• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.81-84
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• 2004

본 논문에서는 1대의 CCD카메라로 주행 중 차선과 선행차량을 인식하고 선행차량까지의 거리를 실시간으로 계측하는 알고리즘을 제시하였다. 도로와 카메라간의 기하구조를 분석하여 사영행렬을 추출하였고, 주행 중 차간 거리를 실시간으로 계측하는데 이용하였다. 또한 차선 인식을 위해서 Hough Transform을 적용하여 처리시간을 단축하였다. 도로상의 장애물은 인식된 주행차선 내로 한정하였고 도로 영상에서 수평에지성분을 구한 후 히스토그램 투영을 적용하여 장애물을 검출하였다. 거리가 점차 멀어질수록 계측오차가 증가함을 볼 수 있었으나 기존의 방법에 비하여 주행 중에 운전자가 장애물을 판단하여 제동을 취할 수 있는 정도의 유효한 오차특성을 보였다.

• Journal of the Korea Society of Computer and Information
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• v.16 no.7
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• pp.157-163
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• 2011

In this paper, configuration control for the Horizontal Maintenance and driving of the mobile inverted pendulum robot has been studied using ARS(Attitude Refrence System). The inverted pendulum technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a mobile inverted pendulum robot can move in various modes and Our robot performs goal reaching ARS. Mobile inverted pendulum robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the IMU and PID control.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.10
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• pp.26-32
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• 2019

The purpose of this study is to improve the running speed on a small-radius curved section on an existing train line. When the transition curve was extended, and the amount of movement in the horizontal direction tended to increase as the curve radius increased. The amount of increase in the transition curve extension was lowest when extending the curve radius, and the amount of horizontal movement was the lowest when changing the curve radius to a cosinusoidal curve. As a result of applying the pass rate after improvement to the Kyeongbu line, there was a time-shortening effect of 9.4 to 11.6% and a facial expression speed increasing effect when the curve radius was fixed and the transition curve was changed to a sinusoidal curve. In conclusion, the most effective way to improve the running speed on an existing train route is to change the image to concrete and to change the relaxation curve to a cosinusoidal curve. The amount of horizontal movement of the track is small, and the speed improvement effect is excellent.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.3D
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• pp.453-459
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• 2006

This paper presents an experimental evaluation of wandering effect on asphalt concrete pavement responses. A laser-based wandering system has been developed and its performance is verified under various field conditions. The portable wandering system composed of two laser sensors with Position Sensitive Devices can allow one to measure the distance between laser sensors and tire edges of moving vehicle. Therefore, lateral position of each wheel on the pavement can be determined in a real time manner. Pavement responses due to different loading paths are investigated using a roll over test which is carried out on one of asphalt surfaced pavements in the Korea Highway Corporation test road. The pavement section (A5) consists of 5 cm thick surface course; 7 cm intermediate course; and 18 mm base course, and is heavily instrumented with strain gauges, vertical soil pressure cells and thermo-couples. From the center of wheel paths, seven equally-spaced lateral loading paths are carefully selected over an 140 cm wandering zone. Test results show that lateral horizontal strains in both surface and intermediate courses are mostly compressive right under the loading path and tensile strains start to develop as the loading offset becomes 40 cm from the wheel path. The development of the vertical stresses in the top layers of subbase and anti-frost is found to be minimal once the loading offset becomes 50 cm.

• Journal of the Korean GEO-environmental Society
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• v.14 no.4
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• pp.53-58
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• 2013

The design for horizontal drain layer on soft ground starts from the decision that the material could be used or not, by verifying material condition in permeability of horizontal drain material according to the weight percent of the dry soil retained on #200 sieve. In the next step of the design, we estimate the thickness of horizontal drain layer to confirm trafficability of heavy machinery in construction work. Successively, the long-term functionality for good drainage of horizontal drain layer is checked and if needed, some means are considered. In this study, the system to recycle mixed coal ash in ash pond successfully as a horizontal drain material on soft ground is presented through the process and the result of its practical construction work. Namely, the pact is confirmed that mixed coal ash in ash pond should be sorted out by sieve screen to a certain extent and the remainders of this mixed coal ash on sieve openings be recycled, because the amount of finer particles than $75{\mu}m$ contained in mixed coal ash in ash pond is quite massive and irregular depending on the coal power plant or the location in same ash pond. In order to sort at large scale in situ, the dimension of a sieve squre hole and the sort-out method, etc. should be decided before the sort-out process. And, it is described that we need to manufacture classifier to sort out mixed coal ash in ash pond, too.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2012.11a
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• pp.120-121
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• 2012

자동차 산업에서 중요 화두로 떠오르고 있는 지능형 자동차 개발에 있어서, 영상처리를 이용하여 다양한 편의와 안전을 제공하며 더 나아가서는 자동주행을 목표로 하는 여러 가지 영상인식 방법들이 개발되고 있다. 본 논문은 자동 주행 분야에서 가장 중요한 문제들 중의 하나인 장애물 검출에 관한 것으로서, 여러 장애물들 중에 요금소나 진입통제 지역에 자주 나타나는 크로스 바 검출을 위한 알고리즘을 제안한다. 크로스 바의 경우 그 두께가 작아서 레이더로 잘 검출되지 않으므로 특히 영상처리로 검출을 해야 할 장애물에 속한다. 본 논문에서는 도로 상에 일반적으로 존재하는 크로스 바의 특징을 기반으로 한 영상 처리를 통해 바를 검출한다. 먼저 색상과 모양 정보를 이용하여 크로스 바의 노란색 영역이라고 판단되는 부분을 추출한다. 이들 가운데 수평을 이루고 있는 부분이 존재하면 크로스 바로 판단한다. 실험 결과는 제안하는 알고리즘이 제동거리 밖에서 정확하게 크로스 바를 검출함을 보여준다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1533-1534
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• 2011

• Journal of Biosystems Engineering
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• v.12 no.1
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• pp.14-19
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• 1987

Lug design factors of a driving wheel were proved to have a significant effect on its traction. The effects of lug taper angle, lug angle, and lug width were experimentally analyzed. The results were summarized as follows: 1. Increasing wheel slippage increased the horizontal soil reaction force. 2. Significant improvement of traction was made when lug taper angle was 23 degrees. 3. Excellent traction was obtained in the range of lug angles of 60 to 74 degrees. 4. Lug width in 20 to 30 mm range has no effect on traction.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.11
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• pp.103-109
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• 2012

Samsung Thales has developed a small-sized autonomous underwater vehicle "BOTO" verified by a mathematical model simulation. The hydrodynamic coefficients and drag force were experimented at circulating water channel for validating cruising performance of the AUV. Based on the mathematical model, we simulated turning radius and way-point tracking on horizontal plane using way-point tracking algorithm. In this paper we introduce the vehicle system and the sea trial test results will be shown.

• Journal of the Korean Society for Railway
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• v.14 no.2
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• pp.137-142
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• 2011

A bimodal tram is a new design vehicle introduced to improve a current transportation system, and it has advantages of a bus and a subway. A pipe truss bridge, an exclusive road of the bimodal tram, is constructed for introduction of the bimodal tram. An analysis of dynamic response characteristics is required because this new bridge has never constructed before. A speed increasing test on the pipe truss bridge was conducted with attaching a sensor to bottom of the bridge. Also, Dynamic response characteristics were analyzed by measuring displacements, the maximum vertical and horizontal acceleration about the new bridge through the experiment.