• Journal of Positioning, Navigation, and Timing
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• v.7 no.4
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• pp.235-243
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• 2018

Conventional Real Time Kinematics (RTK) collect measurements in stationary state for several minutes to resolve the integer ambiguity in the carrier phase measurement or resolve the integer ambiguity on the move assuming low maneuvering movement. In this paper, an On The Move-RTK (OTM-RTK) technique that resolves the integer ambiguity on the move for fast and precise positioning of ground vehicles such as high maneuvering vehicles was proposed. The OTM-RTK estimates the precise amount of movement between epochs using the carrier phase measurements acquired on the move, and by using this, resolves the integer ambiguity within a short period of time by evaluating the integer ambiguity candidates for each epoch. This study analyzed the integer ambiguity resolution performance using field driving experiment data in order to verify the performance of the proposed method. The results of the experiment showed that the precise trajectory including the initial position bias can be obtained prior to resolving the integer ambiguity, and after resolving the integer ambiguity on the move, it was possible to obtain the bias-corrected precise position solution. It was confirmed that the integer ambiguity can be resolved by collecting measurements of about 10 epochs from the moving vehicle using a dual frequency receiver.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.2
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• pp.157-164
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• 2016

The paper studies a comparison analysis of semi-active control strategies for a Macpherson strut type suspension system consisting of MR(magneto-rheological) damper. As a first step, in order to formulate governing, a dynamic full model of a Macpherson strut is developed considering the kinematics. The nonlinear equation of motion of the strut is then linearized around the equilibrium point. A new adaptive moving sliding model controller is developed for fast response of the system. A newly proposed adaptive moving sliding mode control strategy is then compared with conventional sliding mode controller and skyhook controller. The comparison is made for two different types of road inputs; bump and random road profiles showing superior vibration control performance in time and frequency domains.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.5
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• pp.81-87
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• 2012

New car assessment program (NCAP) originated from USNCAP in 1979 has been implemented in several countries or markets, for instance USA, Europe, Korea, Japan, China and Australia. NCAP has contributed greatly to reduce accidental tolls. But recently, NCAP performance has no distinction between cars because manufacturer have been continuously developed to improve NCAP performance. Therefore, NHTSA announced new USNCAP protocol becoming effective from MY2011. NHTSA had carried out many NCAP tests based on the new test protocol and announced these test results. In this paper, USNCAP test results were reviewed by statistical method. This review was focused on passenger cars and frontal crash test results in order to investigate effect of changes in new NCAP protocol. There are two key changes, one is sited female dummy in passenger position, the other is enlarged to 4 scoring body regions in each dummy. Results of this review were summarized as followings. Performance in Passenger (12.5%) is lower than Driver's (50%) for number of 5 star vehicle. Neck injury criterion is dominant to NCAP star rating for both dummies in the mean sense. For standard deviation, chest deflection is showed largest value in driver dummy but neck injury criterion is showed for passenger's. DKAB and PKAB were equipped 28.1% and 6.2%, respectively. Consequently, the countermeasure for new USNCAP frontal crash test is essential to control well dummy kinematics with some safety features including KAB to reduce neck injuries.

• Journal of Welding and Joining
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• v.28 no.4
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• pp.26-32
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• 2010

The purpose of this study is to evaluate the residual stresses at the multi-pass FCA weldment using the finite element analysis (FEA). In order to do it, an H-type specimen was selected as a test specimen. The variable used was in-plane restraint intensity. The temperature distribution at the multi-pass FCA butt weldment was evaluated in accordance with the relevant guidance recommended by the KWJS. The effective conductivity for the weld metal corresponding to each welding pass was introduced to control the maximum temperature below the vaporization temperature of weld metal. The heat flux caused by welding arc was assumed to be applied to the weld metal corresponding to welding pass. With heat transfer analysis results, the distribution of transverse residual stresses was evaluated using the thermo-mechanical analysis and compared with the measured results by XRD and uniaxial strain gage. In thermo-mechanical analysis, the plastic strain resetting at the temperature above melting temperature of $1450^{\circ}C$ was considered and the weld metal and base metal was assumed to be bilinear kinematics hardening continuum. According to the comparison between FEA and experiment, transverse residual stresses at the multi-pass FCA butt weldment obtained by FEA had a good agreement with the measured results, regardless of in-plane rigidity. Based on the results, it was concluded that thermo-mechanical FE analysis based on temperature distribution calculated in accordance with the KWJS’s guidance could be used as a tool to predict the distribution of residual stress of the multi-pass FCA butt weldment.

• International Journal of Automotive Technology
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• v.5 no.1
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• pp.33-46
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• 2004

A finite element model development of a 50th percentile male cervical spine is presented in this paper. The model consists of rigid, geometrically accurate vertebrae held together with deformable intervertibral disks, facet joints, and ligaments modeled as a series of nonlinear springs. These deformable structures were rigorously tuned, through failure, to mimic existing experimental data; first as functional unit characterizations at three cervical levels and then as a fully assembled c-spine using the experimental data from Duke University and other data in the NHTSA database. After obtaining satisfactory validation of the performance of the assembled ligamentous cervical spine against available experimental data, 22 cervical muscle pairs, representing the majority of the neck's musculature, were added to the model. Hill's muscle model was utilized to generate muscle forces within the assembled cervical model. The muscle activation level was assumed to be the same for all modeled muscles and the degree of activation was set to correctly predict available human volunteer experimental data from NBDL. The validated model is intended for use as a post processor of dummy measurement within the simulated injury monitor (SIMon) concept being developed by NHTSA where measured kinematics and kinetic data obtained from a dummy during a crash test will serve as the boundary conditions to "drive" the finite element model of the neck. The post-processor will then interrogate the model to determine whether any ligament have exceeded its known failure limit. The model will allow a direct assessment of potential injury, its degree and location thus eliminating the need for global correlates such as Nij.

