• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.828-831
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• 2003

The benefits of the pneumatic valve with piezoelectric element are faster response times, low energy consumption, and the ability to be used in hazardous environments and field bus systems. In this paper, PZT actuator, 2 and 3 stages pneumatic valve were designed and manufactured. Also. characteristics of the pneumatic valve with piezoelectric element were tested with a testing system. It is confirmed that the PZT actuator is useful one for controlling the direction of pilot valve.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• Journal of Korean Society for Atmospheric Environment
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• v.34 no.2
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• pp.191-206
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• 2018

In this study, the HAPs(Harzard Air Pollutants) emission factor level of Starex and Grand Carnival was tested using PEMS (Portable Emissions Measurement System) on real road driving. As a result of RDE (Real Driving Emission test), the overall vehicle speed pattern showed similar characteristics. The real-road driving test at constant speed revealed emission factor is inversely proportional relationship to constant speed. Results of accelerating with speed limit on the real-road were shown as followings; Uran (less than 45 km/h)>Rural (<45 km/h, less than 80 km/h)>Motorway (>80 km/h). Moreover, the sudden acceleration and deceleration in driving at high speed was the increasing factor to the HAPs emission factor. This tendency is considered to be influenced by the operating environment on real roads.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.47-52
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• 2013

In order to operate a search and rescue robot in hazardous area, the robot requires high mobility and adaptable locomotion for moving in unpredictable environments. In this paper, we propose the deformable soft wheel robot that can produce three kinds of driving modes; caterpillar driving mode, normal wheel driving mode, legged-wheel driving mode. The robot changes its driving mode as it faces the various obstacles such as a small gap, stairs etc. Soft film and composite materials are used for fabrication of deformable wheel structure and Shape Memory Alloy (SMA) coil spring actuators are attached on the structure as an artificial muscle. Film lamination and an composite manufacturing process is introduced and the robot design is required to be modified and compromised to applying the manufacturing process. The prototype is developed and tested for verifying feasibility of the deformable wheel locomotion.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.7
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• pp.15-23
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• 1999

In recent years, environmental damage to urban area becomes serious problem due to the exhaust emissions by increasing the number of vehicle . Especially, diesel particulate matters(DPM) are hazardous air pollutant s to human health and environment. The reduction technologies of exhaust emissions from diesel engines are improvement of engine combustion, fuel quality and development of diesel exhaust aftertreatment. In this study, a diesel oxidation catalyst(DOC) that is one of diesel exhaust aftertreatments was made for performance evaluation . It was tested for NA and turbocharged engine by D-13 mode that currently be used for regulation driving test mode in Korea Scanning mobility particle sizer (SMPS) was used for the analysis of the particle size distribution with and w/o DOC. As the results , for NA and tubochartged engine, CO, THC, DPM was respectively reduced 85.7, 40.7,3.3% and 79.1, 53.1, 11.6% by DOC. Test results of particle size distribution was showed that particle number is 107 ~108per ㎤ , 2 $\times$105 ~5$\times$105$\mu\textrm{g}$/㎥ for weight concentration and 100~200nm for particle mean size in diesel engine and there is no effect to reduce the particle concentration by the DOC.

• Journal of the Ergonomics Society of Korea
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• v.24 no.1
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• pp.9-17
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• 2005

81.1% of traffic accidents is attributed to the drivers. In this regard, D/E model is a practical and effective method in terms of the cost and time in evaluating the road hazardousness. To examine the validity of the threshold values by the levels of demand We selected 10 subjects and collected their physiological signals while they were driving on Honam Highway (Jeonju ${\leftrighttarro}$ Hoideog section). Based on the collected data, the hazardous road condition was evaluated using the new threshold values of the effort level determined by cluster analysis. In applying the D/E model, a decision method based on the demand level was suggested, using a traffic accident prediction model. Additionally, the limit value of the effort level was determined using the drivers' physiological signal data collected at the highway. A comparison analysis of the two D/E models revealed no significant difference: The existing method and the clustering method determined 9 and 7 hazardous road zones, respectively, while actual traffic accidents were reported in 6 and 4 zones, respectively among the predicted road hazardous zones. However, the latter method suggested a more scientific and rational basis in determining the limit value of the Effort level. In conclusion, although D/E model has a great merit as a pioneering method to reflect human factors in evaluating the road hazardousness, it is believed that this method could be improved by a more dynamic method that considers the traffic conditions and the individual physiological signal of the drivers simultaneously in determining a better limit.

