• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.717-722
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• 2001

This paper presents a methodology on the backward path tracking control of a trailer type robot which consists of two parts: a tractor and a trailer. It is difficult to control the motion of a trailer vehicle since its dynamics is non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a real-coded genetic algorithm(RCGA) is proposed and a backward path tracking control algorithm is then obtained based on the linearized model. Experimental results verify the effectiveness of the proposed method.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.6
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• pp.556-561
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• 2020

The aging and declining agricultural population in the modern society requires improvement of the agricultural environment and is one of the representative problems. And since most of the work systems always require a transport work, the ratio of labor consumed in the transport work is very high. Accordingly, many types of transport vehicles are being developed and sold, and in the early days, most of them are powered transport vehicles using fossil fuels. However, it is paying attention to next-generation eco-friendly energy such as hydrogen, fuel cells, solar power, and bio due to the strengthening of international environmental regulations such as global warming and the Convention on Climate Change and the depletion of fossil fuels. Therefore, in this study, the ultimate goal is to develop an eco-friendly, easy-to-operate, safe agricultural electric vehicle that replaces fossil fuels. It was designed with a focus on controlling a wide range of vehicle speeds and securing stability of electric agricultural vehicles. Considering the performance and design, it is composed of a frame, a driving part, a steering part, and a controller system, and we are going to review and manufacture each part. It is believed that the manufactured electric vehicle for agriculture can be easily and conveniently operated in an agricultural society where young manpower is scarce, and can be helpful to the agricultural society through high efficiency.

• Journal of Korean Tunnelling and Underground Space Association
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• v.19 no.1
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• pp.11-27
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• 2017

The road network system of major domestic urban areas such as city of Seoul was rapidly developed and regionally expanded. In addition, many kinds of life-lines such as electrical cables, telephone cables, water&sewerage lines, heat&cold conduits and gas lines were needed in order for urban residents to live comfortably. Therefore, most of the life-lines were individually buried in underground and individually managed. The utility tunnel is defined as the urban planning facilities for commonly installing life-lines in the National Land Planning Act. Expectation effectiveness of urban utility tunnels is reducing repeated excavation of roads, improvement of urban landscape; road pavement durability; driving performance and traffic flow. It can also be expected that ensuring disaster safety for earthquakes and sinkholes, smart-grind and electric vehicle supply, rapid response to changes in future living environment and etc. Therefore, necessity of urban utility tunnels has recently increased. However, all of the constructed utility tunnels are cut-and-cover tunnels domestically, which is included in development of new-town areas. Since urban areas can not accommodate all buried life-lines, it is necessary to study the feasibility assessment system for utility tunnel by urban patterns and capacity optimization for urban utility tunnels. In this study, we break away from the new-town utility tunnels and suggest a quantitative assessment model based on the evaluation index for urban areas. In addition, we also develop a program that can implement a quantitative evaluation system by subdividing the feasibility assessment system of urban patterns. Ultimately, this study can contribute to be activated the urban utility tunnel.

• Journal of Korean Society for Geospatial Information Science
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• v.23 no.3
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• pp.69-75
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• 2015

Road facilities for safe driving were designed for drivers to distinguish them during day and night, but they cannot play their role when the weather becomes worse. Recently, the road facilities have been designed by using electric and electronic technology so that they can be displayed well at a long distance, but they should be replaced very often due to their frequent breakdown. So, there are many problems in traffic calming and maintenance. In this study, to solve the above problems, semi-permanent LED beacon light was installed in the area where traffic accident are frequent, and monitoring system was developed so that the LED beacon light can be maintenanced by connecting with system. For the above installation and development, system was based on window operating system and it was developed for worker to operate it by using P.C. through connecting with wireless local area network. The result of this study led to analyzing state information on the battery of field-installed LED beacon light in real time, and manegement to effectively by predicting their life cycle.

