• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.11
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• pp.36-45
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• 1992

A numerical trajectory planning method for path-constrained trajectory planning is proposed which ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities. For each robot, physical constraints of the robots such as limited torques or limited rotational velocities of the actuators are converted to the constraints on velocity and acceleration along the path, which is described by a scalar variable denoting the traveled distance from starting point. Collision region is determined on the coordination space according to the kinematic structures and the geometry of the paths of the robots. An Extended Coordination Space is then constructed` an element of the space determines the postures and the velocities of the robots, and all the constraints described before are transformed to some constraints on the behaviour of the coordination-velocity curves in the space. A dynamic programming technique is them provided with on the discretized Extended Coordination Space to derive a collision-free and time-optimal trajectory pair. Numerical example is included.

• Journal of Korean Society for Quality Management
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• v.17 no.2
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• pp.142-148
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• 1989

In order to determine the level of service which minimizes the total of expected cost of service and the expected cost of waiting for that service, the important considerations are to evaluate the distance traveled to and from a service facility (D) and the expected number of mechanics in queueing system (L). The travel-time models are very useful when the servers must travel to the customer from the service facility. Thus, in this paper we studied on the determination of the optimal service level by the travel-time models. In order to decide the optimal service level, (D) has been introduced as a uniform distribution and (L) has been introduced as M/M/S model of queueing theory.

• Proceedings of the Korean Society of Applied Pharmacology
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• 1997.04a
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• pp.108-108
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• 1997

The effects of nalbuphine.HCI on the spontaneous locomotor activity and primary humoral immune response were investigated in ICR mice. Nalbuphine was intraperitoneally administered with the dose of 130, 260, 360 mg/kg in mice. The locomotor activity such as distance traveled was observed for 90min at 10min intervals. Nalbuphine showed the biphasic dose-response relationship on the spontaneous locomotor activity. IgM plaque forming cells(PFC) in splenocytes and IgM level in antiserum were significantly decreased depending on the dose of nalbuphine when nalbuphine was administered after the immunization, but slightly increased only at the low dose in the case of nabuphine administration after the immunization(SRBC).

• Journal of Biosystems Engineering
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• v.15 no.2
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• pp.79-87
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• 1990

An automatic guidance system based upon two position-measurement systems was designed to record where the tractor traveled and to guide the tractor along the predetermined path. An algorithm, using the kinematic behavior of tractor movement, was developed to determine the steering angle to reduce lateral position error. The algorithm was based upon constant travel speed, constant steering rate, and zero slip angles of the tractor wheels. The algorithm was evaluated through use of computer simulation and verified in field experiments. Results showed that the distance interval between position measurements was an important factor in guidance system performance. The position-measurement error of the guidance system must be less than 5 cm to be acceptably precise for field operations. An algorithm based upon a variable steering rate might improve the stability of the guidance system. More accurate measurement of tractor position and yaw angle, and faster error processing are required to improve the field performance of the guidance system.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.498-505
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• 2002

Reducing odometer errors caused by kinematic imperfections in wheeled mobile robots is imestigated. Wheel diameters and wheelbase are corrected by using encoders without landmarks. A new velocity trajectory is proposed that compensates for an orientation error due to acceleration- resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. are used in the experiment to verify the proposed scheme.

• International Journal of Highway Engineering
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• v.19 no.6
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• pp.31-36
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• 2017

PURPOSES : The computational fluid dynamics of flow and fine particles in a road were set to determine the insert flow and occurrence characteristics. METHODS : The road extension was 100 m with two lanes. A one-ton truck traveled a 50-m distance. After a noise barrier was installed on one side of the road, the flow and a collision analysis were tested. RESULTS : The flow that occurred was 5 m/s beside the vehicle, and fine particulate was $5.0{\times}10^2{\mu}g/m^3$ after 20 m from the exhaust vent. CONCLUSIONS : After a collision analysis of the fine particulate on the noise barrier to find the most suitable position of the filter panel in height, the bottom 1 m was the most optimum position because 88.1% of the distribution was concentrated there.

