• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.123-128
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• 2021

This paper present box feature estimation from LiDAR point cluster using maximum likelihood Method. Previous LiDAR tracking method for autonomous driving shows high accuracy about velocity and heading of point cluster. However, Assuming the average position of a point cluster as the vehicle position has a lower accuracy than ground truth. Therefore, the box feature estimation algorithm to improve position accuracy of autonomous driving perception consists of two procedures. Firstly, proposed algorithm calculates vehicle candidate position based on relative position of point cluster. Secondly, to reflect the features of the point cluster in estimation, the likelihood of the particle scattered around the candidate position is used. The proposed estimation method has been implemented in robot operating system (ROS) environment, and investigated via simulation and actual vehicle test. The test result show that proposed cluster position estimation enhances perception and path planning performance in autonomous driving.

• 한국해양학회지
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• v.30 no.6
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• pp.543-549
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• 1995

The inverse method has been used to estimate a surface velocity field from sequential AVHRR/SST data. In the model, equation system was composed of heat equation and horizontal divergence minimization and the velocity field contained in the advective term of the heat equation, which was linearized in grid system, was estimated. A constraint was the minimization of horizontal divergence with weighting factor and introduced to compensate the null space(Menke, 1984) of the velocity solutions for the heat equation. The experiments were carried out to set up the range of weighting factor and the matrix equation was solved by SVD(Singular Value Decomposion). In the experiment, the scales of horizontal temperature gradient and divergence of synthetic velocity field were approximated to those of real field. The neglected diffusive effect and the horizontal variation of heat flux in the heat equation were regarded as random temperature errors. According to the result of experiments, the minimum of relative error was more desirable than the minimum of misfit as the criteria of setting up the weighting factor and the error of estimated velocity field became small when the weighting factor was order of $10^{-1}$

• Journal of Navigation and Port Research
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• v.38 no.6
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• pp.577-583
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• 2014

A ship-to-ship (STS) lightering operation takes place in order to transfer cargo (e.g. crude oil or petroleum products) between an ocean-going ship and a service ship alongside it. Instrumental measurements to accurately determine the relative speeds and distances during the approach between the vessels would benefit the operational safety and efficiency. A velocity information GPS (VI-GPS) system, which uses the instantaneous velocity measures from carrier-phase Doppler measurement, has been applied in a field observation onboard a service ship (Aframax tanker) approaching a ship-to-be-lightered (VLCC) in open waters. This article proposes to apply VI-GPS as the input sensor to a guidance and decision-support system aiming to provide accurate velocity information to the officer in charge of an STS operation. A method for precise velocity measurement using VI-GPS was described and the measurement results were compared each other with the results of Voyage Data Recorder (VDR) and VI-GPS that showed the concept of a guidance and decision-support system applying VI-GPS with the field test results during STS operations. Also, it turned out that VI-GPS has sufficient accuracy to serve as an input sensor from the field test results.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.2
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• pp.156-163
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• 2013

Collision probability is the most common method to measure the risk of space debris, it is widely used that two dimensional linear collision probability using the closest approach distance. This paper represents the characteristics of object that approach KOMPSAT 2, 3, 5 that have operated or will be operated by Korea. And more precise method than two dimensional linear collision probability, we analyzed the properties of three dimensional nonlinear collision probability using STK/Nonlinear Collision Probability Tool. Through this, efficiency of three dimensional nonlinear collision probability for KOMPSAT series satellites was investigated. The result represents that three dimensional nonlinear collision probability showed the precise outcome at a relative velocity of less than 350m/s. Also, KOMPSAT series satellites appeared to few low relative velocity approaches and showed low efficiency for the three dimensional nonlinear collision probability.

• Fire Science and Engineering
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• v.24 no.6
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• pp.170-175
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• 2010

The effect of carbon dioxide addition on soot formation was investigated in jet diffusion flames in coflow. Flame temperature were measured with R-type thermocouple and the boundary temperature between blue and yellow flame was confirmed. Light-extinction method was introduced for the relative soot density (1-I/$I_0$) in the in-flame region. He-Ne laser with wave length at 632.8 nm was used for the light source, and the signal attenuated by absorption and scattering was detected directly. Oxidizer velocity effect on soot formation was studied to know that the thermal influence for soot formation. The results showed that the temperature of both blue and yellow flame were decreased according to the dilution of carbon dioxide but boundary temperature was nearly constant. The relative soot density was lower when carbon dioxide was added in oxidizer stream and oxidizer velocity increased. These were caused by the reduction of flame temperature and shorter residence time for soot growth. Also carbon dioxide addition enhanced the instability of jet flames like flickering, so the flame length was a little longer than pure ethylene/air flame.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.5
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• pp.959-967
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• 1988

In this paper, 2-DOF vehicle suspension system with a semiactive on-off damper was studied for improving the ride comfort. It is known that a nonlinear hydraulic damper, which generates force proportional to the square of the relative velocity, can describe the actual fluid resisting type damper more properly than the traditional viscous damping model. On the other hand, hydraulic damper adoption in analysis makes the system nonlinear and causes difficulties to get the system response. In this work, time domain direct integration method was used to calculate system displacement and acceleration. first of all, the response of the suspension system experiencing a given road profile was optimized by Lagrangian multiplier method within the range of given damping coefficients. The appropriate on-loaf damping values were obtained by averaging the already calculated optimum damping coefficients from Lagrangian techniques. The criterion to control the on-off mechanism was determined by examining the suspension efficiency. It was found that the best out of practically applicable criteria is following the sign (positive and negative) of the multiplication of relative displacement and velocity. Judging from the theoretical calculations, it was proved that the semiactive on-off damper can increase suspension efficiency as much as 8-11% in object function.

