above one of the obstacle limitation surfaces described in Annex 14. If it is considered that the nature of an object is such that its presence may be permanent, then additional objects within a specified area around it may be permitted to penetrate the surface without being considered as obstacle. The shielding effect of immovable obstacles laterally in final approach and missed approach areas is more uncertain. In certain circumstances, it nay be advantageous to preserve existing unobstructed cross section areas, particularly when the obstacle is close to the runway. This would guard against future changes in either approach or take-off climb area specifications or the adoption of a turned take-off procedure.

• Korean Journal of Applied Biomechanics
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• v.21 no.4
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• pp.459-466
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• 2011

The purpose of this study was to analyze of obstacle gait using spatio-temporal and foot pressure variables in children with autism. Fifteen children with autism and fifteen age-matched controls participated in the study. Spatio-temporal and foot pressure variables was investigated using GAITRite pressure sensor system. Each footprint was divided into 12 equal trapezoids and after that the hindfoot, midfoot and forefoot analysis was developed. Independent t-test was applied to compare the gait variables between the groups. The results showed that the autism group were significantly decreased in velocity, cadence, cycle and swing time compared to the control group. The autism group were significantly increased in step width and toe out angle compared to the control group. The autism group were significantly increased at midfoot and forefoot of lateral part of footprint and forefoot of medial part of footprint in the peak time compared to the control group. The autism group were significantly increased at midfoot and hindfoot in $P^*t$, at midfoot in active area, and at hindfoot in peak pressure compared to the control group. In conclusion, the children with autism showed abnormal obstacle gait characteristics due to muscle hypotonia, muscle rigidity, akinesia, bradykinesia and postural control impairments.

• Journal of Advanced Navigation Technology
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• v.10 no.2
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• pp.145-151
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• 2006

In this paper, we propose a novel navigation method combined Nearness Diagram, Limit-Cycle method and the Vector Field Method for avoidance of unexpected obstacles in the dynamic environment. The Limit-Cycle method is used to obstacle avoidance in front of the robot and the Vector Field Method is used to obstacle avoidance in the side of robot. And the Nearness Diagram Navigation is used to obstacle avoidance in the nearness area of the robot. The performance of the proposed method is demonstrate by simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1067-1072
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• 2014

The ability to overcome obstacles is necessary for field robots for various applications including the ability to climb stairs. While much research has been performed focusing on overcoming obstacles, the resulting robots do not have sufficient ability to overcome obstacles such as stairs. In this research, the purpose is to overcome relatively large obstacles by flipping locomotion through the modification of the stair climbing robotic platform of the previous research. We propose two scenarios to overcome large obstacles: a rear wheel driving system and an elevation system using a ball screw. The research is performed based on static analyses on obstacle-climbing. As the simulation results indicate, we determined the optimal posture of the robot for climbing obstacles for rear wheel driving. Also, an elevation system is analyzed for obstacle climbing. Between the two scenarios an elevation system is determined to reduce the operating torque of the actuator, and the prototype was recently assembled. The climbing ability of the robotic platform is verified. We expect the application area for this robotic platform will be in accident areas of nuclear power plants.

• Journal of the Korean Society of Marine Environment & Safety
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• v.14 no.4
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• pp.333-338
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• 2008

The coastal zone is a delicate and dynamic area in which the majority of a water kinetic energy is dissipated. These processes are subsequent to the transport of the beach materials. In comparison to emerged breakwaters, submerged structures permit the passage of some wave energy and in turn allow for circulation along the shoreline zone. This research aims to examine the beach erosion prevention capability of submerged structure by laboratory model. The flow characteristics behind a submerged obstacle with bottom gap were experimentally investigated at Re = $1.2{\times}10^4$ using the two-frame PIV(CACTUS 2000) system. Streamline curvature field behind the obstacle has been obtained by using the data of time-averaged mean velocity information. And the large eddy structure in the separated shear layer seems to have signification influence on the development of the separated shear layer. As bottom gap size increases, the recirculation occurring behind the obstacle moves toward downstream and its strength is weakened.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.30 no.3
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• pp.28-37
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• 2022

