• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.487-495
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• 2023

This paper presents a method for autonomous exploration of indoor environments using a 2-dimensional Light Detection And Ranging (LiDAR) scanner. The proposed frontier-based exploration method considers navigability from the current robot position to extracted frontier targets. An approach to constructing the point cloud grid map that accurately reflects the occupancy probability of glass obstacles is proposed, enabling identification of safe frontier grids on the safety grid map calculated from the point cloud grid map. Navigability, indicating whether the robot can successfully navigate to each frontier target, is calculated by applying the skeletonization-informed rapidly exploring random tree algorithm to the safety grid map. While conventional exploration approaches have focused on frontier detection and target position/direction decision, the proposed method discusses a safe navigation approach for the overall exploration process until the completion of mapping. Real-world experiments have been conducted to verify that the proposed method leads the robot to avoid glass obstacles and safely navigate the entire environment, constructing the point cloud map and calculating the navigability with low computing time deviation.

• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.3
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• pp.242-249
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• 2017

In order to develop an HNS safety management system to assess and visualize hazard levels via an automated method, we have conceptualized and configured a sample system. It is designed to quantify the risk of a vessel carrying HNS with a matrix method along navigational route and indicate hazards distribution with a contour map. The basic system which provides a visualized degree of hazards in real time has been introduced for the safe navigation of HNS ships. This is useful not only for decision making and circumstantial judgment but may also be utilized for HNS safety management with a risk base. Moreover, this system could be extended to address the navigational safety of marine traffic as well as of autonomous vessels in the near future if the sensors used are connected with IoT technology.

• Fire Science and Engineering
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• v.23 no.4
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• pp.50-58
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• 2009

Fire can cause severe damages to human lives, properties, and environment resources regardless to where the fire will be happened and the evaluation methods for fire impact against fire objects such as human, properties are different among nations around the world. ISO TC 92 (Fire safety) has 4 sub committees to develop international standard to harmonize each nation standards and evaluate fire impact and the experts from all around the world participate in preparing international standards on fire. The main purpose of this study is to suggest a new road-map for domestic fire resistant standard of building structures. To make a new road-map two activities of the ISO's major committees and the countermeasures of fire safety from our standards were investigated.

• Journal of the Korean Institute of Gas
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• v.14 no.4
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• pp.6-11
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• 2010

The continuous fatal accidents like explosion or fire cause huge losses of both life and property in laboratories even though safety management system has been built and periodical checkups and safety diagnosis have been implementing in universities and enterprise-affiliated research institutes since Act on the Establishment of Safe Laboratory Environment was enacted in 2005 to prevent accidents in research laboratories. Cause analysis and safety management measures to prevent recurrence of accidents are urgently needed because accidents in research laboratories occur repeatedly with similar contents. This study will show results of analysis on incidents and accidents occurred in laboratories in universities and enterprise-affiliated research institutes using Root Cause Analysis Method and propose classified map of cause investigation and improvements so as to improve safety management in research laboratories.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.23 no.61
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• pp.1-11
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• 2000

Ergonomic vehicle design is very important for driver's safety and sensibility. Many studies have emphasized the physical factors of human operator and usability of control devices. However, driver's cognitive factors such as the shape of cognitive map have not been well documented. The aim of this research is to find the relationship between the shape of Instrument Pane (IP) in driver's cognitive map and the real vehicle. To do this, Sketch Map Method (SMM), that is an extraction method of cognitive map, was employed to extract the shape of middle-aged driver's cognitive map. In this study, SMM was modified to formulate driver's cognitive map because this process is not being in the existing SMM. Next, correlation was analyzed between individual cognitive map and the shape of real vehicle's IP. The result showed that the position of volume control switch and cigar jack was similar between these but the position of others wasn't.

• Journal of the Korean Society of Marine Environment & Safety
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• v.16 no.1
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• pp.93-99
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• 2010

Republic of Korea is the first country which received international aids, h1s become a member of DAC, and recently has strengthened the international aids policy through ODA(Official Development Assistance). Korea ODA has focused on the area of education, social infrastructure, etc., but not on maritime affairs. However, since Korea has become a maritime country and a member of "A Group" council of IMO, the international shipping community including IMO strongly requests Korea to transfer Korea's maritime safety technology to developing countries for the sake of international maritime safety and marine environment protection. In this study, the direction of road map for effective transfer of maritime safety technology and marine environment protection technology was presented. The strategy for implementation of the suggested road map was proposed as well.