• Korean Journal of Remote Sensing
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• v.38 no.5_3
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• pp.939-951
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• 2022

The most important factor in designing autonomous driving systems is to recognize the exact location of the vehicle within the surrounding environment. To date, various sensors and navigation systems have been used for autonomous driving systems; however, all have limitations. Therefore, the need for high-definition (HD) maps that provide high-precision infrastructure information for safe and convenient autonomous driving is increasing. HD maps are drawn using three-dimensional point cloud data acquired through a mobile mapping system (MMS). However, this process requires manual work due to the large numbers of points and drawing layers, increasing the cost and effort associated with HD mapping. The objective of this study was to improve the efficiency of HD mapping by segmenting semantic information in an MMS point cloud into six classes: roads, curbs, sidewalks, medians, lanes, and other elements. Segmentation was performed using various machine learning techniques including random forest (RF), support vector machine (SVM), k-nearest neighbor (KNN), and gradient-boosting machine (GBM), and 11 variables including geometry, color, intensity, and other road design features. MMS point cloud data for a 130-m section of a five-lane road near Minam Station in Busan, were used to evaluate the segmentation models; the average F1 scores of the models were 95.43% for RF, 92.1% for SVM, 91.05% for GBM, and 82.63% for KNN. The RF model showed the best segmentation performance, with F1 scores of 99.3%, 95.5%, 94.5%, 93.5%, and 90.1% for roads, sidewalks, curbs, medians, and lanes, respectively. The variable importance results of the RF model showed high mean decrease accuracy and mean decrease gini for XY dist. and Z dist. variables related to road design, respectively. Thus, variables related to road design contributed significantly to the segmentation of semantic information. The results of this study demonstrate the applicability of segmentation of MMS point cloud data based on machine learning, and will help to reduce the cost and effort associated with HD mapping.

• Journal of Korean Society of Transportation
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• v.30 no.2
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• pp.43-52
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• 2012

A lane departure warning system (LDWS) is an effective technology-based countermeasure for preventing traffic crashes as it provides warning information to drivers. Understanding the characteristics of perception and satisfaction levels on LDWS is fundamental for deriving better performance and functionality enhancements of the system. The purpose of this study is to evaluate the user satisfaction of LDWS. A survey to collect user perception and user preference data was conducted. Both cross-tabulation analysis and binary logistic regression technique were adopted to identify the factors affecting user satisfaction for LDWS. The results revealed that the accuracy and timeliness of warning information was significant for evaluating the effectiveness of LDWS. In particular, the warning accuracy at a curve segment on the road was the most dominant factor affecting user satisfaction. The outcome of this study would be valuable in evaluating and designing LDWS functionalities.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.4
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• pp.175-182
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• 2021

As road noise became an issue, low-noise pavement (LNP) has emerged. The noise difference from general asphalt pavement (GAP) is a measure to explain the noise reduction of LNP. On the other hand, even for GAP, noise varies with the performance years (PY) and pavement condition. This study evaluated the representative noise value (RNV) by the speed and PY of GAP. Sections of 49selected from the National Road Pavement Management System, and the noise was measured at speeds from 50km/h to 80km/h at every 10km/h using the Close Proximity Method (CPX). Because the noise immediately after construction differed from the other, it was treated separately, and some outliers were removed. The noise increased with increasing PY. In addition, the noise increase by speed showed a reliable trend at all noise levels. The RNV for each speed and PY was obtained through analyses of the PY and speed. The average noise difference between the initial construction and the six-year-paced pavement was approximately 6dB. When evaluating the noise reduction of LNP, it is necessary to use RNV rather than the noise of old pavement. The RNV of GAP is necessary for a relative comparison with LNP and studying the road noise characteristics for each GAP type.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.2
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• pp.370-376
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• 2022

