• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1068-1073
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• 2010

When a robot navigates in an outdoor environment, a curb or a sidewalk separated from the road can be used as a robust feature. However, most algorithms could detect the curb only in the straight road, and could not detect highly curved corners, ramps, and so on. This paper proposes an algorithm which enables the robot to detect and follow the curbs in various types of roads. In the proposed method, the robot tilts a laser scanner and computes the error between the predicted and the measured distances to the road in front of the robot. Based on this error, the curbs at corners and curves can be classified. It is also difficult to detect a curb near a ramp because of its low height. In this case, the robot also tilts a laser scanner to detect the curb beyond the ramp. Once the robot classifies the road into the curve, corner, ramp, the robot selects the proper navigation strategies depending on the classified road types and is able to continue to detect and follow the curb. The results of a series of experiments show that the robot can stably detect and follows the curb in curves, corners and ramps as well as the straight road.

• Advances in concrete construction
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• v.11 no.4
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• pp.307-314
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• 2021

Activated hwangtoh (ACT) is a natural resource abundant in South Korea, approximately 15.0% of soil. It is an efficient mineral admixture that has activated pozzolanic properties through high-temperature heating and rapid cooling. The purpose of this study is to improve a curb mixture that can reduce NOx outside and investigate durability performance. To this end, mortar curb specimens were manufactured by replacing OPC with ACT. The ACT substitution ratios of 0.0, 10.0, and 25.0% were considered, and mechanical and durability tests on the curb specimens were conducted at 28 and 91 days of age. Steam curing was carried out for three days for the production of curbs, which was very effective to strength development at early ages. The reduction in strength at early ages could be compensated through this process, and no significant performance degradation was evaluated in the tests on chloride attack, carbonation, and freezing and thawing. The mortar curb with an ACT of 10.0~25.0% replacement ratio exhibited clear NOx reduction through photocatalytic (TiO2) treatment. This is due to the increase in physical absorption through surface absorption and the photocatalyst-containing TiO2 coating. In this study, the reasonable range of the ACT replacement ratio for NOx reduction was quantitatively evaluated through a comprehensive analysis of each test.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.182-188
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• 2011

This paper describes a method of road tracking by using a vision and laser with extracting road boundary (road lane and curb) for navigation of intelligent transport robot in structured road environments. Road boundary information plays a major role in developing such intelligent robot. For global navigation, we use a global positioning system achieved by means of a global planner and local navigation accomplished with recognizing road lane and curb which is road boundary on the road and estimating the location of lane and curb from the current robot with EKF(Extended Kalman Filter) algorithm in the road assumed that it has prior information. The complete system has been tested on the electronic vehicles which is equipped with cameras, lasers, GPS. Experimental results are presented to demonstrate the effectiveness of the combined laser and vision system by our approach for detecting the curb of road and lane boundary detection.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.33-34
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1343-1344
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• 2011

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.8
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• pp.3741-3746
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• 2012

The safety accidents due to the insufficient visibility are frequently occurred at the coastal zone. Therefore, safety facilities that provide visibility are certainly required to prevent accidents. In order to solve this demand, the concept of the light emitting system embedded concrete (LESeCON) are established and then concrete curb is produced for application to the coastal zone. To investigate the mechanical and functional performance of concrete curb developed in this study, the bending strength test and the visibility test are conducted.

• Tuberculosis and Respiratory Diseases
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• v.69 no.6
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• pp.450-455
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• 2010

Background: High cortisol levels are frequently observed in patients with severe infections are of prognostic value in sepsis. The aim of this study was to evaluate the clinical usefulness of serum cortisol in assessment for the severity of community-acquired pneumonia (CAP). Methods: This study analyzed the results of 52 CAP subjects admitted in Changwon Fatima Hospital between July 2008 to May 2010. Total serum cortisol, infection markers such as C-reactive protein (CRP), procalcitonin (PCT) and CURB (Confusion, Uremia, Respiratory rate, Blood pressure)-65 were examined retrospectively. Results: In clinically unstable subjects on admission day 4, baseline serum cortisol, CURB-65, and CRP were elevated significantly compared to those of stable subjects. Area under curve (AUC) of cortisol, CRP, and CURB-65 from ROC curves were 0.847, 0.783, and 0.724 respectively. In the subjects with serum cortisol ${\geq}22.82{\mu}g/dL$, CRP, PCT, CURB-65 score, and mortality were significantly elevated. Conclusion: These findings suggest that measurement of serum cortisol in early stage may provide helpful information in the assessment of CAP severity.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.293-299
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• 2009

This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.

• Journal of the Korean Society of Safety
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• v.27 no.2
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• pp.98-104
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• 2012

Current [Guideline for Installation and Management of Sidewalks and Safety Facilities on Roads] suggests that the types of curbs should be Barrier curb ($85^{\circ}$). Although Barrier curbs ($90^{\circ}$) were not specified in the guideline. The curbs installed on the roads currently are Barrier curbs ($90^{\circ}$) which are not specified in the installation standard. Therefore, it is critical to prepare for the installation standard of curbs by researching types of curbs and driving safety. This research have assessed the driving safety throughout Full Scale Crash Test according to type of curbs (Barrier curbs ($85^{\circ}$) and Barrier curbs ($90^{\circ}$)). Barrier curbs ($90^{\circ}$) showed higher figure in Theoretical head Impact Velocity, Post-impact Head Deceleration, Vehicle Damage when Crash, Passenger's Wounds Severity, and every other items than Barrier curbs ($85^{\circ}$). Barrier curbs ($85^{\circ}$) were found to have better Occupant Safety Index. Analysis of Behavior Using Full-Scale Crash Test showed difference depending on the Impact Condition between Barrier curbs ($85^{\circ}$) and Barrier curbs ($90^{\circ}$). Generally, Barrier curbs ($85^{\circ}$) were superior than Barrier curbs ($90^{\circ}$) in terms of protecting the passengers and vehicle damages. When an impact angle increases, Acceleration of Vehicle, Variations of Speed, and Contact Relationship between Wheels and Curbs, two types of curb showed similarity. However, if an impact of an angle decreases, Barrier Curbs ($85^{\circ}$) showed excellence in Driving Safety such as Acceleration of Vehicle, Variations of Speed, and Contact Relationship between Wheels and Curbs.

• Journal of ILASS-Korea
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• v.25 no.1
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• pp.34-39
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• 2020

Automotive manufacturers are applying technologies for greenhouse gas reduction such as vehicle weight reduction, engine downsizing, direct injection technology, variable valves and transmission performance improvement to achieve the targets for enhanced greenhouse gas and fuel consumption efficiency. In this paper, compared and analyzed greenhouse emissions according to engine capacity, engine displacement, curb weight and sales volume of hybrid and internal combustion engine passenger vehicles. Hybrid emit 32~39% less greenhouse gas than internal combustion engines through the combined mode test method. Hybrid electric vehicle's curb weight was about 7% heavier on average for the same engine displacement, while greenhouse gas was about 36% lower. It was confirmed that in order to reduce the emission of pollutants of greenhouse gases as well as the air pollutants, it is necessary to expand the supply of eco-friendly vehicles.