• Journal of the Korean Society of Safety
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• v.31 no.1
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• pp.41-47
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• 2016

The rolling stock is composed of several cars. In order to operate in combination, it is necessary to connect the device, called coupler, between the rolling stocks. When the collision occurs between cars, couplers should be able to absorb the shock. Urban railway has used only rubber absorbers. But recently, the hydraulic buffer has been considered in general railway. In order to know the performance of the buffer it should be conducted to experiments. But whenever this combination change, we should experiments to know a lot of the dynamic behavior of each coupler. These experiments are generally replaced by the simulation, since a lot of time and cost consuming. The quasi-static map of hydraulic buffer obtained by the experiments is required for the simulation. However, the experiments for obtaining such a quasi-static map is costly and time consuming. In this paper, it proposes a method for deriving the quasi-static map of hydraulic buffer from the theoretical model.

• Journal of Korea Multimedia Society
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• v.14 no.5
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• pp.595-606
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• 2011

This paper proposes a robust watermarking scheme for GIS digital map by using the geometric properties of polyline and polygon, which are the fundamental components in vector data structure. In the proposed scheme, we calculate the lengths and the perimeters of all polylines and polygons in a map and cluster them to a number of groups. Then we embed the binary watermark by changing the mean of lengths and perimeters in an embedding group. For improving the safety and robustness, we permute the binary watermark through PRNS(pseudo-random number sequence) processing and embed it repeatedly in a model. Experimental results verified that our scheme has a good invisibility, safety and robustness to various geometric attacks and also our scheme needs not the original map in the extracting process of watermark.

• Journal of the Korean Institute of Gas
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• v.18 no.4
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• pp.86-94
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• 2014

To develop a Root Cause Analysis Map which determines the cause of the accident in chemical laboratory, The Root Cause Analysis(RCA) Map for the laboratory areas was sketched from Phase 1 of the accident element to Phase 3 of the accident element, based on the RCA Map which is applied in the petrochemical industry. On the basis of laboratory RCA Map which was classified by using such method. The root causes of the 211 accident cases in laboratories were classified from Phase 4 to Phase 5 by the Cause Factor Charting technique and The cause of the accident data were inputted to EXCEL program. After that, The causes of the accident data were sorted and classified by type and each step. So 'Approximate Primary RCA Map Draft' was written. In addition, it was reaffirmed whether the root causes of 211 accidents of laboratory were appropriate to 'Primary RCA Map Draft'. By complementing the cause which was expected to cause future accidents, the RCA Map for chemical laboratories was developed. Based on 'RCA Map' proposed in this study, the causes of accidents were analysed management systems 35%, monitoring 12.2%, Human Factor Eng. 15.1% and education training 12.1% by the size of the frequency from Phase 1 to Phase 5.

• Journal of Auto-vehicle Safety Association
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• v.14 no.2
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• pp.39-44
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• 2022

This paper presents LiDAR static obstacle map based vehicle position correction algorithm for urban autonomous driving. Real Time Kinematic (RTK) GPS is commonly used in highway automated vehicle systems. For urban automated vehicle systems, RTK GPS have some trouble in shaded area. Therefore, this paper represents a method to estimate the position of the host vehicle using AVM camera, front camera, LiDAR and low-cost GPS based on Extended Kalman Filter (EKF). Static obstacle map (STOM) is constructed only with static object based on Bayesian rule. To run the algorithm, HD map and Static obstacle reference map (STORM) must be prepared in advance. STORM is constructed by accumulating and voxelizing the static obstacle map (STOM). The algorithm consists of three main process. The first process is to acquire sensor data from low-cost GPS, AVM camera, front camera, and LiDAR. Second, low-cost GPS data is used to define initial point. Third, AVM camera, front camera, LiDAR point cloud matching to HD map and STORM is conducted using Normal Distribution Transformation (NDT) method. Third, position of the host vehicle position is corrected based on the Extended Kalman Filter (EKF).The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment and showed better performance than only lane-detection algorithm. It is expected to be more robust and accurate than raw lidar point cloud matching algorithm in autonomous driving.