Deliberative Planner for UGV with Actively Articulated Suspension to Negotiate Geometric Obstacles by Using Centipede Locomotion Pattern

Kyeong Bin Lim,Sun Je Kim,Yong-San Yoon 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

In this paper, we propose deliberative upper-level behavior planning method for UGV with actively articulated suspension to negotiate geometric obstacle. Proposed deliberative planning method used Q-learning with the expert model for negotiating specific obstacle type. We modify the centipede locomotion pattern to the suspensions’ locomotion and define the MDP using it. In 2D space, we define the state, action and reward model, and apply the conservative ε-greedy action selection method to shorten the behavior plans that is transferred to lower level behavior planner. Also, we use the obstacle negotiation expert model to Q-learning because the state space is too large to solve by Q-learning. We show that Q-learning with expert model can improve the convergence properties in very large space of state and action, and our algorithm can generate the behavior plans for various dimensions of the step up obstacle by simulation environment in our goal time of 10 seconds.

Estimation Method of Contact Wheels for Unmanned Ground Vehicle with Actively Articulated Suspensions

Kyeong Bin Lim,Sukhoon Park,Yong-San Yoon 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

Wheels of UGV can be used to get the information about the ground. However, wheels of UGV with actively articulated suspension cannot be used as the roles because the each wheel does not remain in contact with the ground.We proposed IWTC and IATC from the dynamic model, and analyzed them. As the results, we developed the fuzzy rule-based estimation model additionally derived from our observations. IWTC, IATC model and fuzzy model could eliminate the noise of about 60% and 83% respectivel. In addition, fuzzy rule-based estimation model had high sensitivity and precision as well as robustness.

Obstacle-Overcoming Algorithm for Unmanned Ground Vehicle with Actively Articulated Suspensions on Unstructured Terrain

Kyeong Bin Lim,Jeong-hoon Kang,Yong-San Yoon,Sang Hoon Lee,Shincheon Kang 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10

Traversability of UGV working on unstructured terrain is one of the main functions. We proposed the framework of algorithm to enhance the traversability of the vehicle by overcoming various geometric obstacles. The algorithm consists of obstacle-classification and scenario-manager. Obstacle-classification algorithm extracts “ey Point”from the 3D terrain map and constructs terrain parameters. Parameterized terrain was classified into specific category by matching the parameters to obstacle templates with fuzzy logics. Scenario-managing algorithm manages the scenario from the obstacle templates. The scenario is made up with several main steps. The algorithm divides each main step of scenario into two sub-layers and each layer consists of sub-steps. Every step has F-variable and N-variable, which determine which step the algorithm will operate in next iteration and transfer the proper command set to algorithm. Those determinations were followed by pre-defined rules. Proposed algorithm was evaluated by simulation and UGV could overcome various geometric obstacles successfully.

가변 휠형 무인자율차량의 접촉휠 예측 모델

임경빈(Kyeong Bin Lim),김선재(Sun Je Kim),박석훈(Sukhoon Park),윤용산(Yong-San Yoon),이상훈(Sang Hoon Lee) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.8

Wheels of UGV can be used to get the information about the ground. However, wheels of UGV with actively articulated suspension cannot be used as the roles because the each wheel does not remain in contact with the ground. Therefore, in this study, we proposed the indexes and models to estimate the contact wheels. First, we formulated the dynamic equations about the actively articulated suspensions and wheels. Then estimation index IWTC and IATC were developed from the equations, and analyzed the strengths and weaknesses of each index. As the results, we developed the fuzzy rule-based estimation model additionally derived from our observations. IWTC model and IATC model could eliminate the noise of about 60% in comparison with the result without the estimation model. Fuzzy model also could reduce the noise of about 83%. In addition, fuzzy rule-based estimation model had high sensitivity and precision as well as robustness.

