• International journal of advanced smart convergence
• /
• v.8 no.2
• /
• pp.30-38
• /
• 2019

Recently, the spread of personal mobility has been rapidly increasing due to the development of environmentally friendly alternative transportation means. In addition, the level of battery technology is also rapidly developing, accelerating the popularization of personal mobility. Such personal mobility has convenience of location transfer, amusement, and high portability compared to other transportation devices. Most personal mobility, however, is made up of small wheels, which cannot overcome obstacles such as rugged roads or obstacles on the road. In this paper, to solve these problems, we tried to devise a device that can easily overcome obstacles by combining wheels with small moving means. The wheel size can be mounted on the front wheel of the small moving means in a protruding manner so that obstacles can be encountered before the front wheels and the safety and ride comfort of the running can be improved.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.2
• /
• pp.211-217
• /
• 2014

This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2019-2023
• /
• 2005

In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

• Transactions of Materials Processing
• /
• v.25 no.6
• /
• pp.359-365
• /
• 2016

The rate-controlling mechanisms for time-dependent plastic deformation of eutectoid and hyper-eutectoid pearlitic steels at low $T/T_m$ temperatures were explored. The strain rate - stress data obtained from a series of constant load tensile tests at $0.25{\sim}0.30T/T_m$ were applied to the power law, the lattice friction controlled plasticity, and the obstacle controlled plasticity. Of these models, the obstacle controlled plasticity was found to best-describe the rate-controlling mechanism for time-dependent plastic deformation of two steels at low $T/T_m$ temperatures in terms of the activation energy for overcoming the obstacles against dislocation glide in ferrite. The deformed microstructures revealed the dislocation forests of a high density as the main obstacles. In addition, the obstacle controlled plasticity well-explained the effects of cementite on the $0^{\circ}K$ flow stress of two steels.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2007.11a
• /
• pp.119-120
• /
• 2007

• Wind and Structures
• /
• v.36 no.2
• /
• pp.75-90
• /
• 2023

Turbulent wind flow over hilly terrains has been extensively investigated in the scientific literature and main findings have been included in technical standards. In particular, turbulent wind flow over nominally two-dimensional hills is often adopted as a benchmark to investigate wind turbine siting, estimate wind loading, and dispersion of particles transported by the wind, such as atmospheric pollutants, wind-driven rain, windblown snow. Windblown sand transport affects human-built structures and natural ecosystems in sandy desert and coastal regions, such as transport infrastructures and coastal sand dunes. Windblown sand transport taking place around any kind of obstacle is rarely in equilibrium conditions. As a result, the modelling of windblown sand transport over complex orographies is fundamental, even if seldomly investigated. In this study, the authors present a wind-sand tunnel test campaign carried out on a nominally two-dimensional sinusoidal hill. A first test is carried out on a flat sand fetch without any obstacle to assess sand transport in open field conditions. Then, a second test is carried out on the hill model to assess the sand flux overcoming the hill and the morphodynamic evolution of the sand sedimenting over its upwind slope. Finally, obtained results are condensed into a dimensionless parameter describing its sedimentation capability and compared with values resulting from other nominally two-dimensional obstacles from the literature.

• Archives of Pharmacal Research
• /
• v.29 no.12
• /
• pp.1067-1073
• /
• 2006

Cisplatin, a platinum coordinated complex, is a widely used antineoplastic agent for the treatment of metastatic tumors of the testis, metastatic ovarian tumors, lung cancer, advanced bladder cancer and many other solid tumors. The cytotoxic action of the drug is often thought to be associated with its ability to bind DNA to form cisplatin-DNA adducts. The development of resistance to cisplatin during treatment is common and constitutes a major obstacle to the cure of sensitive tumors. Although to understand the clinically relevant mechanisms of resistance, many studies have been aimed at clarifying the biochemical/molecular alterations of cisplatin-resistance cells, these studies did not conclusively identify the basis of cellular resistance to cisplatin. In this review, cisplatin resistance was discussed in terms of the relevant transporters, such as copper transporters (CTRs), organic cation transporters (OCTs) and multi-drug resistance related transporters (MDRs). These transporters seem to be contributed to cisplatin resistance through the reduction of drug accumulation in the cell. Better understanding the mechanism of cisplatin resistance associated with transporters will provide the useful informations for overcoming the cisplatin resistance.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.5
• /
• pp.489-495
• /
• 2008

This paper offers a practical control scheme for driving mode transformation of a rescue robot already developed. The rescue robot, VSTR(Variable Single-Tracked Robot), has two driving modes, so can traverse untidy terrain and overcome obstacles such as stairs easily by use of timely driving mode transformation. Classical PI control scheme was used firstly for driving mode transformation, but stationary phenomenon, which might have a bad effect on the performance in real situation, came into existence. Therefore, we suggest a new controller, PI-based feedforward controller, which should be a good alternative for the problem, and compare it with other nonlinear control scheme.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.4
• /
• pp.391-395
• /
• 2010

In our paper, we propose an asymmetric single-tracked wheel system, and describe its structure and the method for maintaining the length of a transformable track system. And the method is reducing the gap of lengths. Therefore, we propose an efficient structure for transforming and explain motions with kinematics. Our transformable shape single-tracked mobile system has an advantage to overcome an obstacle or stairs by the variable arms in the single unity track system. But we will make the variable shape of tracked system get a drive that has a force to stand against a wall. In this case, we can consider this system to a rigid body and have a notice that this single tracked system is able to get vary shape with the variable arm angle. Considering forces balance along x-axis and y-axis, and moments balance around the center of the mass we have. If this rigid body is standing against a wall and doesn't put in motion, the force of flat ground and the rigid body sets an equal by a friction. In the same way, the force of a wall and the rigid sets an equal by a friction.

• Journal of Home Health Care Nursing
• /
• v.14 no.1
• /
• pp.11-17
• /
• 2007

The purpose of this study was to describe the policy agenda and alternatives for the home health care system in Korea. The home health care system development was not fully integrated while the medical laws were established in 2000, community health law in 1995, and elderly long-term health insurance law in 2007. Because of the increasing population of people over the age of 65 and dramatically decreasing fertility rate, the burden of various health-care expenses has become a great obstacle for the Korean government. Under these circumstances, the home of home health care system in has taken on an important role under the mandate of the national health care system. The types of home health care system in Korean shows a greater contrast from those utilized in other more industrialized countries, such as, U.S. or Japan. In conclusion, the strategy in overcoming the obstacles to enhance home health care system under the national health system would be developing it as a comprehensive and exchangeable consumer-focused organization.