• Proceedings of the Korean Geotechical Society Conference
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• 2005.03a
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• pp.1175-1182
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• 2005

Using KUCCS, which enables real-time monitoring and controlling, the various boundary condition and in-situ field stress condition was simulated, to derive the correlation among ${{\sigma}_v}'-Dr-N$in domestic sandy soils. Soil specimens, having various relative density and confined stress, were formulated to evaluate N-value from the SPT. and Pile Driving Analyzer, PDA, was employed as a measuring device for the energy transfer efficiency in the rod. From the quantitative analysis of N-value, the correlating equation, $N_{60}/{D_r}^2=16.35+14.45{{\sigma}_v}'$ was obtained on the basis of Skempton's method(1986). More reliable soil parameters can be obtained from the N-value by using this study which considered regional characters and the correlation among ${{\sigma}_v}'-Dr-N$.

• Journal of Broadcast Engineering
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• v.20 no.3
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• pp.440-448
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• 2015

A pedestrian collision warning system which makes a judgement of pedestrian's intention to help avoiding hitting accidents is proposed. This system uses the image sequences obtained from a car black box as well as vehicle's speed obtained from a GPS. It detects pedestrians, if any, based on the Histogram of Gradient method and extracts several information such as the pedestrian's relative positions, the direction of motion vectors, and distance between vehicle and pedestrian . A fuzzy logic based on these extracted information is applied to analyze the pedestrian's safety levels. When the safety level is determined to be danger, an alarm is triggered to the driver. The performance of the proposed algorithm is tested under various driving scenarios, which shows it works successfully in real-time.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.835-838
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• 2002

An experiment has been performed using a facility, which simulates the safety depressurization system (SDS) and in-containment refueling water storage tank (IRWST) of APR1400, an advanced PWR being developed in Korea, to investigate the dynamic load resulting from the blowdown of steam from a steam generator through a sparser. The influence of the key parameters, such as air mass, steam pressure, submergence, valve opening time, and pool temperature, on frequency and peak toads was investigated. The blowdown phenomenon was analyzed to find out the real cause of the initiation of bubble oscillation and discrepancy in frequencies between the experiment and calculation by conventional equation for bubble oscillation. The cause of significant damping was discussed and is presumed to be the highly tortuous flow path around bubble. The Rayleigh-Plesset equation, which is modified by introducing method of image, reasonably reproduces the bubble oscillation in a confined tank. Right after the completion of air discharge the steam discharge immediately follows and it condenses abruptly to provide low-pressure pocket. It may contribute to the negative maximum being greater than positive maximum. The subsequently discharging steam does not play as at the driving force anymore.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Journal of IKEEE
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• v.24 no.2
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• pp.497-501
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• 2020

Dehaze is essential for autonomous driving and intelligent CCTV to operate normally even in foggy weather. The method of airlight estimation is particularly important in dehaze technology. In this paper, we propose a patch-based airlight estimation algorithm and hardware structure that can reduce the amount of unnecessary computation and effectively estimate the airlight in various input images. Proposed algorithm is compared with the popular quad-tree method, and the hardware design is implemented by using XILINX's xc7z045-ffg900 target board as a structure that can satisfy to international standard 4K video in real time.

• Journal of Korea Spatial Information System Society
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• v.4 no.1 s.7
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• pp.27-37
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• 2002

Ideas providing an optimal car route using current traffic condition, maintaining the current location and the history of driven route of a car in the main central office, in where GPS signals transmitted from the driving cars are received, have been proposed. Since GPS signals occurred in certain time interval instead of all GPS signals are transmitted from the car due to the cost of transmission, an algorithm that is able to recover the missing GPS signals is required. In this paper, an efficient algorithm, which finds the driven route and the current location of a car fast, is proposed. To verify the efficiency of the proposed algorithm, it is applied to the various real GIS map and it turns out to be very effective.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.10a
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• pp.90-95
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• 2000

This paper presents the vergence control of a parallel stereo camera and its application to underwater stereo camera to enhance the working efficiency of underwater vehicles that equips with manipulators in seabed operation. The stereo camera consists of two parallel lenses mounted on a lateral moving base and two CCD cameras mounted on a longitudinal moving base, which is embedded in a small pressure canister for underwater application. Because the lateral shift is related to the backward shift with a nonlinear relation, only one control input is needed to control the vergence and focus of the camera with a special driving device. We can get a clear stereo vision with the camera for all the range of objects in air and in water, especially in short range objects. The control system of the camera is so simple that we are able to realize a small stereo camera system and to apply it to a stereo vision system for underwater vehicles. This paper also shows how to acquire the distance information of an underwater object with this stereo camera. Whenever we focus on an underwater object with the camera, we can obtain the three-dimensional images and the distance information in real-time.

• Journal of Electrical Engineering and Technology
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• v.9 no.1
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• pp.352-362
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• 2014

In this paper, a fuzzy logic controller is designed for a DC motor which can be used for navigation control of mobile robots. These mobile robots can be used for agricultural, defense and assorted social applications. The robots used in these fields can reduce manpower, save human life and can be operated using remote control from a distant place. The developed fuzzy logic controller is used to control navigation speed and steering angle according to the desired reference position. Differential drive is used to control the steering angle and the speed of the robot. Two DC motors are connected with the rear wheels of the robot. They are controlled by a fuzzy logic controller to offer accurate steering angle and the driving speed of the robot. Its location is monitored using GPS (Global Positioning System) on a real time basis. IR sensors in the robot detect obstacles around the robot. The designed fuzzy logic controller has been implemented in a robot, which depicts that the robot could avoid obstacle as well as perform its operation efficiently with remote online control.

• Journal of Power Electronics
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• v.11 no.4
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• pp.471-478
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• 2011

This paper addresses the establishment of a kVA-range plug-in hybrid electrical vehicle (PHEV) integration test platform and associated issues. Advancements in battery and power electronic technology, hybrid vehicles are becoming increasingly dependent on the electrical energy provided by the batteries. Minimal or no support by the internal combustion engine may result in the vehicle being occasionally unable to recharge the batteries during highly dynamic driving that occurs in urban areas. The inability to sustain its own energy source creates a situation where the vehicle must connect to the electrical grid in order to recharge its batteries. The effects of a large penetration of electric vehicles connected into the grid are still relatively unknown. This paper presents a novel methodology that will be utilized to study the effects of PHEV charging at the sub-transmission level. The proposed test platform utilizes the power hardware-in-the-loop (PHIL) concept in conjunction with high-fidelity PHEV energy system simulation models. The battery, in particular, is simulated utilizing a real-time digital simulator ($RTDS^{TM}$) which generates appropriate control commands to a power electronics-based voltage amplifier that interfaces via a LC-LC-type filter to a power grid. In addition, the PHEV impact is evaluated via another power electronic converter controlled through $dSPACE^{TM}$, a rapid control systems prototyping software.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.3
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• pp.151-169
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• 2014

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.