험지에서의 가변 휠형 무인 자율차량의 자세 제어를 위한 가변 휠의 형상 계획

임경빈(Kyeong Bin Lim),박석훈(Sukhoon Park),윤용산(Yong San Yoon),이상훈(Sang Hoon Lee),강신천(Shincheon Kang) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.3

Hybrid locomotive UGV with actively articulated legs along with wheeled ends has high traversability to travel over rough terrain. The behavior control method was usually adapted for the controlling of the suspension configuration which determines the traversability of the UGV. In this study, we are proposing a method of configuration planning of the legs without any detail geometric data about the terrain. The terrain was estimated by the traces of each wheel and the leg configurations for the desired posture of the vehicle were set up against the constraints of the terrain. Also, an optimal leg configuration was calculated based on the quasi-static stability and power consumption, and plans for the leg behavior were made. Validity of the proposed method was checked by simulations using some off-the-shelf programs, and showed that the orientation control without geometric features of terrains and simplification of the behavior planning for obstacle negotiation were possible.

응급의료 전용헬기와 지상 앰뷸런스를 이용한 병원 간 이송에서 외상 환자의 예후 비교

강경국 ( Kyeong Guk Kang ),조진성 ( Jin Seong Cho ),김진주 ( Jin Ju Kim ),임용수 ( Yong Su Lim ),박원빈 ( Won Bin Park ),양혁준 ( Hyuk Jun Yang ),이근 ( Geun Lee ) 대한외상학회 2015 大韓外傷學會誌 Vol.28 No.3

Purpose: To improve outcome of severe trauma patient, the shortening of transport time is needed. Although helicopter emergency medical services (HEMS) is still a subject of debate, it must also be considered for trauma system. The aim of this study is to assess whether transport method (HEMS versus ground EMS) is associated with outcome among inter-hospital transport. Methods: All trauma patients transported to regional emergency center by either HEMS or ground EMS from September 2011 to September 2014. We have classified patients according to two groups by transport method. Age younger than 15 years and self-discharged patients were excluded. Results: A total of 427 patients were available for analysis during this period. 60 patients were transported by HEMS and 367 patients were transported by ground EMS. HEMS group had higher mortality than ground EMS group (23.3% vs 3.5%; p<0.001), and included more patients with excess mortality ratio adjusted injury severity score (EMR-ISS) above 25 (91.7% vs 48.8%; p<0.001). In the multivariable regression analysis, HEMS was not associated with improved outcome compared with ground EMS, but only EMR-ISS was associated with a mortality of patients (odds ratio, 1.06; 95% confidence interval, 1.04-1.09). Conclusion: In this study, helicopter emergency medical services transport was not associated with a decreased of mortality among the trauma patients who inter-hospital transported to the regional emergency center. [ J Trauma Inj 2015; 28: 108-114 ]

프레이리(Freire)의 ‘대화’ 관점에서 본 유아미술활동의 교사-유아 상호작용연구

임부연(Lim, Boo Yeun),최수빈(Choi, Soo Bin),최윤경(Choi, Yoon Kyeong) 한국미술교육학회 2020 美術敎育論叢 Vol.34 No.2

본 연구는 유아미술활동에서 나타나는 교사-유아의 상호작용을 프레이리(Freire)의 ‘대화’를 중심으로 살펴보고자하였다. 유아미술활동에서 교사와 유아의 대화는 어떠한 양상으로 나타나고 있는지, 유아미술활동에 대화가 어떠한 영향을 미치는지 알아보았다. 연구기간은 2018년 8월부터 10월까지 3개월간 이루어졌으며, 연구기관 및 참여자는 p시에 소재한 사립유치원 두 곳의 만 5세반 교사 2인이었다. 연구자료는 각 기관마다 8회씩 총 16회의 참여관찰과 심층면담을 통해 수집되었고, 이를 분석한 연구자일지를 분석 자료로 선정하였다. 연구결과 교사와 유아의 상호작용은 ‘교사-유아의 대화에서 발현되는 만남: 진정한 마주보기’, ‘주체들의 만남에서 오는 진정한 배움: 의식화’로 제시되었다. 논의점으로 첫째, 교사와 유아의 대화가 진정한 만남으로 이루어질 때 유아는 활동을 즐기며 주체자로서 유아미술활동에 참여하고 있었다. 둘째, 유아의 경험과 상상력이 활동 속에서 발현되었으며 이는 교사와 유아의 대화를 통해서 가능함을 살펴볼 수 있었다. 마지막으로 교사의 변혁 의지가 교사와 유아의 진정한 대화로 이끈다는 것을 알 수 있었다. In this study, I tried to look at teacher-child interaction displayed in infant art activities, focusing on Freire s dialogue . We investigated how conversations in art activities look, and how they affect art activities. The research period was conducted for three months from August to October 2018, and the research institute and the participants were two private teachers at the time. Data collection was conducted through a total of 16 attendance observations and 8 in-depth interviews per teacher, and various materials used in artistic activities as researcher were selected as research analysis materials. As a result of the research, the interaction between the teacher and the child was presented as encounter expressed in the teacher-infant conversation: a true spread , comes from the subject s encounter and true learning: consciousness . First of all, at the point of discussion, children, who have a true conversation between the teacher and the child, participated in the art activity as the subject of a fun classroom. Secondly, I was able to see that the experience and imagination of children in art activities were expressed in the activities, and this was possible through the dialogue between teachers and children. Finally, I was able to know that the teacher s willingness to change is capable of realizing a true dialogue between the teacher and the child.