Obstacle Limitation Surface (OLS) is conceptual surface establishing the airspace around aerodromes to be maintained from obstacles to ensure safe aircraft operations. Despite advances in the technologies for aircraft, navigation systems and the development of new flight procedures, the criteria defining OLS have not been amended since its initial establishment, resulting in the overestimation of areas for height restriction. As there were requests to examine OLS at the 12th Air Navigation Conference and the 38th ICAO Assembly, the research on the OLS revision began in earnest and ICAO has proposed Obstacle Free Surface (OFS) and Obstacle Evaluation Surface (OES) as an alternative of the existing OLS. OFS is surfaces where obstacles shall not be permitted, and OES is ones where obstacles be evaluated with an aeronautical study and could be permitted under some conditions. The purpose of this study is to preemptively assess the efficiency and safety of OFS and OES by applying them to the second runway (15L/33R) of Incheon International Airport. The results show that OFS and OES are capable of serving the instrument flight procedure safely with a smaller obstacle clearance area compared to the existing OLS.

• Journal of the Korean Institute of Landscape Architecture
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• v.26 no.1
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• pp.96-112
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• 1998

This study aims to evaluate the potential of pro-environmental application(PEP) in streams conceptualized ecological conservation and recreational use to be in harmony with. The main content of research are to clarify the PEP, to establish the evaluation model, and to evaluate 3 streams(Dongchon, Seokhyunchon, Okchon) in Sunchon city. Researchers introduced 12 evaluation items(water quality, water quantity, vegetation-water area, vegetation conservation, streamscape, neighborhood landscape, stream width, optimum area, nearby landuse, facility in stream, distance from user, obstacle to acces) by 5 scales to evaluate the characteristics of natural and artificial factors in stream area and nearby area. Also to decide the weight of items, researchers surveyed the opinion of 22 landscape architects experienced stream-plan through delphi method. Lastly the pro-environmental potential on streams were calculated by the ecological potential and recreational potential indices to be standardized and indicidual sections in streams were divided 5 grades on the basis of PEP. The result of this study are as follows; 1) The evaluation model of PEP was constructed by 4 steps, such as the decision of weight, the measurement of scale, the calculation of potential indices, the gradation of individual sections in streams. 2) The ecological potential were highly influenced by natural factor such as water quality, vegetation conservation, vegetation-water area, but on the other hand the recreational potential were influenced by optimum area, distance from user, water quantity, obstacle to access. 3) The factors such as vegetation conservation, optimum area, nearby landuse, distance from user were function as discernment factors to evaluate relatively ecological and recreational potential. and water quality, water quantity, vegetation -water area, neighborhood landscape were acted as important items to decide PEP.

• Journal of the Korean Society of Safety
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• v.27 no.6
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• pp.70-77
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• 2012

Experimental investigations were performed to examine the characteristics of propagating flame fronts around multiple bars within a rectangular chamber. The explosion chamber is 400 mm in height, $700{\times}700mm^2$ in cross-section and has a large top-venting area, $A_v$, of $700{\times}210mm^2$. This results in a value of 0.44 for $A_v/V^{2/3}$ and a L/D value of 0.57. The multiple obstacles of length 700 mm with a blockage ratio of 30 % were placed within the chamber. Temporally resolved flame front images were recorded by a high speed video camera to investigate the interaction between the propagating flame and the obstacles. Results showed that the flame propagation speeds before the flame impinges onto the obstacle almost equal to the laminar burning velocity. As the propagating flame impinged on the obstacle, the central region of flame began to become concave, this resulted in the flame deceleration in the region. As the flame interacted with the modified flow filed generated behind the central obstacle, the probability density functions(PDFs) of the local flame displacement speed were extensively distributed toward higher speeds.