• Journal of Ginseng Research
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• v.34 no.4
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• pp.327-335
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• 2010

We reported previously that the administration of Korean red ginseng water extract (KRG-WE) protected the guinea pig testis against damage induced by 2,3,7,8-tetrachlorodibenzo-p-dioxin (a potent endocrine disruptor). We also found that crude saponin from ginseng was the active ingredient responsible for this protection. Here, we examined the biological role of KRG-WE in an animal model of age-induced dysfunction of spermatogenesis. Twenty-four male Sprague-Dawley (six 2-month-old and eighteen 12-month-old) rats were used. The young and old control groups received only vehicle. The ginseng saponin (GS)- and KRG-WE-treated groups received GS (40 mg/kg body weight/day) and KRG-WE (200 mg/kg body weight/day), respectively, for 4 months. The number of cells, Sertoli cell index, Johnsen's score, and sex hormone levels decreased significantly with age. However, the administration of KRG-WE and GS markedly improved the number of germ cells, seminiferous tubular size, and Johnsen's score in the old rats. Ginseng produced a distinct testicular histological improvement in old rats. KRG-WE and GS elevated testosterone levels, while attenuating the aberrant increase in follicle stimulating hormone and luteinizing hormone levels. Sperm kinematics evaluated by a computer-assisted sperm analyzer demonstrated improvement in the percentage of motile sperm, progressive sperm motility, and curvilinear velocity associated with sperm quality, supporting the beneficial role of red ginseng in senile spermatogenesis. Overall, the total water extract had a more potent effect than the corresponding saponin fraction. In conclusion, Korean red ginseng rejuvenated age-induced testicular dysfunction. Additionally, the total water extract was more potent than the corresponding saponin fraction.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.2
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• pp.104-113
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• 2013

New USNCAP has been carried out by NHTSA including front and side crash from MY2011. In this paper, test results for USNCAP Side crash were reviewed by statistical analysis. This review focused on side crash test results to investigate the effect of changes from new USNCAP side crash test protocol among 30 passenger cars. These results were summarized as followings. Total number of 5 star vehicles on the front seat dummy (16 vehicles, 53.3%) was slightly smaller than the rear seat's (17 vehicles, 56.7%) in MDB test. For the ES-2re dummy, chest injury, ie maximum rib deflection contributed to 66% in the mean value of $P_{joint}$. Pelvis injury was highly dependent upon performance up to 87% in the SID-IIs dummy cited on the rear seat in average $P_{joint}$. For Pole test, pelvis injury made contribution to the average performance to 83%. For standard deviation, it showed the largest value in the same body region as the mean value for each dummy. Overall front seat performance showed 14 vehicles, 44.6% with 5 star vehicles less than each MDB or Pole test result. This result showed that performances in MDB test were different pattern to Pole test on driver position. Number of 5star vehicles for overall side NCAP performance are 18 passenger cars (60%). Curtain airbag and driver thorax airbag were equipped in all test vehicles. One vehicle is equipped with thorax airbag in the rear seat. Results from two side tests considered as reliability problem, ie the cause for large standard deviation in side crash test. Consequently, the countermeasure for new USNCAP side crash test is essential to design the effective side structures for side collision and to control well dummy kinematics with curtain and thorax airbag in order to reduce chest and pelvis injuries.

• Journal of Korean Society of Transportation
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• v.33 no.4
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• pp.323-336
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• 2015

Estimating the risks on the roadway using surrogate safety measures (SSM) has an advantage in that it focuses on the vehicle trajectory directly involved in conflicts. On the other hand, there is a restriction on estimating the risks of continuous segments due to the limited data collected from a location. To overcome the restriction, this study presents the scheme of acquiring the vehicular trajectory using real time kinematics-differential global positioning system (RTK-DGPS) and develops a methodology which contains the considerations of the problems to calculate the SSM such as time-to-collision (TTC), deceleration rate to avoid collision (DRAC) and acceleration noise (AN). By using the methodology, this study shows a result from an experiment executed in a section where the variation of vehicular movement can be observed from several continuous flow roadway sections near Seoul and Gyeonggi Province in Korea. The result illustrated the risks on the roadway by the SSM metrics in certain situations like merging and diverging, stop-and-go, and weaving. This study would be applied to relate the dangers with characteristics of drivers and roadway sections, and prevenst accidents or conflicts by detecting dangerous roadway sections and drivers' behaviors. This study contributes to improving roadway safety and reducing car-accidents.

• Transactions of the KSME C: Technology and Education
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• v.3 no.2
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• pp.83-88
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• 2015

Agricultural tractors are utilized on rough road such as rice paddy field. Therefore, static and dynamic load should be considered when simulating structural analysis with finite element analysis (FEA). But it consumes a lot of time and effort to measure dynamic load because of difficulty and complexity in modeling various field working load conditions and kinematics of machinery. In this paper, to reduce the efforts, 4-post road simulator is developed for agricultural tractor like modeling commercial vehicle. In proving ground test in our facility, I measured acceleration of front/rare axle and strain of body frame to validate input loads. The acceleration is used for defining input loads. And strain is validated with dynamics analysis including mode superposition method. As a result, I was able to calculate 4-post input road profiles, which represent similar proving ground profile with good reliability.