A Study on the Safety Management for Prevention of Combustible Dust Accidents

Su Bin An,Bo Kyeong Kim,Byung Chol Ma,Kyung Min Lim,Ha Eun Go,Chang Bock Chung 위기관리 이론과 실천 2019 Crisisonomy Vol.15 No.2

분체제조와 그 가공기술의 발전으로 가연성 분진을 이용하는 미분화 공정이 증가하였다. 이로 인해 분진폭발 사고 가능성이 높아지고 있지만, 현 제도에서는 가연성 분진을 제외한 인화성 고체만이 규정에 의해 관리되고 있다. 이러한 관리 구조는 GHS제도가 도입되는 과정에서 만들어졌으며, 이로 인해 기존의 가연성 분진 관련 규정이 인화성 고체로 개정되었다. 인화성 고체의 판정기준을 만족하 는 가연성 분진은 극히 일부이기 때문에 가연성 분진이 관리의 사각지대에 놓이게 되었다. 이에 따라 가연성 분진 취급 사업장에 대한 관리의 필요성과 법적기준 강화 요구가 지속적으로 제기되고 있으며, 이러한 요구를 충족시키기 위해서는 관리가 필요한 가연성 분진을 도출하고 관리기준을 마련할 필요가 있다. 이 연구에서는 가연성 분진에 대한 정의 및 판별기준을 명확히 하고 관리가 필요한 대상을 도출함으로써 가연성 분진으로 인한 사고예방을 위한 관리기준을 제시하고자 한다. The development of powder manufacturing and processing technology has increased pulverization processes for combustible dusts. This led to the enhanced probability of dust explosion, but the current safety management system in Korea is only concerned with flammable solids, excluding combustible dusts. Such management structure was created by the introduction of the GHS system, followed by the revision of the regulations on combustible dusts to those on flammable solids. Since only a small number of combustible dusts are classified as flammable solids under the current criteria, most combustible dusts are under insufficient management. Thus, the continuing requests have been made for the management of combustible dust facilities and more stringent legal standards. This study suggested the improved legal standards for accident prevention by clarifying the definition and determination criteria for combustible dusts and identifying the items to be managed.

Aldose Reductase Inhibitory Effect of Compounds Isolated from Zea mays L.

Jong Bin Ji,Soo Kyeong Lee,Seung-Hwan Hwang,Wang zhiqiang,Ji Hun Paek,Jae Yong Lee,Soon Sung Lim 한국식품영양과학회 2012 한국식품영양과학회 학술대회발표집 Vol.2012 No.10

Design of Master Console Robot for Natural Orifice Transluminal Endoscopic Surgery

Park Sukhoon,Lim Kyeong Bin,Jeong Jae Muk,Yoon Yong-San 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

NOTES is new concept of surgery which can get similar result without incise patient’"s skin. But, it is difficult to operate with existing surgery instruments which have flexible joint and low degree of freedom. These can be overcome with a surgical robot. In this research, robot controller which can control robot arm instinctively is developed. The structure of the robot controller is similar to the robot arm so that robot arm can move similar movement of robot controller. In this paper, two methods for controlling robot arm are proposed and the feasibility of application of these methods is simulated.