• Journal of the military operations research society of Korea
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• v.30 no.2
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• pp.81-95
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• 2004

This paper presents optimal solutions for the following two problems ; (1) The vehicle routing problem with deadline considering homeward-route transport requirement, (2) The problem of (1) with relaxed constraint that the vehicle cannot visit the depot during the trip. That is, for the second problem, vehicle can visit the depot several times during the trip. The formulation and optimal solution we obtained outperform the existing ones proposed by other researchers in the sense of time and total distance traveled and the results can be applicable to short-haul local transport.

• Industrial Engineering and Management Systems
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• v.12 no.2
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• pp.161-170
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• 2013

Deployment of green transportation in reverse logistics is a key issue for low carbon technologies. To cope with such logistic innovation, this paper proposes a hybrid approach to solve practical vehicle routing problem (VRP) of pickup type that is common when considering the reverse logistics. Noticing that transportation cost depends not only on distance traveled but also on weight loaded, we propose a hierarchical procedure that can design an economically efficient reverse logistics network even when the scale of the problem becomes very large. Since environmental concerns are of growing importance in the reverse logistics field, we need to reveal some prospects that can reduce $CO_2$ emissions from the economically optimized VRP in the same framework. In order to cope with manifold circumstances, the above idea has been deployed by extending the Weber model to the generalized Weber model and to the case with an intermediate destination. Numerical experiments are carried out to validate the effectiveness of the proposed approach and to explore the prospects for future green reverse logistics.

• Transactions of the Korean hydrogen and new energy society
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• v.28 no.3
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• pp.287-294
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• 2017

EVs manufacturers typically target a range of 300 km on a fully charged battery. Many studies have been conducted to improve these disadvantages. As a results, the mileage of EVs is expected to increase significantly. However, as the distance traveled by EVs increases, current test method (SCT) have many difficulties. The biggest problem is that it takes a lot of time to test an EVs and greatly increases the error rate during the test period. In order to solve these problems, this paper discusses the fuel economy test method of EVs for energy efficiency and mileage. The comparison of test methods was achieved by chassis dynamometer test about EVs. These review of test methods are intended to both improve testing efficiency and provide a practical testing methodology that can be easily adapted to accommodate future testing enhancements. In conclusion, the results of MCT mode and SCT mode comparison show similar results within 3 %, confirming that the test method is appropriate. Also, as the CSCM distance becomes shorter in the MCT mode, the mileage becomes longer and the fuel economy becomes lower. As a result, the error from the SCT test results is expected to increase. In order to minimize the error of SCT measurement fuel economy, it is recommended to maximize the CSCM driving distance. However, since the timing of the EOT is not clearly known, it is reasonable to define the allowable range of the CSCE to be within 20 % of the MCT total mileage.

• Health Policy and Management
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• v.21 no.1
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• pp.23-43
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• 2011

Access to health care is complicated to define. It is a multidimensional process. In addition to the matters of quality of care, geographical accessibility and availability of the right type of care, finance, and acceptability are all involved. The purposes of this paper are to measure the geographic distances between patient residency locations and health service organizations in which the patients hadvisited, and to investigate the association between geographical distance measures and variables involved in health service utilization. The study used the first and the second wave of the 2008 Korea Health Panel Survey. The samples of analyses were patients who had visited outpatient or used ambulatory health services, and the total observations (visit numbers) analyzed were 229,128. We divided the samples into a frequent-visit illness group (Group 1) and a non-frequent visit illness group (Group 2) based on over 5,000 total visit numbers. We exploited three level analyses using xtmixed of STATA${\Box}$ 11.1 command with/without interaction terms among age, sex, and occupation. Geographical distances were measured using the Haversine method. Group 1 was tended to older and lower equivalent income than those of Group 2, but the geographic difference were not observed in terms of area deprivation index and standard mortality ratios. Amongst group 1, diabetes mellitus patients travelled far to visit health care organizations, and arthritis patients were more deprived in terms of the personal and areal characteristics. The study revealed that residents in rural areas traveled about 10 times more long distances than those whom lived in larger cities after adjusting for various variables, which we used for analyses. This study contributed to the practical understanding of health service utilizations using empirical analyses, and found that the types of diseases and socioeconomic characteristics of patients tended to define the amount of travel distance to healthcare organizations.