• 대한전기학회논문지
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• 제39권4호
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• pp.386-392
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• 1990

This paper discribes a sonar-based certainty grid, the probabilistic representation of the uncertain and incomplete sensor knowledge, for autonomous mobile robot navigation. We use sonar sensor range data to build a map of the robot's surroundings. This range data provides information about the location of the objects which may exist in front of the sensor. From this information, we can compute the probability of being occupied and that of being empty for each cell. In this paper, a new method using Bayesian formula is introduced, which enables us to overcome some difficulties of the Ad-Hoc formula that has been the only way of updating the grids. This new formula can be applied to other kinds of sensors as well as sonar sensor. The validity of this formula in the real world is verified through simulation and experiment. This paper also shows that a wide angle sensor such as sonar sensor can be used effectively to identify the empty area, and the simultaneous use of multiple sensors and fusion in a certainty grid can improve the quality of the map.

• Geomechanics and Engineering
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• 제11권1호
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• pp.41-58
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• 2016

This paper focuses on the deformation behavior of tunnels crossing a weak zone in conventional tunneling. A three-dimensional finite element model was adopted that allows realistic modeling of the tunnel excavation and the support installation. Using the 3D FE model, a parametric study was conducted on a number of tunneling cases with emphasis on the spatial characteristics of the weak zone such as the strike and dip angle, and on the initial stress state. The results of the analyses were thoroughly examined so that the three-dimensional tunnel displacements at the tunnel crown and the sidewalls can be related to the spatial characteristic of the weak zone as well as the initial stress state. The results indicate that the effectiveness of the absolute displacement monitoring data as early warning indicators depends strongly on the spatial characteristics of the weak zone. It is also shown that proper interpretation of the absolute monitoring data can provide not only early warning for a weak zone outside the excavation area but also information on the orientation and the extent of the weak zone. Practical implications of the findings are discussed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권12호
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• pp.5842-5861
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• 2019

A current autonomous vehicle determines its driving strategy by considering only external factors (Pedestrians, road conditions, etc.) without considering the interior condition of the vehicle. To solve the problem, this paper proposes "An Optimal Driving Support Strategy(ODSS) based on an Genetic Algorithm for Autonomous Vehicles" which determines the optimal strategy of an autonomous vehicle by analyzing not only the external factors, but also the internal factors of the vehicle(consumable conditions, RPM levels etc.). The proposed ODSS consists of 4 modules. The first module is a Data Communication Module (DCM) which converts CAN, FlexRay, and HSCAN messages of vehicles into WAVE messages and sends the converted messages to the Cloud and receives the analyzed result from the Cloud using V2X. The second module is a Data Management Module (DMM) that classifies the converted WAVE messages and stores the classified messages in a road state table, a sensor message table, and a vehicle state table. The third module is a Data Analysis Module (DAM) which learns a genetic algorithm using sensor data from vehicles stored in the cloud and determines the optimal driving strategy of an autonomous vehicle. The fourth module is a Data Visualization Module (DVM) which displays the optimal driving strategy and the current driving conditions on a vehicle monitor. This paper compared the DCM with existing vehicle gateways and the DAM with the MLP and RF neural network models to validate the ODSS. In the experiment, the DCM improved a loss rate approximately by 5%, compared with existing vehicle gateways. In addition, because the DAM improved computation time by 40% and 20% separately, compared with the MLP and RF, it determined RPM, speed, steering angle and lane changes faster than them.

• 한국전문물리치료학회지
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• 제26권3호
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• pp.1-10
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• 2019

Background: Winged scapular (WS) causes muscle imbalance with abnormal patterns when moving the arm. In particular, the over-activation of the upper trapezius (UT) and decrease in activity of the lower trapezius (LT) and serratus anterior (SA) produce abnormal scapulohumeral rhythm. Therefore, the SA requires special attention in all shoulder rehabilitation programs. In fact, many previous studies have been devoted to the SA muscle strength training needed for WS correction. Objects: The purpose of this study was to investigate the effect of shoulder girdle muscle and ratio according to the angle of shoulder abduction and external weight in supine position. Methods: Twenty three WS patients participated in this experiment. They performed scapular protraction exercise in supine position with the weights of 0 kg, 1 kg, 1.5 kg, and 2 kg at shoulder abduction angles of $0^{\circ}$, $30^{\circ}$, $60^{\circ}$, and $90^{\circ}$. The angle and weight applications were randomized. Surface electromyography (EMG) was used to collect the EMG data of the SA, pectoralis major (PM), and UT during the exercise. The ratio of PM/SA and UT/SA was confirmed. Two-way repeated analyses of variance were used to determine the statistical significance of SA, PM, and UT and the ratios of PM/SA and UT/SA. Results: There was a significant difference in SA according to angle (p<.05). Significant differences were also identified depending on the angle and weight (p<.05). The angle of abduction at $0^{\circ}$, $30^{\circ}$ and weight of 2 kg showed the highest SA activity. However, there was no significant difference between PM and UT (p>.05). There was a significant difference between PM/SA and UT/SA in ratio of muscle activity according to angle (p<.05). Significant differences were found at PM/SA angles of $30^{\circ}$, $60^{\circ}$ and $90^{\circ}$ (p<.05). For UT/SA, significant difference was only observed at $90^{\circ}$ (p<.05). Conclusion: Based on the results of this study, in order to strengthen the SA, it was found to be most effective to use 1 and 1.5 kg weights with abduction angles of $0^{\circ}$ and $30^{\circ}$ at shoulder protraction in supine position.

