• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.76-85
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• 2022

One of the most fundamental challenges when designing controllers for dynamic systems is the adjustment of controller parameters. Usually the system model is used to get the initial controller, but eventually the controller parameters must be manually adjusted in the real system to achieve the best performance. To avoid this manual tuning step, data-driven methods such as machine learning were used. Recently, reinforcement learning became one alternative of this problem to be considered as an agent learns policies in large state space with trial-and-error Markov Decision Process (MDP) which is widely used in the field of robotics. However, on initial training step, as an agent tries to explore to the new state space with random action and acts directly on the controller parameters in real systems, MDP can lead the system safety-critical system failures. Therefore, the issue of 'safe exploration' became important. In this paper we meet 'safe exploration' condition with Control Barrier Function (CBF) which converts direct constraints on the state space to the implicit constraint of the control inputs. Given an initial low-performance controller, it automatically optimizes the parameters of the control law while ensuring safety by the CBF so that the agent can learn how to predict and control unknown and often stochastic environments. Simulation results on a quadrotor UAV indicate that the proposed method can safely optimize controller parameters quickly and automatically.

• International Journal of Highway Engineering
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• v.17 no.5
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• pp.47-56
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• 2015

PURPOSES: The purpose of this study is to estimate the impact of variable message signage (VMS) on traffic safety as a function of road curve radius using statistical methods. METHODS: In order to analyze the impact of VMS installations on traffic safety, travel speed, lateral distance, and geometric data relating to road curvature in each study area was acquired and analyzed for the impact of providing VMS information on driver performance and traffic safety using statistical methods including student t-test, Mann-Whitney test, and the Anderson-Darling test for estimating traffic safety hazard zone in each lane. RESULTS: As a result of analyzing driver performance characteristics before and after providing VMS information, it was determined that by providing VMS information, mean travel speed is deceased and vehicles are driven with increased precision, following the centerline in the first and second lanes. Also the results of analyzing traffic safety impacts of VMS indicate that traffic safety performance factors in the first lane of the Gapyeong section can, on average, increase in the left and right side of the lane by 19.22% and 68.98%, respectively, and in the case of the second lane, safety impacts, on average, can increase in both sides by 100%. For the Hongcheon section, traffic safety impacts in the first lane, on average, can increase along the left and right sides of the lane by 32.31% and 47.18%, and within the second lane, traffic safety can be increased along the left and right side of the lane by 10.97% and -0.01%, respectively. CONCLUSIONS: Based on the results of this study, the impact on traffic safety obtained by providing VMS information for road sections with smaller curve radii is greater than can be obtained for road sections with larger curve radii.

• Proceedings of the KSR Conference
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• 2006.11b
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• pp.786-790
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• 2006

Urban rail transit offers target performance and function because various lower part system such as rolling-stock, signal, power and trackis consisted as complex. In order to function properly an urban rail transit which is complicated system to work as safety and reliability, System must secure safety with structure, design, manufacture, install and verification and it is important to establish a safety standard follows it procedures, establish what step all it is important to operate. Safety standard of urban transit infrastructure is minimum standard necessary to secure safety of signal, power and track. Urban rail transit standard business leads to make many requirements. Recently, many types of equipment have applied to manage requirements and standards for system efficiently in part of universal, airline and car accordingly applied equipments use to manage a pursuit(Trace) between standard of system. Especially importance of management is emphasized more become more. Importance of standard management which usesa computing support tool recently in transit filed is embossed and is predicted to be more such forward. Therefore we propose the effective method of management with infrastructure system by constructed data-base system.

• Therapeutic Science for Rehabilitation
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• v.10 no.2
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• pp.141-150
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• 2021

Objective : In this study, the upper extremity use, executive function, and occupational performance effects of cognitive orientation to daily occupational performance (CO-OP) interventions for patients with stroke were assessed. Methods : The study was designed as a single-group pre-post test with 20 sessions. The participants were five hospitalized patients with stroke who were present in a rehabilitation setting, and their onsets were more than 3 months previously. Outcomes were measured using the Canadian Occupation Performance Measure (COPM), Performance Quality Rating Scale (PQRS), Executive Function performance Test - Korean version (EFPT-K), and Motor Activity Log (MAL). The Wilcoxon signed-rank test was conducted to determine the difference between the pre-and-post of CO-OP interventions. The statistical significance level was p<.05. Results : The upper extremity function showed significant changes and the execution function showed significant changes in preparation, sequencing, judgment and safety, and closing, except for items to be started. The performance of the task also showed significant changes. Conclusion : Through 20 sessions of CO-OP interventions, especially in patients with chronic stroke, the upper extremity function, execution function, and task performance were improved. We found that CO-OP intervention had a positive effect on the improvement of detailed task elements as well as the performance of tasks overall, in patients with stroke.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.18 no.5
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• pp.34-48
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• 2019

