• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.1
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• pp.317-327
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• 2013

Air pollution and artificial heat of urban areas have caused the urban heat island in which asphalt pavements absorb solar heat during the daytime and release the heat at night. Hence, in order to improve the environment of urban areas, it is necessary to examine cooling pavements that can reduce heat on road pavements in urban areas. The application of temperature insulation paints on road pavements require to reduce black brightness for visibility, to increase the reflection rate of infrared light and minimize the reflection rate of visible light. In the study, one part of Acrylic-emulsion was used as a main binder, and the changes in black brightness and the changes of addition ratio (0%, 15%, 30%) of hollow ceramics, as well as kinds of paints (carbon black pigment, mixed mineral pigment) were selected as the main experimental factors. The performance of temperature reduction of cooling pavements was analyzed through the reflection rate of spectrum, the reflection rate of solar heat, and the lamp test. Abrasion resistance, UV accelerated weather resistance, and sliding resistance were tested in real situations. In addition, the performance of heat reduction of testing pavements covered with high-reflection paints was analyzed by using an infrared camera. As the test results, when using mixed mineral paints and hollow ceramic of 30%, the reflection rate of spectrum was 43% in the area of near-infrared ray and 17% in the area of visible light at black brightness of $L^*$=42.89 and the reflection rate of solar heat was 27.5%. Total color difference was ${\Delta}E$=0.27 in the test of UV Accelerated Weather Resistance, indicating almost no changes in color. BPN was more than 53 when scattering #2 and #4 silica sand of more than $0.12kg/m^2$. In Taber's abrasion resistance test, abrasion loss was up to 86.4mg at 500 rotations. The performance of heat reduction was evaluated using an infrared camera at the test section applying high-reflection paints to asphalt pavements, in which the results showed that the temperature was reduced by $12.7^{\circ}C$ on CI-30-40 cooling pavements ($L^*$=38.76) and by $14.2^{\circ}C$ on CI-30-60 cooling pavements ($L^*$=57.12).

• Journal of Korean Society of Transportation
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• v.22 no.5
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• pp.139-149
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• 2004

As the expansion of road capacity has become impractical in many urban areas, congestion pricing has been widely considered as an effective method to reduce urban traffic congestion in recent years. The principal reason is that the congestion pricing may lead the user equilibrium (UE) flow pattern to system optimum (SO) pattern in road network. In the context of network equilibrium, the link tolls according to the marginal cost pricing principle can user an UE flow to a SO pattern. Thus, the pricing method offers an efficient tool for moving toward system optimal traffic conditions on the network. This paper proposes a continuous network design program (CNDP) in network equilibrium condition, in order to find optimal congestion toll for maximizing net economic benefit (NEB). The model could be formulated as a bi-level program with continuous variable(congestion toll) such that the upper level problem is for maximizing the NEB in elastic demand, while the lower level is for describing route choice of road users. The bi-level CNDP is intrinsically nonlinear, non-convex, and hence it might be difficult to solve. So, we suggest a heuristic solution algorithm, which adopt derivative information of link flow with respect to design parameter, or congestion toll. Two example networks are used for test of the model proposed in the paper.

• Journal of the Korean Geotechnical Society
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• v.30 no.6
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• pp.5-21
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• 2014

It has been pointed out that the collapses of unsaturated road embankments caused by earthquake are attributed to high water content caused by the seepage of the underground water and/or the rainfall infiltration. Hence, it is important to study influences of water content on the dynamic stability and deformation mode of unsaturated road embankments for development of a proper design scheme including an effective reinforcement to prevent severe damage. This study demonstrates dynamic centrifugal model tests with different water contents to investigate the effect of water content on deformation and failure behaviors of unsaturated road embankments. Based on the measurement of displacement, the pore water pressure and the acceleration during dynamic loading, dynamic behavior of the unsaturated road embankments with about optimum water content and the higher water content than the optimum one have been examined. In addition, an image analysis has revealed the displacement field and the distributions of strains in the road embankment, by which deformation mode of the road embankment with higher water content has been clarified. It has been confirmed that in the case of higher water content the settlement of the crown is large mainly owing to the volume compression underneath the crown, while the small confining pressure at the toe and near the slope surface induces large shear deformation with volume expansion.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.4
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• pp.1619-1629
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• 2013

It turned out that there was a direct or an indirect relationship among global warming, urban heat island effects, urban and traffic environments, and public's health. In particular, unusual climate phenomena such as frequent heavy rainfall and scorching heat in a row that had rarely happened before have a negative effect on quality of life for people living in urban areas. This study focuses on the effects of roadway geometric design and traffic conditions on air temperature of roadside in Seoul Metropolitan Areas, controlling of roadway micro-climate environment. Five roadway segments containing different roadway and traffic conditions in terms of traffic median with trees, street trees, traffic volume and average travel speeds were surveyed. According to statistical results(t-test) from three roadway air temperature regression model estimations, air temperature is found to be different from one another in three periods-morning, afternoon and evening. Regarding roadway geometric design, air temperature of urban roads with vegetated median strips is lower about 1.3~2.2 degrees in celcius. Higher traffic volumes per lane and lower average travel speeds will tend to increase roadside air temperature, and efficient traffic operation policies can protect from increasing roadside air temperature in urban areas.

