• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.30-36
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• 2019

This paper suggests a car-following algorithm for urban environment, with multiple target candidates. Until now, advanced driver assistant systems (ADASs) and self-driving technologies have been researched to cope with diverse possible scenarios. Among them, car-following driving has been formed the groundwork of autonomous vehicle for its integrity and flexibility to other modes such as smart cruise system (SCC) and platooning. Although the field has a rich history, most researches has been focused on the shape of target trajectory, such as the order of interpolated polynomial, in simple single-lane situation. However, to introduce the car-following mode in urban environment, realistic situation should be reflected: multi-lane road, target's unstable driving tendency, obstacles. Therefore, the suggested car-following system includes both in-lane preceding vehicle and other factors such as side-lane targets. The algorithm is comprised of three parts: path candidate generation and optimal trajectory selection. In the first part, initial guesses of desired paths are calculated as polynomial function connecting host vehicle's state and vicinal vehicle's predicted future states. In the second part, final target trajectory is selected using quadratic cost function reflecting safeness, control input efficiency, and initial objective such as velocity. Finally, adjusted path and control input are calculated using model predictive control (MPC). The suggested algorithm's performance is verified using off-line simulation using Matlab; the results shows reasonable car-following motion planning.

• Animal cells and systems
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• v.8 no.2
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• pp.125-133
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• 2004

We have extended our previous work that cross-linking CD4 molecules using specific MAb induced antigen nonspecific, MHC unrestricted killing of virally infected target cells by CD$4^+$We have extended our previous work that cross-linking CD$4^+$ molecules using specific MAb induced antigen nonspecific, MHC unrestricted killing of virally infected target cells by CD$4^+$ T cells. The killing activity of antibody activated CD$4^+$T cells was completely blocked by herbimycin A, a protein tyrosine kinase (PTK) inhibitor, but not by bisindolylamaleimide, a protein kinase C (PKC) inhibitor. Herbimycin A treated human or bovine peripheral blood CD$4^+$T cells lacked PTK activity and failed to kill virally infected target cells even after cross-linking of CD4 molecules. The CD$4^+$cross-linking failed to induce effector cell proliferation or the transcription of TNF${\beta}$ Upregulation of TNF${\beta}$ was induced by incubating the antibody activated effector cells with BHV-1 infected D17 target cells for 10 h. Anti-TNF${\beta}$ antibody partially abolished (13-44%) the direct effector cell-mediated antiviral cytotoxicity. However, this antibody neutralized 70 to 100% of antiviral activity of effector and target cell culture supernatants against BHV-1 infected D17 cells. The inhibition level of the antiviral activity by the antibody was dependent on the effector and target cell ratio. These results support the hypothesis that increased p$56^ICK enzyme activity in effector cells transduces a signal critical for effector cell recognition of viral glycoproteins expressed on the target cells. Following target cell recognition, lytic cytokines known to participate in target cell killing were produced. A better understanding of the killing activity displayed by CD$4^+$T lymphocytes following surface receptor cross-linking will provide insight into the mechanisms of cytotoxic activity directed toward virally-infected cells.T cells. The killing activity of antibody activated CD$4^+$T cells was completely blocked by herbimycin A, a protein tyrosine kinase (PTK) inhibitor, but not by bisindolylamaleimide, a protein kinase C (PKC) inhibitor. Herbimycin A treated human or bovine peripheral blood CD4T cells lacked PTK activity and failed to kill virally infected target cells even after cross-linking of CD4molecules. The CD4 cross-linking failed to induce effector cell proliferation or the transcription of TNF$\beta$. Upregulation of TNF$\beta$ was induced by incubating the antibody activated effector cells with BHV-1 infected D17 target cells for 10 h. Anti-TNF$\beta$ antibody partially abolished (13-44%) the direct effector cell-mediated antiviral cytotoxicity. However, this antibody neutralized 70 to 100% of antiviral activity of effector and target cell culture supernatants against BHV-1 infected D17 cells. The inhibition level of the antiviral activity by the antibody was dependent on the effector and target cell ratio. These results support the hypothesis that increased $56^ICK enzyme activity in effector cells transduces a signal critical for effector cell recognition of viral glycoproteins expressed on the target cells. Following target cell recognition, lytic cytokines known to participate in target cell killing were produced. A better understanding of the killing activity displayed by CD$4^+$T lymphocytes following surface receptor cross-linking will provide insight into the mechanisms of cytotoxic activity directed toward virally-infected cells.