The purpose of this study was two-fold; first, to develop safety performance functions (SPF) using transportation-related big data for all types of roads in Korea were developed, Second, to provide basic information to develop measures for relatively dangerous roads by evaluating the safety grade for various roads based on it. The coordinates of traffic accident data are used to match roads across the country based on the national standard node and link system. As independent variables, this study effort uses link length, the number of traffic volume data from ViewT established by the Korea Transport Research Institute, and the number of dangerous driving behaviors based on the digital tachograph system installed on commercial vehicles. Based on the methodology and result of analysis used in this study, it is expected that the transportation safety improvement projects can be properly selected, and the effects can be clearly monitored and quantified.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.403-408
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• 2023

In this paper, we introduce the results of the development of a care robot for the safe lifting and transportation of bedridden patients with difficulty moving by themselves, especially, in medical facilities. The purpose of the developed patient transfer robot is to improve the convenience of care givers and enhance the safety and comfort of care recipients by facilitating patient lifting and patient transfer tasks by applying robot technology. In order to implement the lifting function, a hoist was designed and developed, and a sway control and rollover warning system were included in the hoist module as product differentiators. In addition, in terms of implementing the transfer function, an omnidirectional movement mechanism to improve operability in confined spaces and an active safety system to prevent collisions were developed. The function of the developed patient transfer robot was verified through performance evaluation by an authorized testing agency.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.35 no.2
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• pp.397-405
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• 2015

In the past, expressways focused on mobility. However, the paradigm of expressways fuction today has been changed from fast expressways to safe expressways as people's quality of living and consciousness level heightened. In 2012, 3,550 traffic accidents occurred on expressways and 371 people died. The fatality rate of traffic accidents on expressways is almost twice that on general national roads. This study developed accident forecast models (safety performance functions) based on the number of traffic accidents and traffic volumes on six major lines on expressways. It is difficult to forecast safety performance functions for each expressway line because the lines and the scales of expressways are different from each other; therefore, integrated safety performance functions of six lines were determined first, and the coefficients, which can correct the traffic accidents on each line, were calculated. It is believed that this study will contribute in the safer management of expressways by being used as basic information in the establishment of traffic safety strategies for each expressway line in prevention of traffic accidents. Moreover, more studies would be required in the future, which would suggest reliable accident forecasts by calculating correction coefficients by line through integrated models by groups dependent on the characteristics of each line.

• The Journal of Korean Medicine
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• v.44 no.1
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• pp.128-128
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• 2023

Objectives: This research aimed to develop a guideline for evaluating safety and performance of electronic warm-acupuncture apparatus. With the development of medical devices like electronic warm-acupuncture apparatus with improved performance, convenience and safety measures compared to traditional warm-acupuncture needling, safety and performance guideline is a necessity. Methods: By referring to existing standards and guidelines of other electronic devices for Korean medicine with heating function, guideline for safety and performance assessment of electronic warm-acupuncture apparatus was drafted Results: The guideline, presents explanation for adequate temperature and settings of the apparatus, and safety measurements providing against thermal runaway situations along with guidelines for the manual. Guideline for detailed test method for the performance of the apparatus such as accuracy of temperature increase and the timer, and safety unit was also provided. The test items and suggested test methods for the requirements of biological, electrical and electromagnetic safety were referred to Korean approval documents of ministry of Food and Drug Safety. Conclusion: We proposed the relevant items to verify performance and safety of warm-acupuncture apparatus to assure patient safety and improve the quality of currently developing devices for application in clinical field.

• Journal of Korean Tunnelling and Underground Space Association
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• v.24 no.2
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• pp.183-192
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• 2022

Function and performance degradation in tunnel structure can cause road's function loss, proactive maintenance is needed to prevent the initial damage from progressing to intensified damage. Inspection and diagnosis are implemented in accordance with regulations, but it does not fully reflect maintenance processes such as inspection and diagnosis, planning rehabilitation and carrying out. It was carried out for 5,540 cases inspection and diagnosis result in 1,728 tunnels was analyzed to suggest rational maintenance plan in this study.

• Transactions of the Korean hydrogen and new energy society
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• v.27 no.6
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• pp.670-676
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• 2016

Hydrogen town in Republic of Korea was established in 2013. Hydrogen as a byproduct produced by various processes of factories is used in hydrogen town facilities. As cell performance is affected by contaminations in fuel gas, various standards about impurities of fuel have been determined by many countries. This study shows performance degradation of single cell with impurities concentrations. Traces of carbon monoxide (CO) and hydrogen sulfide ($H_2S$)can cause considerable cell performance losses. For comparing the performances by poisoning of CO, acceleration test, I-V curve, constant current are performed. Both the CO and $H_2S$ poisoning rate are a function of their concentration. With the higher concentrations the higher poisoning rates are observed. And, it was confirmed that, oxidation behavior and side reaction generation are not affected. Under the lower $H_2S$ concentration condition, the poisoning rate is much higher than that of CO because of its different adsorption intensity. It can be possible that the result of this study can be used for enacting regulation as a baseline data.