• Journal of Korean Society of Transportation
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• v.14 no.3
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• pp.45-59
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• 1996

The shortest path algorithm for route guidance is implicitly required not only to support geometrical variations of transportation network such as U-TURN or P-TURN but to efficiency search reasonable routes in searching mechanism. The purpose of this paper is to integrate such two requirements ; that is, to allow U-TURN and P-TURN possibilities and to cut down searching time in locating routes between two points (origin and destination) in networks. We also propose a new type of link searching algorithm which can solve the limitation of vine building algorithm at consecutively left-turn prohibited intersections. The test site is a block of Gangnam road network that has some left-turn prohibited and allowed U-TURN intersections. Four models have been identified to be comparatively analyzed in terms of searching efficiency. The Models are as follows : (i) Model 1 - Link Searching Dijkstra Algorithm without Searching Area Extraction (SAE) ; (ii) Model 2 - Link Searching Dijkstra Algorithm with SAE ; (iii) Model 3 - Link Searching Bidirectional Dijkstra Algorithm without SAE ; and (iv) Model 4 - Link Searching Bidirectional Dijkstra Algorithm with SAE. The results of comparative evaluation show that Model 4 can effectively find optimum path faster than any other models as expected. Some discussions and future research agenda have been presented in the light of dynamic route guidance application of the urban ATIS.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.12
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• pp.2619-2625
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• 2011

The GPS technique widely used recently in car navigation system has two problems that are unavailability in urban canyons and inherent positional error rate. The one has been studied and solved in many literatures. However, the other still leads to incorrect locational information in some area, especially parallel roads. This paper proposes and implements a system to recognize lane of moving vehicle based on images obtained from in-vehicle networks or other devices. The proposed system utilizes a real-time image matching algorithm which determines the direction of moving vehicle in parallel section of road. It also employs a method for accuracy improvement. The results obtained from experimental test on real-time navigation show that the proposed systems works well and the accuracy increases.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.9 no.6
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• pp.33-42
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• 2010

Travel speed is an important parameter in measurement of road traffic. UTIS(Urban Traffic Information System) was developed as a type of section detector. However, UTIS incur errors caused by irregular vehicle trajectories, wireless communication range and so on. This paper suggests a new model that use an error-filtering algorithm to improve the accuracy of travel speed measurements. In the field test, the variance of the percent errors measured by the new model was reduced. Therefore, it can be concluded that the proposed model significantly improves travel speed measuring accuracy.

• Journal of Korean Society of Transportation
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• v.34 no.1
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• pp.29-42
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• 2016

Speeding is an important factor in traffic safety. Speed not only affects crash severity, but is also related to the possibility of crash occurrence. This study presents results from an analysis of 27,968 speed violation cases collected from 36 red light and speed enforcement cameras at signalized intersections in the city of Cheongju. Data included details of their violation history such as speeding tickets within a recent 3-year span and their demographic characteristics. The goal of this analysis is to understand the correlation between speed violations and various factors in terms of humans, vehicles and road environments. This study used descriptive statistics and Binary Logistics Regression(BLR) analysis with SPSS 20.0 software. The major results of this study are as follows. First, speed violations occurred at rural and suburban area. Second, about 25.6% of the violators committed to more than 20km/h over a speed limit. Third, the difference between speed violators and normal drivers clearly appeared in location of intersection(urban/rural/suburban area), gender and age. Finally, a statistically significant model(Hosmer and Lemeshow test: 11.586, p-value: 0.171) was developed through the BLR.

• Journal of Korean Society of Environmental Engineers
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• v.29 no.3
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• pp.332-340
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• 2007

Storm runoff from road contains significant loads of particulate and dissolved solids, organic constituents and metal elements. Micro particle is important when considering pollution mitigation because pollutant metal and organics have similar behavior with particles. The objective of this research is to evaluate the hydrodynamic filter separator performance for road storm runoff treatment. A various types of media such as perlite, granular activated carbon, zeolite were used for column test packing media and filter separator, and to determine the removal efficiency with various surface loading rate. As the results of column test, the highest SS removal efficiency was using mixed media(granular activated carbon, zeolite and perlite), and granular activated carbon mixed with zeolite has higher heavy metal removal efficiency than perlite. In laboratory scale hydrodynamic filter separator study, the operation ranges of surface loading rates were from 192 to 1,469 $m^3/m^2/day$. The estimated overall removal efficiencies of hydrodynamic filter separator for typical storm runoff were SS 48.1%, BOD 31.9%, COD 32.6%, TN 15.5%, and TP 17.3%, respectively. For the case of heavy metals, overall removal efficiencies were Fe 26.0%, Cu 19.4%, Cr 25.7, Zn 16.6%, and Pb 15.0%, respectively. The most appropriate medium for hydrodynamic filter separator was perlite mixed with granular activated carbon to treatment of road storm runoff.