• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1735-1736
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• 2008

In this research, a riding robot system named as "RideBot" is developed for health-care and entertainments. The developed riding robot can follow the intention of horseman and can simulate the motion of horse. The riding robot mechanisms are used for many functions of attitude detection, motion sensing, recognition, common interface and motion-generations. This riding robot can react on health conditions, bio-signals and intention informations of user. One of the objectives of this research is that the riding robot could catch user motion and operate spontaneous movements. In this paper, we develope the saddle mechanism which can generate 3 degrees-of-freedom riding motion based on the intention of horseman. Also, we develope reins and spur mechanism for the recognition of the horseman's intention estimation and the bio-signal monitoring system for the health care function of a horseman. In order to evaluate the performance of the riding robot system, we tested several riding motions including slow and normal step motion, left and right turn motion.

• International Journal of Highway Engineering
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• v.18 no.4
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• pp.83-92
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• 2016

PURPOSES : The purpose of this study was to develop safety performance functions (SPFs) that use zero-inflated negative binomial regression models for urban intersections in central business districts (CBDs), and to compare the statistical significance of developed models against that of regular negative binomial regression models. METHODS : To develop and analyze the SPFs of intersections in CBDs, data acquisition was conducted for dependent and independent variables in areas of study. We analyzed the SPFs using zero-inflated negative binomial regression model as well as regular negative binomial regression model. We then compared the results by analyzing the statistical significance of the models. RESULTS : SPFs were estimated for all accidents and injury accidents at intersections in CBDs in terms of variables such as AADT, Number of Lanes at Major Roads, Median Barriers, Right Turn with an Exclusive Turn Lane, Turning Guideline, and Front Signal. We also estimated the log-likelihood at convergence and the likelihood ratio of SPFs for comparing the zero-inflated model with the regular model. In he SPFs, estimated log-likelihood at convergence and the likelihood ratio of the zero-inflated model were at -836.736, 0.193 and -836.415, 0.195. Also estimated the log-likelihood at convergence and likelihood ratio of the regular model were at -843.547, 0.187 and -842.631, 0.189, respectively. These figures demonstrate that zero-inflated negative binomial regression models can better explain traffic accidents at intersections in CBDs. CONCLUSIONS : SPFs that use a zero-inflated negative binomial regression model demonstrate better statistical significance compared with those that use a regular negative binomial regression model.

• Journal of the Ergonomics Society of Korea
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• v.34 no.2
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• pp.85-101
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• 2015

Objective: The purpose of this study was to develop and evaluate smart secondary controls using iPad for the drivers with physical disabilities in the driving simulator. Background: The physically disabled drivers face problems in the operation of secondary control devices that accept a control input from a driver for the purpose of operating the subsystems of a motor vehicle. Many of conventional secondary controls consist of small knobs or switches that physically disabled drivers have difficulties in grasping, pulling or twisting. Therefore, their use while driving might increase distraction and workload because of longer operation time. Method: We examined the operation time of conventional and smart secondary controls, such as hazard warning, turn signal, window, windshield wiper, headlights, automatic transmission and horn. The hardware of smart secondary control system was composed of iPad, wireless router, digital input/output module and relay switch. We used the STISim Drive3 software for driving test, customized Labview and Xcode programs for interface control of smart secondary system. Nine subjects were involved in the study for measuring operation time of secondary controls. Results: When the driver was in the stationary condition, the average operation time of smart secondary devices decreased 32.5% in the normal subjects (p <0.01), 47.4% in the subjects with left hemiplegic disabilities (p <0.01) and 38.8% in the subjects with right hemiplegic disabilities (p <0.01) compared with conventional secondary devices. When the driver was driving for the test in the simulator, the average operation time of smart secondary devices decreased 36.1% in the normal subjects (p <0.01), 41.7% in the subjects with left hemiplegic disabilities (p <0.01) and 34.1% in the subjects with right hemiplegic disabilities (p <0.01) compared with conventional secondary devices. Conclusion: The smart secondary devices using iPad for people with hemiplegic disabilities showed significant reduction of operation time compared with conventional secondary controls. Application: This study can be used to design secondary controls for adaptive vehicles and to improve the quality of life of the people with disabilities.

• Journal of Biosystems Engineering
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• v.43 no.4
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• pp.273-284
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• 2018

Purpose: Conventional headland turning typically requires repeated forward and backward movements to move the farming equipment to the next row. This research focuses on developing an upland agricultural robot with an optimized headland turning mechanism that enables a $180^{\circ}$ turning positioning to the next row in one steering motion designed for a two-wheel steering, four-wheel drive agricultural robot named the HADA-bot. The proposed steering mechanism allows for faster turnings at each headland compared to those of the conventional steering system. Methods: The HADA-bot was designed with 1.7-m wide wheel tracks to travel along the furrows of a garlic bed, and a look-ahead path following algorithm was applied using a real-time kinematic global positioning system signal. Pivot turning tests focused primarily on accuracy regarding the turning radius for the next path matching, saving headland turning time, area, and effort. Results: Several test cases were performed by evaluating right and left turns on two different surfaces: concrete and soil, at three speeds: 1, 2, and 3 km/h. From the left and right side pivot turning results, the percentage of lateral deviation is within the acceptable range of 10% even on the soil surface. This U-turn scheme reduces 67% and 54% of the headland turning time, and 36% and 32% of the required headland area compared to a 50 hp tractor (ISEKI, TA5240, Ehime, Japan) and a riding-type cultivator (CFM-1200, Asia Technology, Deagu, Rep. Korea), respectively. Conclusion: The pivot turning trajectory on both soil and concrete surfaces achieved similar results within the typical operating speed range. Overall, these results prove that the pivot turning mechanism is suitable for improving conventional headland turning by reducing both turning radius and turning time.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.11 no.2
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• pp.39-47
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• 2012