• 천문학회보
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• 제43권2호
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• pp.44.4-45
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• 2018

(4179) Toutatis (Toutatis hereafter) is one of the Near-Earth Asteroids which has been studied most rigorously not only via ground-based photometric, spectroscopic, polarimetric, and radar observations, but also via the in-situ observation by the Chinese Chang'e-2 spacecraft. However, one of the most fundamental physical properties, the geometric albedo, is less determined. In order to derive the reliable geometric albedo and further study the physical condition on the surface, we made photometric observations of Toutatis near the opposition (i.e., the opposite direction from the Sun). We thus observed it for four days on 2018 April 7-13 using three 1.6-m telescopes, which consist of the Korean Microlensing Telescope Network (KMTNet). Since the asteroid has a long rotational period (5.38 and 7.40 days from Chang'e-2, Zhao et al., 2015), the continuous observations with KMTNet matches the purpose of our photometric study of the asteroid. The observed data cover the phase angle (Sun-asteroid-observer's angle) of 0.65-2.79 degree. As a result, we found that the observed data exhibited the magnitude changes with an amplitude of ~0.8 mag. We calculated the time-variable geometrical cross-section using the radar shape model (Hudson & Ostro 1995), and corrected the effect from the observed data to derive the geometric albedo. In this presentation, we will present our photometric results. In addition, we will discuss about the regolith particles size together with the polarimetric properties based on the laboratory measurements of albedo-polarization maximum.

• 한국자동차공학회논문집
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• 제16권2호
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• pp.93-98
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• 2008

To investigate the characteristics of water droplet on the gas diffusion layer from both top-view and side-view of the flow channel, a rig test apparatus was designed and fabricated with prism attached plate. This experimental device is used to simulate the growth of single liquid water droplet and its transport process with various air flow velocity and channel height. The contact angle hysteresis and height of water droplet are measured and analyzed. It is found that droplet tends towards to be instable by decreasing channel height, increasing flow velocity or making GDL more hydrophobic. Also, the simplified force balance model matches with experimental data only in a restricted range of operating conditions and shows discrepancy as the air flow velocity and channel height increases.

• 한국생산제조학회지
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• 제20권6호
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• pp.773-777
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• 2011

Conventional ultrasonic thickness measurement is to be considered as the assumption that the ultrasonic velocity is known. In actual applications the velocity is often not well known and access is often limited to one side. This paper aims at determining the ultrasonic velocity and thickness of plates with parallel or wedged surfaces using contact measurements made on one surface only. For wedged plates the thickness at one point and the wedge angle are determined. Equations are used for determining the ultrasonic velocity, thickness and wedge angle of the plate based on the times-of-flight measured by two contact transducers coupled to one surface. The time-of-flight of the obliquely reflected longitudinal wave echo was measured as a function of the separation between the two transducers. In addition, a simulation was made for comparing the experimental data and a FEM image. Experiments and simulations were performed on flat and wedged plates of aluminium materials; the calculated results for the unknown quantities are generally agreed with them to some degree.

• 대한족부족관절학회지
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• 제7권1호
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• pp.36-40
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• 2003

Purpose: To investigate the relationship between radiographic parameters of the forefoot and plantar pressure in patients with hallux valgus. Materials and Methods: Plantar pressures of 21 patients with hallux valgus were examined with EMED-ST system. The data were compared with the parameters on the simple weightbearing dorsoplantar radiographs of the feet. The radiographic parameters that were measured were hallux valgus angle, 1-2 intermetatarsal angle, relative lengths of the metatarsals which were measured with the methods described by Maestro et al. and Okuda et al. Results: Statistically significant correlation was found between peak pressures under 2, 3 metatarsal heads and the relative lengths of 2, 3 metatarsals which were measured with the method described by Maestro et al. However they could explain only 13% of the pressures under the 2, 3 metatarsal heads by multivariate analysis. Conclusion: These results suggest that we cannot predict the plantar pressures under the foot with the parameters on the simple weightbearing dorsoplantar radiographs of the feet.

• 제어로봇시스템학회논문지
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• 제19권12호
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• pp.1152-1159
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• 2013

This paper proposes an effective walking system for a hexapod robot on uneven terrain. To overcome the deficiencies of two-pair walking systems, which are effective on even terrain, the use of only three legs changes the steps required for movement. The proposed system receives feedback data from switches attached to the bottom of the legs and gyro sensor to carry out stable walking using the Bezier curve algorithm. From the coordinates of the Bezier curve, which guarantees the circular motion of legs, the motor's angle value can be obtained using inverse kinematics. The angle values are sent to each motor though RS-485 communication. If a switch is pushed by the surface during navigation in the Bezier curve pattern, the robot is designed to change its circular course. Through the changed course, each leg can be located on an optimal surface and the wobble phenomenon is reduced by using a normal vector algorithm. The simulation and experiment results show the efficiency of the proposed algorithm.

• 대한치과교정학회지
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• 제15권1호
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• pp.105-114
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• 1985

In order to obtain the basic data of the movements of the mandible for orthodontic treatment and gnathosurgery of cleft individuals, the ranges and shapes of the movements of the mandible were measured in frontal, sagittal, and horizontal view with Saphon Visi-Trainer CII, in 19 adult cleft lip and palate individuals. The subjects included 5 BCLP, 9 UCLP, and 5 CLA patients. The measurements were compared with the values of normal individuals reported by Kang 1. Frontal view. The mean values for maximal laterotrusion were almost the same as those previously reported for the normal individuals. Mandibular deviation in maximal opening was usually toward the right, while it was mainly toward the left in normal individuals. Typical shield was formed only in the CLA group. 2. Sagittal view; The mean value for maximal protrusion was not different from that of normal group and antero-posterior deviation showed a significant difference. The angle of maximal protrusion and horizontal plane was less than that of normal group. 3. Horizontal view; The mean values for maximal laterotrusion and protrusion were not different from those of the normal group. The angle of the laterotrusion and horizontal plane was larger in the left and smaller in the right.