• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.583-586
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• 2003

There are electric four-wheeled vehicles to assist elder people. Because of the vehicles'dynamic characteristic such as impossible to move abeam, it is difficult for these people who has little experience and has little knowledge to drive. Also to judge the future state of dynamic obstacles and to decide how to elude them safely are more difficult. We installed the predictive fuzzy controller(evaluates the future states which several kinds of operation candidates were done and chooses the best one) that modeled humans'algorithms in the system. Human predicts the future states of dynamic obstacles and chooses an operation(wait, steer, go back, etc) to elude safely. To elude dynamic obstacles flexibly, we added expert's knowledge for safe driving to this controller. In this paper, we propose the intelligent soft driving system by the controller that can elude dynamic obstacles safely, and we confirm the effectiveness by a simulation.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.1725-1731
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• 2010

This paper aims to find out the statistical characteristics of the railroad accidents by weather phenomena. For this, It is investigated occurrence frequency of railroad accidents and operation obstacles from 1996 to 2008 in Korea using the KROIS data and Korea railroad accidents reports. The results are as follows; The occurrence frequency of railroad accidents and operation obstacles decrease gradually, and most of railroad accidents is a railroad traffic accidents. The amount of damages by a railroad weather-related accidents is higher than the one of the railroad accidents and operation obstacles. Weather events which is influenced the railroad weather-related accidents and incidents are rainfall, snowfall, lightning, strong winds. And they have occurred a railroad weather-related accidents and incidents, such as rail obstruction, signal failure, and power supply failure.

• Journal of Environmental Science International
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• v.19 no.7
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• pp.917-929
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• 2010

This paper aims to find out the statistical characteristics of the weather related railroad accidents and incidents. Data from Korea Railroad Operation Information System(KROIS) and Korea Railroad Accidents reports during 1996-2008 were used to investigate the occurrence frequency of railroad accidents and operation obstacles and their association with weather phenomena. The results are as follows; The occurrence frequency of railroad accidents and operation obstacles decrease gradually, and most of railroad accidents is a railroad traffic accidents. The amount of damages by a railroad weather-related accidents is higher than those of the railroad accidents and operation obstacles. It was also found that weather events influencing the railroad weather-related accidents and incidents are rainfall, snowfall, lightning, winds. And they caused a railroad weather-related accidents and incidents, such as railway obstruction, signal failure, and power supply failure. Therefore we need research about threshold review and a quantitative and qualitative analysis of a railroad weather-related accidents and incidents according to climate change.

• Journal of Biosystems Engineering
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• v.21 no.2
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• pp.175-181
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• 1996

Autonomous speedsprayer operation was conducted using the developed FLC(Fuzzy Logic Controller). Orchard image and signals of ultrasonic sensors were processed in real time. The speedsprayer was modified to be steered by two hydraulic cylinders. The FLC has two inputs, direction of running and distance from obstacles. The operation time of hydraulic cylinders were inferred as output of the FLC. Field test results showed that the speedsprayer could be autonomously operated by the FLC along with the image processing and the ultrasonic sensors. The ultrasonic sensors didn't contribute to the improvement of guidance performance, but the speedsprayer could avoid trees or obstacles in emergent situations with them.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.648-657
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• 1996

Autonomous speedsprayer operation in an orchard was conducted using a fuzzy logic controller (FLC). Orchard image analysis and signals of ultrasonic sensors were processed in real time. The speedsprayer was modified to be steered by two hydraulic cylinders. The FLC has two inputs of direction of running and distance from obstacles. Operation time of the hydraulic cylinders were inferred as output of the FLC. Field test results showed that the speedsprayer could be autonomously operated by the FLC along with the image processing and the ultrasonic sensors. The ultrasonic sensors didn't contribute to the improvement of guidance performance, but the speedsprayer could avoid trees or obstacles in emergent situations with them.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.17-24
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• 2006

Though the final goal of mobile robot navigation is to be autonomous, operators' intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas cannot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. A collision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.

• Journal of the military operations research society of Korea
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• v.33 no.2
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• pp.1-15
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• 2007

Aircraft operation doesn't consider the fact which can became obstacles. Forecasting, Preparing and Planning can make effective aircraft operation. This study is the find out the method of the effective Aircraft military power management. The force try to analysis the obstancles, aircraft operation ability and prepared military power. This study was analysis by ARENA 10.0. The obstacles consider to four category; weather, CBR warfare. aircraft accident and battle damage. And This study conduct the sensibility which can influence the aircraft operation.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.88-93
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• 1993

This paper introduces an ARV(Autonomous Road Vehicle) system which can run on orads without help of a driver by detecting road boundaries through computer vision. This vehicle can also detect obstacles in front through sonar sensors and infrared sensors. This system largely consists of a handle steering module and a braking module. From road boundaries, the steering module determines handle turn angle. The braking module stops or decelerates to avoid collision depending on the relative speeds and distance to the obstacles detected by different sensors. This ARV system has been implemented in a small jeep and can run 30-40 km/h city traffic. In this paper, we illustrate the structure of the ARV systems and its operation principle.

• Journal of Elementary Mathematics Education in Korea
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• v.14 no.2
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• pp.241-262
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• 2010

This study was carried out to identify the cognitive obstacles while using addition and subtraction with fractions, and to analyze the sources of cognitive obstacles. For this purpose, the following research questions were established : 1. What errors do elementary students make while performing the operations with fractions, and what cognitive obstacles do they have? 2. What sources cause the cognitive obstacles to occur? The results obtained in this study were as follows : First, the student's cognitive obstacles were classified as those operating with same denominators, different denominators, and both. Some common cognitive obstacles that occurred when operating with same denominators and with different denominators were: the students would use division instead of addition and subtraction to solve their problems, when adding fractions, the students would make a natural number as their answer, the students incorporated different solving methods when working with improper fractions, as well as, making errors when reducing fractions. Cognitive obstacles in operating with same denominators were: adding the natural number to the numerator, subtracting the small number from the big number without carrying over, and making errors when doing so. Cognitive obstacles while operating with different denominators were their understanding of how to work with the denominators and numerators, and they made errors when reducing fractions to common denominators. Second, the factors that affected these cognitive obstacles were classified as epistemological factors, psychological factors, and didactical factors. The epistemological factors that affected the cognitive obstacles when using addition and subtraction with fractions were focused on hasty generalizations, intuition, linguistic representation, portions. The psychological factors that affected the cognitive obstacles were focused on instrumental understanding, notion image, obsession with operation of natural numbers, and constraint satisfaction.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.1168-1173
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• 2007

The Seoul Subway is one of the most heavily used Subway System in the world. It provides reliable transportation services, conveys nearly 4 million Passengers across 117 subway stations with a length of 134.9 Km. Over the years the safety for the Subway has been a major concern, trains going off the track, equipment failure, careless operation, Signal failure are increasing day by day. In a Recent Public opinion 40% said the causes to above facts are Vehicle breakdown because of Operators, Old rail defect, Quality of material. 20% of the opinion said the obstacles were because of Operation, crew carelessness, negligence in signal operation. In case of any accident the crew members cannot resolve the issue on site (Aid insufficiency), because of lack of knowledge and carelessness. The main obstacles for Subway are vehicle breakdown, Electric equipment failure, Signal Equipment failure, and Crew carelessness. This paper aims to provide major problems which are needed to be solved as quickly as possible for citizen's safety for a comfortable subway system making a comfortable ride and providing better service gradually.