• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.210-216
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• 2016

This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles.

• International Journal of Highway Engineering
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• v.19 no.5
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• pp.163-171
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• 2017

PURPOSES : Traffic safety facilities are used to prevent traffic accidents before they occur by providing drivers with information on traffic situations and the geometric design of roads. However, some facilities not defined in guidelines do not meet installation criteria, yet are being installed and used in order to increase efficiency in traffic flow and prevent traffic accidents in a specific expressway zone. In this study, we have evaluated the effect of delineation system which are not defined in the guideline criteria. METHODS : Different virtual scenarios were created for roads using expressway median barrier chevron signs, with a driving simulator used to evaluate the installation and operational effect of such signs. Ten experiments were performed with left- and right-curved roads at curve radius intervals of 500 m, from 500 m to 2,500 m. RESULTS : For sections with a curve radius of more than 1,500 m, drivers had a clear tendency toward stable driving regardless of delineation system. When a chevron sign is installed on a protection fence in the road curving left, an expanded installation is recommended up to the section with a curve radius of 1,000 m. According to the analysis results for the RHB (Relative High Beta spectrum), driving concentration also improved up to a curve radius of 1,000 m. CONCLUSIONS :The experiment result indicates the extent of biasing within a lane and the manipulation amount of steering handle, were analyzed and found to be affected by curve radius and road alignment regardless of delineation system.

• Journal of the Korean Society of Safety
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• v.26 no.2
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• pp.89-98
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• 2011

The traffic accidents at a construction site, which happen due to construction vehicles' frequent access to a construction site, its subsequent conflicts with ordinary vehicles and pedestrians, and inappropriate installation & management of traffic security facilities, have not many proportions in all traffic accidents, but obviously, the accident damage is quite serious when comparing the level of the fatal per one accident. This research conducted an analysis of traffic accident injury severity using Ordered Probit Model in relation to 241 traffic accident cases that occurred caused by construction sites among the traffic accidents that took place in Seoul and Gyeoggi-do region for two years from 2006 until 2007. As a result, the significant variables enough to explain traffic accident injury severity were analyzed to be the state of road surface, linear shape of an accident spot & whether the damaging car belongs to the vehicle for construction, and whether vehicles have access to a construction site at the time of an accident. Through this, this research found out some fact as follows: first, there need to be more aggressive management of the vehicles for construction and a year-round placement of the manpower who can control vehicular access to a construction site. Second, it is necessary to get drivers to recognize the fact that there exists a construction site on the construction section which is on the border of curved roads in advance to prevent a traffic accident, helping to reduce socioeconomic loss & costs incurred by a traffic accident.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.384-392
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• 2017

A linear explosively formed penetrator(LEFP) is a modification of the explosively formed penetrator(EFP). An EFP is axisymmetric and has a dish-shaped liner while LEFP has a rectangular-shaped liner with curved cross section. Upon detonating LEFP forms laterally wide projectile like blade, leaving a long penetration hole on the target. On the other hand, a long-rod tungsten heavy alloy(WHA) penetrator is one of the major threats against most of the ground armored vehicles. In this paper, the feasibility of using an LEFP in protecting against a long-rod WHA penetrator by colliding LEFP into the threat was investigated through a set of numerical simulations. In this study, a scale-down WHA penetrator with length to diameter ratio(L/D) of 10.7 and 7.0 mm diameter was used to represent a long-rod WHA penetrator. LS-DYNA and Multi-Material ALE technique were employed for the simulation. For estimation of the protection effect by LEFP, residual penetration depths into RHA by the threat were compared according to various impact locations against the threat.

