• Proceedings of KOSOMES biannual meeting
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• 2017.04a
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• pp.163-163
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• 2017

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.186-193
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• 2008

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

• Journal of the Korean Society of Safety
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• v.28 no.4
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• pp.19-25
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• 2013

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.

• Journal of the Korea Safety Management & Science
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• v.26 no.2
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• pp.11-22
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• 2024

This study aims to present safety distances by the damage impact assessment of the leakage of propylene oxide. As a result of the experiment, the pressure 1psi range was 52m to 169m, the radiant heat 18kW/m² range was 63m to 163m, the AEGL-2 range was analyzed as 224m to 414m, and the fire ball diameter was analyzed to be 45m to 121m. Additionally, the extent of damages was proportional to the amount of propylene oxide stored or handled. The safe distance for a 10% lethality due to overpressure and radiant heat was calculated to be 134m, and the safe distance for a 0% lethality was 169m. Toxicity was measured at 134m with a lethality 0%. Therefore, the safety distance due to leakage of propylene oxide is calculated to be between 134m and 169m.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.19 no.2
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• pp.99-105
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• 1983

In the Steering and Sailing Rules of International Regulations for Preventing Collicions at Sea, 1972, any relative distance between two vessels necessary for taking action to avoid collision in head-on situation is not referred. In this paper, the author analyzed the ship's collision avoiding actions from a viewpoint of ship motions and worked out mathematical formulas to calculate the relative distances necessary for collision avoiding actions. Figuring out the values of maneuvering indices through experiments of actual ships, the author applied these values to the calculationg formulas and calculated the minimum safe relative distances. On the assumption that two vessels same in size and condition are approaching each other in head-on situation, the minimum safe relative distance was calculated as 5.0 times, sufficient safe relative one as 10.0 times their own length.

• Journal of Navigation and Port Research
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• v.38 no.4
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• pp.327-333
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• 2014

The Convention on the international regulations for preventing collisions at sea, 1972(COLREGs) defines the collision avoidance principles and various navigation rules for the prevention of collision at sea. In particular, the initial responses to avoid risk of collision are mainly decided by navigation officer's experience and subjective judgement. However, collision accidents could be effectively prevented if the minimum criteria of quantitative initial response are suggested to the junior officers and the cadets who have insufficient sea experience and navigation competency. This study reviewed the COLREGs terms related to the initial response and the existing papers concerned with risk assessment model. A questionnaire survey is also carried out for safe passing distance, degrees of alternating course and initial response distance to avoid collision in accordance with various encounter situations. Base on these results, we propose the proper minimum safe passing distance between the vessels, the initial response distance and required turning angles for alternation in each encounter situations. The suggested criteria of initial response will contribute to the prevention of collision at sea as well as the improvement of gradual navigation technology.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.12
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• pp.2665-2674
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• 2012

This paper propose the method to recognize the lanes and distance between cars in real-time which detects dangerous situations and helps safe driving in the actual road environment. First of all, it extracts the area of interest corresponding to roads and cars from the road image photographed by using the forward-looking camera. Through the hough transform for the area of interest, this study detects linear components and also selects the lane and conducts filtering by calculating probability. And through the shadow threshold analysis of the cars in front within the area of interest, it extracts the objects of cars in front and calculates the distance from cars in front. According to the result of applying the suggested technology to recognize the lane and distance between cars to the road situation for testing, it showed over 95% recognition rate; thus, it has been proved that it can respond to safe driving.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.5
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• pp.1030-1035
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• 2011

The remote control of mobile robot is widely used to perform dangerous and complex tasks such as underwater exploration and cleaning of nuclear reactor. For this purpose, the obstacle avoidance process will proceed to ensure a safe drive. In this paper, we tested that mobile robot drive in which replaced a pipe with a box. After we measured the distance around the obstacle through a sensor of robot, we got the information that changed haptic force from the distance of the obstacle.

• The Journal of Engineering Geology
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• v.17 no.3
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• pp.405-409
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• 2007

There exist 5 wells drilled at the Yecheon hot spring area, the distance between the wells is about $159m{\sim}702.6m$. The safe yield of each well is controlled by interference drawdown between a pumping well and an observation well after pumping test. The well No. 2 and the well No. 5 are the closest, at the distance of 159 m; therefore interference drawdown between two wells was occurred considerably. The drawdown of the well No. 2 (an observation well) was 16.67 m; the drawdown of the well No. 5 (a pumping well) was 17.21 m. The degree of the interference is about 97% and the safe yield decreased from $750m^3/day\;to\;24m^3/day$. Significant interference between two wells is due to the fact that the aquifer has 1.5 dimensions.

• Journal of Acupuncture Research
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• v.32 no.4
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• pp.11-16
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• 2015

Objectives : The purpose of this study is to determine the safe needling depth of Pungbu($GV_{16}$) retrospectively by using magnetic resonance imaging (MRI). Methods : We chose 114 Brain or C-spine MRI images from the Sang-Ji hospital picture archiving communication system. We measured the shortest distance from skin to cerebral dura mater passing by posterior edge of the foramen magnum on the sagittal view for the depth of Pungbu. We analyzed the differences between male and female measured values by using a student t-test. Results : The average depth of male insertion was $49.71{\pm}6.32mm$ and the shortest depth of insertion was 36.29 mm. The average depth of female insertion was $39.84{\pm}5.25mm$ and the shortest depth of insertion was 30.02 mm. The results showed a significant difference according to gender (p=0.00). Conclusions : The depth of male insertion is deeper than that of female, and the safe needling depth in the case of males is 36.29-67.35 mm, while the safe needling depth in the of females is 30.02-52.18 mm.