• Journal of Korean Society of Transportation
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• v.35 no.2
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• pp.160-168
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• 2017

In the past 10 years, the accidents caused by drowsy driving have occupied about 23% of all traffic accidents in Korea expressway network and this rate is the highest one among all accident causes. Unlike other types of accidents caused by speeding and distraction to the road, the accidents by drowsy driving should be managed differently because the drowsiness might not be controlled by human's will. To reduce the number of accidents caused by drowsy driving, researchers previously focused on the spot based analysis. However, what we actually need is a segment (link) and occurring time based analysis, rather than spot based analysis. Hence, this research performs initial effort by adapting link concept in terms of drowsy driving on highway. First of all, we analyze the accidents caused by drowsy in historical accident data along with their road environments. Then, links associate with driving time are analyzed using digital tachograph (DTG) data. To carry this out, negative binomial regression models, which are broadly used in the field, including highway safety manual, are used to define the relationship between the number of traffic accidents on expressway and drivers' behavior derived from DTG. From the results, empirical Bayes (EB) and potential for safety improvement (PSI) analysis are performed for potential risk segments of accident caused by drowsy driving on the future. As the result of traffic accidents caused by drowsy driving, the number of the traffic accidents increases with increase in annual average daily traffic (AADT), the proportion of trucks, the amount of DTG data, the average proportion of speeding over 20km/h, the average proportion of deceleration, and the average proportion of sudden lane-changing.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.6
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• pp.1-14
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• 2012

Traffic management centers (TMC) collect real-time traffic data from the field and have powerful databases for analysing, recording, and archiving the data. Recent advanced sensor and communication technologies have been widely applied to intelligent transportation systems (ITS). Regarding sensors, various in-vehicle sensors, in addition to global positioning system (GPS) receiver, are capable of providing high resolution data representing vehicle maneuverings. Regarding communication technologies, advanced wireless communication technologies including vehicle-to-vehicle (V2V) and vehicle-to-vehicle infrastructure (V2I), which are generally referred to as V2X, have been widely used for traffic information and operations (references). The V2X environment considers the transportation system as a network in which each element, such as the vehicles, infrastructure, and drivers, communicates and reacts systematically to acquire information without any time and/or place restrictions. This study is motivated by needs of exploiting aforementioned cutting-edge technologies for developing smarter transportation services. The proposed system has been implemented in the field and discussed in this study. The proposed system is expected to be used effectively to support the development of various traffic information control strategies for the purpose of enhancing traffic safety on highways.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.16 no.1
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• pp.84-91
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• 2020

The APR1400 reactor stud holes can be stuck due to high temperatures, high pressure, prolonged engagement, and load changes according to pressure changes in the reactor. Threaded surfaces of a stud hole should be cleaned for the sealing of pressure in reactor vessel by removing any foreign materials which may exist in the stud holes. Human workers can access to the stud hole for the cleaning of stud holes manually, but the radiation exposure of human workers is increased. Robot is an effective way to work in hazardous area. So we introduced robot for the cleaning of stud holes. Localization of mobile robots is generally based on odometry, but with increased mileage, position errors can be accumulated. In order to eliminate cumulative error and to ensure stability of its driving, laser sensors and new control algorithm were utilized. The distance between the robot and the wall was measured by laser sensors, and the control algorithm was implemented so as to travel the desired trajectory by using the measured values from sensors. The performance of driving and hole sensing were verified through field application, and mobile robot was confirmed to be applicable to the APR 1400 NPP.

• Journal of the Korean Society of Safety
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• v.29 no.4
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• pp.147-152
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• 2014

The purpose of this study, the overall occupational safety and health status and identify the characteristics of the workers engaged in the field of quick services, substitute driving services, home delivery, caregiver, film and television arts, to take appropriate measures to prevent industrial accidents, profession and working environment, safety recognition and education, and safety activities, accident experience and job stress survey. Survey using a structured questionnaire, 846 people directly interview research. Safety consciousness level of himself or herself was "fair level" of 3.19 points and those of colleagues and the general public were evaluated to be low as 2.84 points and 2.54 points, respectively. During the last 12 months, 21.3% of total workers in 5 job categories have received an industrial safety health education for job-related accident or disease and 87.6% of workers engaged in caregiver have received an industrial safety health education for job-related accident or disease. The proportions for delivery worker, substitute driving service and quick service/cultural art were 26.4%, 12.1% and below 10%, respectively. Frequency of having received an education was 5.7 days on average and education hour was 9.2. Regarding cases of having experienced job-related accident or having been exposed to job-related disease over the past 1 year, 17.0% of total respondents have experienced accident and 21.3% have experienced job-related disease. Preventive education for occupational safety is required to be expanded and strengthened. Except caregiver, the proportion of having received an information and education for safety rules and hazardous factors. Safety education is urgently required in order to prevent and reduce accident. Safety and health guideline is required to be developed and disseminated in order to prevent accident in advance.