• Agricultural and Biosystems Engineering
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• v.6 no.2
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• pp.47-53
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• 2005

AMachine vision is a promising tool for the autonomous guidance of farm machinery. Conventional CCD camera for the machine vision needs a desktop PC to install a frame grabber, however, a web camera is ready to use when plugged in the USB port. A web camera with a notebook PC can replace existing camera system. Autonomous steering control system of this research was intended to be used for combine harvester. If the web camera can recognize cut/uncut edge of crop, which will be the reference for steering control, then the position of the machine can be determined in terms of lateral offset and heading angle. In this research, a white line was used as a cut/uncut edge of crop for steering control. Image processing algorithm including capturing image in the web camera was developed to determine the desired travel path. An experimental vehicle was constructed to evaluate the system performance. Since the vehicle adopted differential drive steering mechanism, it is steered by the difference of rotation speed between left and right wheels. According to the position of vehicle, the steering algorithm was developed as well. Evaluation tests showed that the experimental vehicle could travel within an RMS error of 0.8cm along the desired path at the ground speed of $9\sim41cm/s$. Even when the vehicle started with initial offsets or tilted heading angle, it could move quickly to track the desired path after traveling $1.52\sim3.5m$. For turning section, i.e., the curved path with curvature of 3 m, the vehicle completed its turning securely.

• International Journal of Highway Engineering
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• v.10 no.4
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• pp.247-255
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• 2008

According to "A guide Book to Highway Design", most road elements are chosen based on a certain design speed in order to ensure obtaining safe and smooth traffic operating. However, road safety in practical way is corelative to not only all element of roads but also road shape, for example, between straight line and curves line and between curved lines. Also, it is relates to alignments such as horizontal alignment, vertical alignment, and cross section. That is, the practical road design should be examined in both sides of 3 dimension and consecutiveness as the practical road is a 3-dimensional successive object. The paper presents a concept for acceleration to evaluate consistency of road considering actual road shape on 3-dimension. Acceleration of vehicle is influential to road consistency based on running state of vehicle and state of drivers. Especially, the magnitude of acceleration is a quite influential element to drivers. Based on above, the acceleration on each point 3-D road can be calculated and then displacement can be done. Computation of acceleration means total calculation on each axis.

• Korean Journal of Materials Research
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• v.24 no.2
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• pp.87-92
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• 2014

The Notched Ring Test(NRT) has proven to be very useful in determining the slow crack growth behavior of polyethylene pressure pipes. In particular, the test is simple and an order of magnitude shorter in experimental times as compared to the currently used Notched Pipe Test(NPT), which makes this method attractive for use as the accelerated slow crack growth test. In addition, since the NRT specimen is taken directly from the pipe, having maintained the cross-section, processing induced artifacts that would affect the slow crack growth behavior are not altered. This makes the direct comparison to the slow crack growth specimen in pipe from more meaningful. In this study, for comparison with other available slow crack growth methods, including the NPT, the stress intensity factor equation for NRT specimen was developed and demonstrated of its accuracy within 3% of that obtained from the finite element analysis. The equation was derived using a flexure formula of curved beam bending along with numerically determined geometric factors. The accuracy of the equation was successfully tested on 63, 110, 140, 160, 250, and 400 mm nominal pipe diameters, with crack depth ranging from 15 % to 45 % of the pipe wall thickness, and for standard dimensional ratio(SDR) of 9, 11, and 13.6. Using this equation the slow crack results from 110SDR11 NRT specimen were compared to that from the NPT specimen, which demonstrated that the NRT specimen was equivalent to the NPT specimen in creating the slow crack, however in much shorter experimental times.

• 한국방재학회:학술대회논문집
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• 2008.02a
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• pp.799-802
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• 2008