• Wind and Structures
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• v.34 no.2
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• pp.215-230
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• 2022

Majority of transmission line system failures at many locations worldwide have been caused by severe localized wind events in the form of tornadoes and downbursts. This study evaluates the structural response of two different transmission line systems under equivalent F2 tornadoes obtained from real incidents. Two multi-span self-supported transmission line systems are considered in the study. Nonlinear three-dimensional finite element models are developed for both systems. The finite element models simulate six spans and five towers. Computational Fluid Dynamics (CFD) simulations are used to develop the tornado wind fields. Using a proper scaling method for geometry and velocity, full-scale tornado flow fields for the Stockton, KS, 2005 and Goshen County WY, 2009 are developed and considered together with a previously developed tornado wind field. The tornado wind profiles are obtained in terms of tangential, radial, and axial velocities. The simulated tornadoes are then normalized to the maximum velocity value for F2 tornadoes in order to compare the effect of different tornadoes having an equal magnitude. The tornado wind fields are incorporated into a three-dimensional finite element model. By varying the location of the tornado relative to the transmission line systems, base shears of the tower of interest and peak internal forces in the tower members are evaluated. Sensitivity analysis is conducted to assess the variation of the structural behaviour of the studied transmission lines associated with the location of the tornado relative to the tower of interest. The tornado-induced forces in both lines due to the three different normalized tornadoes are compared with corresponding values evaluated using the simplified load case method recently incorporated in the ASCE-74 (2020) guidelines, which was previously developed based on the research conducted at Western University.

• Structural Engineering and Mechanics
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• v.67 no.1
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• pp.53-67
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• 2018

The changes of parameters of pressure and velocity of propagation of elastic pressure and shear waves in uniformly deformed solid compressible media are studied within the nonclassically linearized approach (NLA) of nonlinear elastodynamics to create a new theoretical basis of the geomechanical interpretation of various groups of geophysical observational and experimental data. The cases of small and large deformations are considered while their describing by various elastic potentials, i.e., problems considering the physical and geometric nonlinearity. Convenient analytical formulae are obtained to calculate the indicated parameters in the deformed isotropic media within the nonclassical linear and nonlinear solution in the NLA. Specific numerical experiments are conducted in case of overall compression of various materials. It is shown that the method (generally accepted in the studies of mechanics of standard constructional materials) of additional linearization (relative to the pressure parameter) in the basic correlations of the NLA introduces substantial quantitative and qualitative errors into the results at significant preliminary deformations. The influences of the physical and geometric nonlinearity on the studied characteristics of the medium are large in various materials and differ qualitatively. The contribution of nonlinear components to the values of the considered parameters prevails over linear components at large deformations. When certain critical values of compression deformations in the medium are achieved, elastic waves with actual velocity cannot propagate in it. The values of the critical deformations for pressure and shear waves differ within different elastic potentials and variants of the theory of initial deformations.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.4 no.2
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• pp.208-223
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• 1994

The purpose of this study was to evaluate the efficiency of diffusive(or passive) sampler in measuring airbone organic solvents. Diffusive samplers are generally simple in construction and do not require power for operation. The efficiency of the diffusive samplers has not sufficiently been investigated in Korea. Three types of samplers were studied in this study. The sampling and analytical results by passive samplers were compared with results by charcoal tube method recommended by NIOSH(National Institute for Occupational Safty and Health). The following characteristics are identified and studied as critical to the performance passive monitors; recovery, reverse diffusion, storage stability, accuracy and precision, face velocity and humidity, n-Hexane, TCE(trichloroethylene) and toluene were used as test vapors. A dynamic vapor exposure system consisting of organic vapor generator and sampling chamber for evaluating diffusive samplers are made. The results of the study are summarized as follows. 1. NIOSH recommands that the overall accuracy of a sampling method in the range of 0.5 to 2.0 times the occupational health standard should be ${\pm}25$ percent for 95 percent confidence level. Among three types of diffusive samplers, sampler A has permeation membrane and samplers Band C have diffusive areas, samplers A and B met the criterion that overall accuracy for 95% confidence level of the samplers were within ${\pm}25$ percent of the reference value. Sampler C had overall accuracy ${\pm}9.6%$ and ${\pm}11.8%$ in hexane and TCE, respectively. The concentration of toluene was overestimated in sampler C with overall accuracy of ${\pm}43.9%$. 2. The desorption efficiencies of diffusive samplers were 96-107%. 3. There was no significant sampe loss during four weeks of storage both with and without refrigeration. 4. There was no significant reverse diffusion, when the samplers were exposure to clean air for 2 hours after sampling for 2 hours at the level of 2 TLY. 5. In case of 8 hours sampling, relative differences(RD) of concentrations between charcoal tube method and diffusive method were 15-39%, 13-46%, and 4-35% for sampler A, B and C, respectively. The performance was poor in 8 hours sampling for multiple substance monitors. 6. At high velocity(100 cm/sec), samplers B and C overestimated the concentrations of organic vapors, and sampler A with permeation membrance gave better results. 7. At 80% relative humidity, samplers showed no siginificant effect. Low humidity also did not affect the diffusive samplers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.183-186
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• 1995

A simulation method basee on upper bound method is developed in order to characterize forging characters in forging of spur gears. In this paer, utlizing a kinematically admissible velocity field and applying it to study the effect of inner diameter of holow billet. To predict the variation of inner diameter of hollow billet, neutal surface has been introduced into forging of hollow gears from hollow billes with flat punch. The neutral surface of each step is assumed as a circle and determined in order to have minimum forging energy by golden section method. According to the analysis, the magnitude of inner diameter of initial billet is vary important to reduce the relative pressure and forging load. And the variation of inner diameter of billet during spur gear forging is successfully predicted.