Smart ships related studies are being conducted in various fields owing to the development of technology, and an engine room patrol robot that can patrol the unmanned engine room is one such study. A patrol robot moves around the engine room based on the information learned through artificial intelligence and checks the machine normality and occurrence of abnormalities such as water leakage, oil leakage, and fire. Study on engine room patrol robots is mainly conducted on machine detection using artificial intelligence, however study on movement and control is insufficient. This causes a problem in that even if a patrol robot detects an object, there is no way to move to the detected object. To secure maneuverability to quickly identify the presence of abnormality in the engine room, this study experimented with whether a patrol robot can determine the shortest path by applying the A* algorithm. Data were obtained by driving a small car equipped with LiDAR in the ship engine room and creating a map by mapping the obtained data with SLAM(Simultaneous Localization And Mapping). The starting point and arrival point of the patrol robot were set on the map, and the A* algorithm was applied to determine whether the shortest path from the starting point to the arrival point was found. Simulation confirmed that the shortest route was well searched while avoiding obstacles from the starting point to the arrival point on the map. Applying this to the engine room patrol robot is believed to help improve ship safety.

• Korean Security Journal
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• no.24
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• pp.91-123
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• 2010

The threat factors available for occurrence given G20 Summit Meeting are expected leader terrorism, hostage terrorism, bomb terrorism, public facilities terrorism, and aircraft terrorism. As for the threat groups, which are expected in Korea, the North Korea, Islam extremist group, and the group such as NGO organization of being opposed to international meeting are regarded as having possibility of causing hazard. Thus, the purpose of this study is to suggest VIP Security-measure plans in the main site in preparation for G20 Summit Meeting. Accordingly, each country in the world is adopting 'the principle of Triple Ring' in common. Thus, it elicited a coping plan by 1st line(inner ring) 2nd line(middle ring) 3rd line(outer ring) based on this principle, and proposed even an opinion together that will need to be reflected in light of policy for the VIP security measures. In conclusion, as for the VIP Security-measure plans in the main site in preparation for G20 Summit Meeting, In the inner ring(safety sector), first, an intercepting measure needs to be devised for a spot of getting into and out of vehicles given the Straight Street. Second, the Walking Formation needs to be reinforced boldly in the exposed area. In the middle ring(security sector), first, the control plan needs to be devised by considering particularity of the main site. Second, there is necessity for adopting the efficient security badge operation plan that is included RFID function within security badge. In the outer ring(aid protective sector), first, there is necessity of preparing for several VIP terrorisms, of collecting information and intelligence, and of reinforcing the information collection system against terrorism under the cooperation with the overseas information agency. Second, the urgent measure training in time of emergency needs to be carried out toward security agent event manpower. Third, to maintain the certain pace in VIP motorcade, the efficient traffic control system needs to be operated. Finally, as for what will need to be reflected in light of policy for VIP security measures, first, there is necessity for allowing VIP residence to be efficiently dispersed to be distributed and controlled. Second, there is necessity for allowing impure element to misjudge or attack to be failed by utilizing diverse deception operations. Third, according to the reorganization in North Korea's Organization of the South Directed Operations, the powerful 'military-support measure' needs to be driven from this G20 Summit Meeting. For this, the necessity was proposed for further reinforcing the front back defense posture under the supervision of the Ministry of National Defense and for positively coping even with detecting and removing poison in preparation for CBR (chemical, biological, and radio-logical) terrorism.

• Journal of the Korean Society of Hazard Mitigation
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• v.8 no.6
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• pp.61-66
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• 2008

In railroad operation, turnout is the device designed to provide very critical functions of moving the train to the neighboring rail. It's the only movable section among the rail and track equipment, which has a complicated structure and as rapid movement between the wheel and rail during operation is unavoidable, the safety and the vibration caused by the impact load of the passing train becomes always the major concern. Response to rail vibration tends to vary depending on physical properties of the rail, rail base and the ground, making it difficult to estimate the quantitative outcome through the measurement. Thus, experimental or empirical approach, rather than an analytic method, has been more commonly employed to deal with the ground vibration. To predict the vibration of the turnout, an experimental value and the measured values are applied in parallel to the factors with a high degree of uncertainty. This study hence was intended to compare and analyze the vibration values measured at the crossing part of manganese turnout by type of train and turnout and distance, as well as predict the intensity of vibration generated at the crossing part of manganese turnout when tilting train accelerates.