• Journal of the Korean Society of Safety
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• v.35 no.1
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• pp.12-17
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• 2020

This paper analyzes functions of component parts of D-Urban Railway's door system along with operation obstacle risks on frequency(the number of occurrences/year) and severity(delay time/the number of occurrences). Based on this, the paper presents improvements and current system's problems after obstacle risks of EMU and door system are appled. The obstacle of door system causes corrosion of main parts such as DCU due to heat problem of operation environment, problems of maintenance methods and deterioration. DCUs on PCBs with more than 50% pattern corrosion cause problems. Even though the number of door system's obstacle occurrences for the last 5 years is 42, along with 104 minutes of operation obstacle, EMU operation obstacle risk is low(Level 1), which indicates there is limit in matrix of railway risks presented by the standard of railway safety management system. Therefore, it is necessary to have railway risk matrix suitable for the field. Finally, the paper deducts the obstacle risks through frequency and severity. Since 2017 when the risks of EMU and door system's obstacle, that of EMU has been 24(47% reduced) and that of door system has been average 9.5 per year(23% reduced).

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.504-510
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• 1998

In this paper, Fundamental rules governing group intelligence "obstacle avoidance" behavior of multiple autonomous mobile robots are represented by a small number of fuzzy rules. Complex lifelike behavior is considered as local interactions between simple individuals under small number of fundamental rules. The fuzzy rules for obstacle avoidance are generated from clustering the input-output data obtained from the obstacle avoidance algorithm. Simulation shows the fuzzy rules successfully realizes fundamental rules of the obstacle avoidance behavior.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.4
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• pp.386-394
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• 2011

This paper is concerned with the application of the vision control scheme for robot's point placement task in discontinuous trajectory caused by obstacle. The proposed vision control scheme consists of four models, which are the robot's kinematic model, vision system model, 6-parameters estimation model, and robot's joint angles estimation model. For this study, the discontinuous trajectory by obstacle is divided into two obstacle regions. Each obstacle region consists of 3 cases, according to the variation of number of cameras that can not acquire the vision data. Then, the effects of number of cameras on the proposed robot's vision control scheme are investigated in each obstacle region. Finally, the practicality of the proposed robot's vision control scheme is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.

• Journal of Environmental Science International
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• v.8 no.6
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• pp.653-660
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• 1999

The flow of non-rotation atmosphere with uniform stratification and wind past an isolated three dimensional topography obstacle is investigated with three-dimensional hydrostatic and non- hydrostatic numerical model. The characteristic of turbulence created the back of topography obstacle is usually defined by Froude number which is the function of upstream wind speed, the height of topography obstacle, and atmospheric stability. Turbulence tends to be formed more easily at the non-hydrostatic model than hydrostatic model. Especially, the difference between flow patterns of two models generated by isolated obstacle is more clear under low Froude number. The difference of flow patterns can be only seen at relatively low altitude, but at high altitude the patterns of two models are almost same. In this research, wind velocity in the parameters related with Froude number have great sensitivity at responsibility of numerical models. and slop of obstacle is also important factor at the flow pattern regardless of the species of numerical model

• Journal of Electrochemical Science and Technology
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• v.15 no.1
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• pp.132-151
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• 2024

Proton exchange membrane fuel cell (PEMFC) has received extensive attention as it is the most common hydrogen energy utilization device. This research not only investigated the effect of obstacle number and shape on PEMFC performance, but also studied the effect of the blockage degree in the channel of PEMFC on its performance. It was found that compared with traditional scheme, longitudinally distributed obstacles scheme can significantly promote reactants transfer to catalyst layer, and the blockage degree in the channel effect PEMFC performance most. The scheme with 10 rectangular obstacles in single channel and 60% channel blockage had the best output performance and the most uniform distribution of reactants and products. Obstacle height distribution can significantly affect PEMFC performance, the blockage degree in the whole basin was large, particularly as the channel was blocked to higher degree in region 2 and region 3, higher net power density and better mass transfer effect can be obtained. Among them, the fuel cell with the blockage degree of 40%, 60% and 60% in region 1, region 2 and region 3 have the best PEMFC output performance and mass transfer, the net power density was 29.8% higher than that of traditional scheme.

• Journal of Biomedical Engineering Research
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• v.29 no.5
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• pp.384-391
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• 2008

For use in the guide system for the people who are visually impaired, an obstacle searching device using synchronous ultrasonic wave emission was proposed and developed. Generally, the conventional obstacle detection methods use the ultrasonic distance measuring device with successive scan method. However, the scan method causes a theoretical error and it couldn't estimate accurate obstacle distances. The proposed synchronous firing method use the plural number of ultrasonic sensors which emit ultrasonic wave simultaneously and estimate the distance to the closest obstacle relatively accurately. We analytically analyzed the errors of the conventional and proposed methods and compared the quantitative differences of the errors. The differences verified by obstacle search experiments. Using the proposed ultrasonic wave synchronous firing method, 3 dimensional obstacle location estimating device was designed and implemented. The results of the 3 dimensional obstacle detecting experiments showed the proposed method had good performances and it would be sufficiently use in the guide system for the people who are visually impaired.

