• 한국도로학회논문집
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• 제8권4호
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• pp.63-74
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• 2006

합리적인 도로 설계를 통해 운전자들의 기대를 만족시켜, 운전자들이 도로의 조건을 충분히 인지하여 주행하도록 하는 것은 매우 중요하다. 이러한 도로의 경우 우리는 흔히 선형의 일관성이 확보되어 운전자들이 안전하고 편안한 차량 주행을 할 수 있는 것이라고 말한다. 위에서 언급한 설계 일관성의 확보 유무를 평가하기 위해 국내 외에서 많은 연구가 이루어지고 있다. 본 연구에서는 기존의 국내 외 설계 일관성 평가 방법을 유형별로 구분하여 정리해 보고, 국내현실에 가장 적합하다고 판단되는 방법론을 응용하여, 일반국도의 과거 조사 자료를 바탕으로 현실적인 설계 일관성기법을 개발하고자 한다. 본 연구에서 개발한 모형은 곡선구간 상류부 100m지점의 속도($V_t$)를 변수로 포함하는 예측식으로 양방향 2차로는 $R{\leq}200m$인 경우와 R>200m인 경우로 나누어 예측식을 개발하였다. $R{\leq}200m$인 경우에는 곡선반경(R)과 $V_t$의 영향이 있고, R>200m인 구간에서는 기하구조의 영향보다는 곡선 상류부 100m지점의 속도($V_t$)가 영향이 있는 것으로 판단된다. 양방향 4차로의 경우도 R값을 400m라는 값에서 두 구간으로 구분하여 예측하였지만 양방향 2차로와는 달리 두 구간에서 모두 기하구조의 영향보다는 $V_t$의 영향이 더 큰 것으로 판단되었다. 향후 보다신뢰도가 높은 예측모형식 개발을 위해서는 더욱 정확하고 다양한 기하구조의 자료의 수집이 필요하다. 그리고 곡선 상류부 직선구간의 여러 지점의 속도를 수집하면 보다 신뢰도가 높은 예측 모형식 개발이 가능할 것이다.

• 한국ITS학회 논문지
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• 제21권4호
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• pp.190-211
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• 2022

본 연구는 자율주행차량의 필수 센서로 인식되는 LiDAR로 도로표지를 검지할 시, 도로표지의 모양과 높이 등이 검지성능에 주는 영향에 대하여 알아보았다. 연구를 위해 면적과 재질은 동일하고, 모양은 서로 다른 도로표지를 4종을 제작하였으며, 32Ch 회전형 LiDAR를 차량 상단부에 장착하여 도로주행실험을 수행하였다. 도로표지의 모양에 따른 점군데이터의 형상과 NPC를 비교한 결과, 32ch LiDAR를 활용하여 도로표지의 전체 모양을 인식하려면 40m 이내의 거리가 필요할 것으로 기대되며, 원거리에서 최대한 점군을 확보하는 데 있어서는 정사각형보다는 삼각형, 직사각형 등의 형상이 유리하였다. 도로표지의 높이에 따른 연구 결과, 근거리(20m이내)에서는 표지의 높이를 2m 이상으로 올리면 LiDAR의 수직시야각에서 이탈하여 완전한 점군 형상을 표현하지 못하게 되며, 차로변화로 센서와 표지 사이의 횡간격과 입사각이 커지게 되면 NPC가 소폭 감소하나 근거리 높이 변화에 비하면 미미한 영향을 보였다. 이러한 연구결과는 자율협력주행기술 상용화를 위한 LiDAR 전용 도로시설물 개발에 활용될 수 있을 것으로 기대된다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1999년도 연약지반처리위원회 학술세미나
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• pp.14-22
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• 1999

Daylight collapse have been occurred by about 6.$^{0}$ m deep at ground surface which connected to the ground surface and excessive overbreak have been occurred by the space and height of 3.$^1$~6.$^2$m at crown head part of the tunnel during tunnelling of lower-half part after completing upper-half part on tunnelling of a phyllite mountain by NATM method at the construction work of two way-double track national road. This study is a successful illustration case of earth improvement by confirming structural safety of the tunnel in a whole through solving the cause of the tunnel collapse and the work have completed successfully through applying such earth strengthening method as cement mortarㆍcement milk injection, S.G.R, steel pipe reinforced multi-step grouting etc.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.1-4
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• 2006

Most apartment houses were sited in road because it was convenient for transportation. One of the most noise is traffic noise at apartment house. The tested site was closely located in rail road and installed soundproofing wall. This study is measured indoor and outdoor noise distribution in apartment house for each story. It was similar noise distribution at indoor test but it was different noise distribution at outdoor test for each story. It was measured higher noise level at the upper stories than 5th story in outdoor noise distribution.