General behaviors based on hydraulic characteristics of natural streams and channels have been recently analyzed and developed via various numerical models. However in the states of natural hydraulics, an experimental research must be performed simultaneously with the mathematical analysis due to effects of hydraulic properties such as meander, sediment, and so on. In this study based on 2-D advection-dispersion equation, flow and tracer experiments were performed in the S-curved meandering laboratory channel with a rectangular cross-section. The channel was equipped with instrument carriages which was equipped with an auto-traversing system to be used with velocity measuring sensors throughout the depth and breadth of the flow field. To measure concentration distribution of the salt solution was adjusted to that of the flume water by adding methanol and a red dye (KMnO4) was added to aid the visualization of the tracer cloud, the tracer was instantaneously injected into the flow as a full-depth vertical line source by the instantaneous injector and the initial concentration of the tracer was 100,000 mg/l. The secondary current as well as the primary flow pattern was analyzed to investigate the flow distribution in the meandering channels. The velocity distribution of the primary flow for all cases skewed toward the inner bank at the first bend, and was almost symmetric at the crossovers, and then shifted toward the inner bank again at the next alternating bend. Thus, one can clearly notice that the maximum velocity occurs taking the shortest course along the channel, irrespective of the flow conditions. The result of the tracer tests shows that pollutant clouds are spreading following the maximum velocity lines in each cases with various mixing patterns like superposition, separation, and stagnation of pollutant clouds. Flow characteristics in each cases performed in this study can be compared with tracer dispersion characteristics with using evaluation of longitudinal and transverse dispersion coefficients(LDC, TDC). As expected, LDC and TDC in meandering parts have been evaluated with increasing distribution and straight parts have effected to evaluate minimum of LDC and TDC due to symmetric flow patterns and attenuations of secondary flow.

• Journal of Ship and Ocean Technology
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• v.12 no.3
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• pp.36-54
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• 2008

A jet stream applied tangential to a curved surface in fluid increases lift force by strengthening circulation around the surface and this phenomenon is known as the Coanda effect. Many experimental and numerical studies have been performed on the Coanda effect and the results found to be useful in various fields of aerodynamics. Recently, preliminary studies on Coanda control surface are in progress to look for practical application in marine hydrodynamics since various control surfaces are used to control behaviors of ships and offshore structures. In the present study, the performance of a Coanda control surface with different geometries of the jet injection nozzle was surveyed to assess applicability to ship rudders. A numerical simulation was carried out to study flow characteristics around a section of a horn type rudder subjected to a tangential jet stream. The RANS equations, discretized by a cell-centered finite volume method were used for this computation after verification by comparing to the experimental data available. Special attentions have been given to the sensitivity of the lift performance of a Coanda rudder to the location of the slit (outlet) and intake of the gap between the horn and rudder surface at the various angles of attack. It is found that the location of the water intake is important in enhancing the lift because the gap functions as a conduit of nozzle generating a jet sheet on the rudder surface.

• Journal of the Korea Fashion and Costume Design Association
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• v.21 no.1
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• pp.103-113
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• 2019

The purpose of this study was to develop an e-textile using LEDs that can enhance visual and functional effects, and to identify their applicability to sportswear. By applying the design elements of fashion design concretely with LEDs, an e-textile design module is developed and that module is applied to the product, so LED application design can be proposed for use in a practical product. E-textiles have been divided into five categories, and their usefulness were verified by applying e-textiles to men's and women's sportswear. The product beign considered has a built-in tilt sensor, which illuminates the LEDs according to the user's movements, and allows the LEDs to be turned on or off in accordance to the user's preference. E-tatoo is a type of LED application that enhances the appearance by placing LEDs on a small area, emphasizing origin points, just like an actual tattoo. Designed with LEDs arranged in a straight line and various curved forms, e-strips can provide a function that matches the characteristics of each section of clothing or fashion item. E-wappen uses about 7-10 LEDs to give motifs a strong sense of visibility, thus adding to their vibrancy. E-panels and e-clothes were able to produce creative and high-value textures. It is also expected to be used for special purposes or bags as it is possible to produce high value-added textures that are creative and aesthetically beautiful. For instance, a progressive LED string on the straight line of female leggings can further emphasize rhythmic movements during exercise, and e-wappen also serves the purpose of nighttime protection. It is also believed that the application of dance or dance-related sportswear will make the movement of the performance more intense and lively.