• Journal of the Korean Solar Energy Society
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• v.38 no.2
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• pp.33-43
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• 2018

PV/Thermal module is the combined system, which consist of a photovoltaic module and solar thermal collector that can obtain electrical power and thermal energy simultaneously. Thus the power generation can be increase by decreasing the temperature of photovoltaic module and thermal energy retrieved from module also can be used for heating system. In this study, Heat transfer performance of air type PV/Thermal module was confirmed with various bottom obstacles that can be installed easily to real photovoltaic module by CFD (computational fluid dynamics) analysis. Eight type obstacles were investigated according to the shape and arrangement. As a result, nusselt number represent heat transfer performance was increased about 86% compare with the basic type PV/Tthermal module that has no obstacle and triangle type obstacle had higher value than other types. But pressure drop was also increased with increment of heat transfer enhancement. Thus the performance factor considering both heat transfer and pressure drop was confirmed and V-fin type obstacle arranged in a row for Reynolds number below 9,600 and protrusion type obstacle arranged in zigzag for Reynolds number above 14,400 were shown higher performance factor than other types. From these results, V-fin type obstacle arranged in row and protrusion type obstacle arranged in zigzag were considered as a proper type for applying to real PV/thermal module according to operating condition. But the heat transfer performance can be changed by the geometric conditions of obstacle such as height, width, length and arrangement. Thus, it could also confirmed that the optimal condition and arrangement of this obstacle need to be found in further study.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.7
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• pp.1866-1872
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• 1994

Turbulent flow in a channel with a square rib periodically mounted on one wall is studied by large-eddy simulation(LES). An efficient 3D Navier-Stokes solver has been written for this geometry using a fractional step method and a multi-grid technique. The Reynolds number considered is 82, 000 based on the mean velocity above the obstacle height. Near-wall turbulence is approximated by a wall-layer model based on the turbulence intensity at the grid point nearest a solid wall. The results show a good qualitative agreement with experiments currently available for a single rib, indicating that LES can be a useful tool in simulating complex turbulent flows.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.12
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• pp.1992-2007
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• 1997

A new algorithm for planning a collision-free path is developed based on linear prametric curve. In this paper robot is assumed to a point, and two linear parametric curve is used to construct a path connecting start and goal point, in which single intermediate connection point between start and goal point is considered. The intermediate connection point is set in polar coordinate(${\theta}{\delta}$) , and the interference between path and obstacle is mapped into CPS(connection point space), which is defined a CWS GM(circular work space geometry mapping). GM of all obstacles in workspace creates overlapping images of obstacle in CPS(Connection Point Space). The GM for all obstacles produces overlapping images of obstacle in CPS. The empty area of CPS that is not occupied by obstacle images represents collision-free paths in Euclidian Space. A GM based on connection point in elliptic coordinate(${\theta}{\delta}$) is also developed in that the total length of path is depend only on the variable .delta.. Hence in EWS GM(elliptic work space geometry mapping), increasing .delta. and finding the value of .delta. for collision-free path, the shortest path can be searched without carring out whole GM. The GM of obstacles expersses all possible collision-free path as empty spaces in CPS. If there is no empty space available in CPS, it indicates that path planning is not possible with given number of connection points, i.e. path planning is failed, and it is necessary to increase the number of connection point. A general case collision-free path planning is possible by appling GM to configuration space obstacles. Simulation of GM of obstacles in Euclidian space is carried out to measure performance of algorithm and the resulting obstacle images are reported.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.249-254
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• 2001

Abstract In this paper, we propose a method of cooperative control based on artifical intelligent system in distributed autonomous robotic system. In general, multi-agent behavior algorithm is simple and effective for small number of robots. And multi-robot behavior control is a simple reactive navigation strategy by combining repulsion from obstacles with attraction to a goal. However when the number of robot goes on increasing, this becomes difficult to be realized because multi-robot behavior algorithm provide on multiple constraints and goals in mobile robot navigation problems. As the solution of above problem, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for obstacle avoidance. Here, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for their direction to avoid obstacle. Our focus is on system of cooperative autonomous robots in environment with obstacle. For simulation, we divide experiment into two method. One method is motor schema-based formation control in previous and the other method is proposed by this paper. Simulation results are given in an obstacle environment and in an dynamic environment.