• Nuclear Engineering and Technology
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• v.53 no.9
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• pp.2909-2917
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• 2021

Following the launch of Rare Isotope Science Project in December 2011, a heavy ion accelerator complex in South Korea, named RAON, has since been designed. It includes a muon facility for muon spin rotation, relaxation, and resonance. The facility will be provided with 600 MeV and 100 kW (one-fourth of the maximum power) proton beam. In this study, the graphite target in RAON was designed to have a rotating disk shape and was cooled by radiative heat transfer. This cool-down process has the following advantages: a low-temperature gradient in the target and the absence of a liquid coolant cooling system. Monte Carlo simulations and ANSYS calculations were performed to optimize the target system in a thermally stable condition when the 100 kW proton beam collided with the target. A comparison between the simulation and experimental data was also included in the design process to obtain reliable results. The final design of the target system will be completed within 2020, and its manufacturing is in progress. The manufactured target system will be installed at the RAON in the Sindong area near Daejeon-city in 2021 to carry out verification experiments.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.832-842
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• 2020

The coordination control of multiple Underactuated Underwater Vehicles (UUVs) moving in three dimensional space is investigated in this paper. The coordinated path following control task is decomposed into two sub tasks, that is, path following control and coordination control. In the spatial curve path following control task, path following error dynamics is build in the Serret-Frenet coordinate frame. The virtual reference object can be chosen freely on the desired spatial path. Considering the speed of the UUV, the line-of-sight navigation is introduced to help the path following errors quickly converge to zero. In the coordination control sub task, the communication topology of multiple UUVs is described by the graph theory. The speed of each UUV is adjusted to achieve the coordination. The path following system and the coordination control system are viewed as the feedback connection system. Input-to-state stable of the coordinated path following system can be proved by small gain theorem. The simulation experiments can further demonstrate the good performance of the control method.

• Health Policy and Management
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• v.28 no.2
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• pp.186-193
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• 2018

Background: The aim of our study was to review the findings of health insurance fraud investigations and to evaluate their impacts on medical costs for target and non-target organizations. An interrupted time series study design using generalized estimation equations was used to evaluate changes in cost following fraud investigations. Methods: We used National Health Insurance claims data from 2009 to 2015, which included 20,625 medical institutions (1,614 target organizations and 19,011 non-target organizations). Outcome variable included cost change after fraud investigation. Results: Following the initiation of fraud investigations, we found statistically significant reductions in cost level for target organizations (-1.40%, p<0.001). In addition, a reduction in cost trend change per month was found for both target organizations and non-target organizations after fraud investigation (target organizations, -0.33%; non-target organizations of same region, -0.19%; non-target organizations of other regions, -0.17%). Conclusion: This study suggested that fraud investigations are associated with cost reduction in target organization. We also found similar effects of fraud investigations on health expenditure for non-target organizations located in the same region and in different regions. Our finding suggests that fraud investigations are important in controlling the growth of health expenditure. To maximize the effects of fraud investigation on the growth of health expenditure, more organizations needed to be considered as target organizations.

• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.75-84
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• 2023

Ships need to ensure safety during their navigation, which makes route determination highly important. It must be accompanied by a route following controller that can accurately follow the route. This study proposes a method for automatically generating the ship route based on deep reinforcement learning algorithm and following it using a route following controller. To generate a ship route, under keel clearance was applied to secure the ship's safety and navigation chart information was used to apply ship navigation related regulations. For the experiment, a target ship with a draft of 8.23 m was designated. The target route in this study was to depart from Busan port and arrive at the pilot boarding place of the Ulsan port. As a route following controller, a velocity type fuzzy P ID controller that could compensate for the limitation of a linear controller was applied. As a result of using the deep Q network, a route with a total distance of 62.22 km and 81 waypoints was generated. To simplify the route, the Douglas-Peucker algorithm was introduced to reduce the total distance to 55.67 m and the number of way points to 3. After that, an experiment was conducted to follow the path generated by the target ship. Experiment results revealed that the velocity type fuzzy P ID controller had less overshoot and fast settling time. In addition, it had the advantage of reducing the energy loss of the ship because the change in rudder angle was smooth. This study can be used as a basic study of route automatic generation. It suggests a method of combining ship route generation with the route following control.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.4
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• pp.468-473
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• 2012

Cost is an important aspect in designing a target drone, however the poor performance of low cost IMU, GPS, and microcontrollers prevents the use of complex algorithms, such as ARS, or INS/GPS to estimate attitude angles. We propose an autopilot which uses rate gyro and GPS only for a target drone to follow a prescribed path for anti-aircraft training. The autopilot consists of an altitude hold, roll hold, and path following controller. The altitude hold controller uses vertical speed output from a GPS to improve phugoid damping. The roll hold controller feeds back yaw rate after filtering the dutch roll oscillation to estimate the roll angle. The path following controller operates as an outer loop of the altitude and roll hold controllers. A 6-DOF simulation showed that the proposed autopilot guides the target drone to follow a prescribed path well from the view point of anti-aircraft gun training.

• Proceedings of the IEEK Conference
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• 2002.06c
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• pp.5-8
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• 2002

In this paper, we propose the self-autonomous algorithm for mobile robot system. The proposed mobile robot system controlled by Personal Digital Assistant(PDA) can follow the target at regular intervals. The mobile robot can evaluate the distance between robot and target with ultrasonic sensors, transmits the distance to the PDA. The velocity and direction decided in PDA are transmitted to the mobile robot with wireless LAN communication. Considering the state, velocity-changing and distance-maintenance, of the mobile robot, driving velocity and direction are applied. For safety, the velocity of the mobile robot is changed step by step. As a result, we confirm the ability of following the target with proposed mobile robot.

• Journal of Information Display
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• v.5 no.1
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• pp.41-46
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• 2004

In this paper, a new stereo 3D moving-target tracking system using the MSE (mean square error) and BPEJTC (binary phase extraction joint transform correlator) algorithms is proposed. A moving target is extracted from the sequential input stereo image by applying a region-based MSE algorithm following which, the location coordinates of a moving target in each frame are obtained through correlation between the extracted target image and the input stereo image by using the BPEJTC algorithm. Through several experiments performed with 20 frames of the stereo image pair with $640{\times}480$ pixels, we confirmed that the proposed system is capable of tracking a moving target at a relatively low error ratio of 1.29 % on average at real time.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.624-631
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• 2008

This paper presents a method for a mobile robot to follow a moving object in real time. The robot follows a target object keeping the facing angle toward the target and the distance to the target to given value. The method consists of two procedures: first, the detection of target position in the robot coordinate system, and the second, the calculation of translational velocity and rotational velocity to follow the object:. To detect the target location, range sensor data is represented in histogram. Based on the real time calculation of the location of the target relative to the robot, translational velocity and rotational velocity to follow the target are calculated. The velocities make the heading angle and the distance to target converge toward the desired ones. The performance of the method is tested through simulation. In the simulation, the target moves with three different trajectories, straight line trajectory, rectangular trajectory, and circular trajectory. As shown in the results, it is inevitable to lose track temporarily of the target when the target suddenly changes its motion direction. Nevertheless, the robot speeds up to catch up and finally succeeds to follow the target as soon as possible even in this case. The proposed method can also be utilized to coordinate the motion of multiple robots to keep their formation as well as to follow a target.