In this paper, we have developed the system of emergency vehicle preemption signal control based on UTIS(Urban Traffic Information System) which have been deployed and operated in the national capital area. It considered the turning direction(through or left turn) of emergency vehicle at the signalized intersection in order to provide the consecutive progression of emergency vehicle and minimize the control delay of passenger cars. we adopted several EVP control modes such as phase insertion and phase adjustment mode. Also, we evaluated the possibility of field implementation via simulation analysis using CORSIM RTE(Run Time Extension) based HILS(Hardware In the Loop Simulation). We expect that the result of this research contribute to providing the right-of-way to emergency vehicle in this country.

• International Journal of Highway Engineering
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• v.11 no.4
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• pp.41-47
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• 2009

This study deals with the side-swipe accidents of 4-legged signalized intersections in Cheongju. The objectives are to analyze the characteristics of the accidents and to develop the related models. In pursuing the above, this study gives particular emphasis to finding the appropriate methodology to modelling. The main results are as follows. First, injuries were analyzed to be twice than property-only accidents in the side-swipe accidents. The accidents were evaluated to occur more in inside-intersection. Also, the accidents were analyzed to be almost the auto-related accidents and to be occurred by the unsafely-driving activity. Second, multiple linear regression models were evaluated to be more statistically significant than multiple non-linear. The most fitted models were analyzed to be the models with the number of accidents as the dependent variable. The factors of side-swipe accidents analyzed in this study were ADT, area of intersection, right-turn-only-lane, number of pedestrian crossings, limited speed of main road, maximum grade and number of signal phase.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.1
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• pp.26-37
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• 2017

The study is to develop safety performance functions(SPFs) for urban intersections using random effects Tobit regression model and to analyze correlations between crashes and factors. Also fixed effects Tobit regression model was estimated to compare and analyze model validation with random effects model. As a result, AADT, speed limits, number of lanes, land usage, exclusive right turn lanes and front traffic signal were found to be significant. For comparing statistical significance between random and fixed effects model, random effects Tobit regression model of total crash rate could be better statistical significance with $R^2_p$ : 0.418, log-likelihood at convergence: -3210.103, ${\rho}^2$: 0.056, MAD: 19.533, MAPE: 75.725, RMSE: 26.886 comparing with $R^2_p$ : 0.298, log-likelihood at convergence: -3276.138, ${\rho}^2$: 0.037, MAD: 20.725, MAPE: 82.473, RMSE: 27.267 for the fixed model. Also random effects Tobit regression model of injury crash rate has similar results of model statistical significant with random effects Tobit regression model.

• International Journal of Highway Engineering
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• v.14 no.2
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• pp.145-155
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• 2012

At present, Seoul City is putting the bus exclusive lane system into practice according to mass transit revitalization policy. Starting with the installation of roadside bus exclusive lane in the past, at present, even the road sections for central- lane bus exclusive lane system are on the increase. The purpose of this research is to analyze the factors giving impacts on bus accident on central bus exclusive lane and roadside bus exclusive lane. In case of the central bus exclusive lane, the 6 variables, such as the number of bus routes, number of access & entrance to central lanes patterns, whether the stop line of central lanes retreats or not, separated distance between the stop line of central lanes and crosswalks, traffic volume, and number of bus routes stopping at bus stops on reversible lanes, were found to have a significant influence on bus accidents. In case of roadside bus exclusive lane sections, the four variables such as the number of right-turn bus routes, whether to be chronic illegal parking & stopping, time for the walk signal, and forms of land use, etc. were found to have a significant influence on bus accident.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.14 no.1
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• pp.85-93
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• 2015

Previous studies have estimated crash prediction models with the fixed effect model which assumes the fixed value of coefficients without considering characteristics of each intersections. However the fixed effect model would estimate under estimation of the standard error resulted in over estimation of t-value. In order to overcome these shortcomings, the random effect model can be used with considering heterogeneity of AADT, geometric information and unobserved factors. In this study, data collections from 89 intersections in Daejeon and estimates of crash prediction models were conducted using the random and fixed effect negative binomial regression model for comparison and analysis of two models. As a result of model estimates, AADT, speed limits, number of lanes, exclusive right turn pockets and front traffic signal were found to be significant. For comparing statistical significance of two models, the random effect model could be better statistical significance with -1537.802 of log-likelihood at convergence comparing with -1691.327 for the fixed effect model. Also likelihood ration value was computed as 0.279 for the random effect model and 0.207 for the fixed effect model. This mean that the random effect model can be improved for statistical significance of models comparing with the fixed effect model.