• 한국환경과학회지
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• 제16권8호
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• pp.881-889
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• 2007

The flora of vascular plants in Jangsanbong located at Busan Metropolitan City was investigated from April 2003 to April 2004. Vascular plants in the surveyed area were 254 taxa that belonged to 78 families, 175 genera, 218 species, 34 varieties, and 2 forma. Among them, 20 taxa of evergreen broad trees, 31 taxa of naturalized plants were identified, and especially Rubus trifidus was first recorded in Busan. In the upper part of a circular road dominant species was Pinus thunbergii. In the lower part of a circular road and the coastal area, dominant species were Platycarya strobilacea, Clerodendron trichotomum, Euscaphis japonica, Quercus aliena, Quercus dentata, Mallotus japonicus, which distribute mainly in the subtropical and temperate zone. In the surveyed area, the canopy consistsed of tall trees, Pinus thunbergii, and the understratum were trees such as Eurya japonica, Ficus erecta, Ligustrum japonicum, Prunus sargentii, and Celtis sinensis var. japonica.

• Journal of Mechanical Science and Technology
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• 제14권10호
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• pp.1028-1040
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• 2000

A numerical method is presented for the dynamic analysis of military tracked vehicles of high mobility. To compute the impulsive dynamic contact forces which occur when a vehicle passes on a ground obstacle, the track is modeled as the combination of elastic links interconected by pin joints. The mass of each track link, the elastic elongation of a track link between pin joints by the track tension, and the elastic spring effects on the upper and lower surfaces of each track link have been considered in the equations of motion. And the chassis, torsion bar arms, and road wheels of the vehicle are modeled as the rigid multi bodies connected with kinematic constraints. The contact positions and the contact forces between the road wheels and track, and the ground and the the track are simultaneously computed with the solution of the equations of motions of the vehicle consisting of the multibodies. The iterative scheme for the solution of the multi body dynamics of the tracked vehicle is presented and the numerical simulations are conducted.

• 한국산업안전학회:학술대회논문집
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• 한국안전학회 1998년도 추계 학술논문발표회 논문집
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• pp.267-270
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• 1998

Current valve protection cover had problem that the hight of cover cap and road level could not match when the road was repaired and overcovered. But new developed device can solve this problem by forming several grooves in the connecting pipe. This device is devided into col=netting pipe (down side) and cap part.(upper side) On the outside diameter of connecting pipe, several horizontal grooves and two vertical grooves are formed. Through the horizontal grooves, the hight of cap part ran be adjusted with ground level. Therefore, this device can help easy maintenence in running water pipe.

• 대한임베디드공학회논문지
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• 제16권6호
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• pp.285-292
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• 2021

Autonomous vehicles are divided into an upper controller that calculates control value through cognitive judgment and a lower controller that appropriately transmits its control value to an actuator. Here, the longitudinal control in a lower controller has a problem as the road slopes due to the property of the Acceleration sensor to output the acceleration as the slope of the device. Therefore, in this paper, a sigmoid function is proposed to determine the slope to compensate for this problem. Through the experiment, Checked performance by comparing the existing table model with the proposed model.

• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.509-523
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• 2005

We are developing a novel framework, PRIDE (PRediction In Dynamic Environments), to perform moving object prediction (MOP) for autonomous ground vehicles. The underlying concept is based upon a multi-resolutional, hierarchical approach which incorporates multiple prediction algorithms into a single, unifying framework. The lower levels of the framework utilize estimation-theoretic short-term predictions while the upper levels utilize a probabilistic prediction approach based on situation recognition with an underlying cost model. The estimation-theoretic short-term prediction is via an extended Kalman filter-based algorithm using sensor data to predict the future location of moving objects with an associated confidence measure. The proposed estimation-theoretic approach does not incorporate a priori knowledge such as road networks and traffic signage and assumes uninfluenced constant trajectory and is thus suited for short-term prediction in both on-road and off-road driving. In this article, we analyze the complementary role played by vehicle kinematic models in such short-term prediction of moving objects. In particular, the importance of vehicle process models and their effect on predicting the positions and orientations of moving objects for autonomous ground vehicle navigation are examined. We present results using field data obtained from different autonomous ground vehicles operating in outdoor environments.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집
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• pp.1542-1549
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• 2009

The function of subgrade in the railway is to support track load on the subgrade as well as train load. Unlike the traditional railway, the uppermost subgrade layer in the Gyeongbu high speed railway was constructed as the reinforced road bed. The reinforced road bed comprises sub-ballast in the upper part and grade ballast in the lower part. The filling material such as soil and rocks in the subgrade can be settled by consolidation of original ground, compression due to self weight, plastic displacement due to train operation, and unequal settlement due to embankment material or improper compaction, therefore many efforts have been given for sufficient compaction and use of proper filling materials in the construction stage. The purpose of this study is to investigate the deformation state of subgrade in the Gyeongbu high speed railway. The investigation on the subgrade settlement was performed by choosing representative sections suspected to be settled based on the previous GPR test results and track maintenance history, measuring the settlement for some time period after installing settlement measuring instruments on and under the reinforced road bed. and analyzing the long-term subgrade settlement data from monitoring system which was installed at the construction stage of the high speed railway.