Emergency Steering Collision Avoidance and Path Tracking System for City Bus Considering Yaw Response

Sangwon Han,Jaeun Ryu,Gihoon Kim,Jaeho Choi,Kunsoo Huh 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11

As the autonomous driving expands to complex road environment, the importance of collision avoidance is emerging across industries and academia, and its application for passenger cars has been actively studied. Because the dynamic characteristics of low-floor buses are different from those of passenger cars, it is necessary to develop a corresponding collision avoidance and path tracking algorithms. In this paper, a novel Pure-Pursuit controller and collision avoidance trajectory planner considering vehicle stability for buses are proposed. First, in order to compensate for the shortcomings of the geometry-based Pure-Pursuit controller, yaw rate gain and yaw rate response analyzed from the actual vehicle data are considered to improve the stability of the bus. In addition, the Conditional Integration-Proportion Integral (CI-PI) controller is designed to reduce the effect of disturbances. Secondly, the trajectory planner is developed taking into account not only the surrounding object information, but also the dynamic limitation of the bus. A group of trajectory candidates including dynamic relation of the lateral motion is generated that satisfies path stability with pole-zero analysis. Then, an optimal trajectory is selected through the cost function which reflects the dynamic constraints. Finally, stability and performance of the proposed controller are verified through simulations and field tests.

Feasibility of dynamic stress 201Tl/rest 99mTc-tetrofosmin single photon emission computed tomography for quantification of myocardial perfusion reserve in patients with stable coronary artery disease

Han, Sangwon,Kim, Young-Hak,Ahn, Jung-Min,Kang, Soo-Jin,Oh, Jungsu S.,Shin, Eonwoo,Sung, Changhwan,Chae, Sun Young,Park, Seung-Jung,Grimberg, Gillan,Kovalski, Gil,Moon, Dae Hyuk Springer-Verlag 2018 European journal of nuclear medicine and molecular Vol.45 No.12

A Low Noise CMOS Low Dropout Regulator with an Area-Efficient Bandgap Reference

HAN, Sangwon,KIM, Jongsik,WON, Kwang-Ho,SHIN, Hyunchol The Institute of Electronics, Information and Comm 2009 IEICE transactions on electronics Vol.92 No.5

<P>In a low dropout (LDO) linear regulator whose reference voltage is supplied by a bandgap reference, double stacked diodes increase the effective junction area ratio in the bandgap reference, which significantly lowers the output spectral noise of the LDO. A low noise LDO with the area-efficient bandgap reference is implemented in 0.18µm CMOS. An effective diode area ratio of 105 is obtained while the actual silicon area is saved by a factor of 4.77. As a result, a remarkably low output noise of 186nV/sqrt(Hz) is achieved at 1kHz. Moreover, the dropout voltage, line regulation, and load regulation of the LDO are measured to be 0.3V, 0.04%/V, and 0.46%, respectively.</P>

상품과 알레고리 - 맑스와 벤야민의 환등상 개념

한상원 ( Han Sangwon ) 서울시립대학교 도시인문학연구소 2016 도시인문학연구 Vol.8 No.2

벤야민이 그의 19세기 파리의 파사주 연구에서 맑스의 상품물신주의 개념을 차용했다는 사실은 널리 알려져 있다. 그러나 두 이론가를 비교하려는 시도는 물론, 벤야민을 직접 맑스로 소급해 이해하려는 시도 역시 찾아보기 매우 힘들다. 본 논문이 밝혀내려는 것은 상품물신의 두 이론들은 공통적으로, 경제적 합리성에 기반을 둔현대 사회가 바로 그 합리성의 논리에 따라 비합리성으로 전도된다는 변증법적 역설을 고찰한다는 것이다. 이러한 이론적 관점 속에서 본 논문은 맑스와 벤야민 사이의 상이한 서술수준을 넘어선 이론적 대화를 시도한다. 맑스는 상품의 가치가 형성되는 과정에서 드러나는 추상적 관계들의 전도된 형식들을 유령적 대상성과 물신주의, 환등상적 형식 등의 표현으로 담아냈다. 벤야민은 이러한 범주들이 구체적 역사적 상황 속에서 경험, 지각되는 방식을 이론화한다. 이를 통해 벤야민은 자본주의가 숭배의 기능을 갖는 종교적 체제라는 자신의 초기신학적 구상과 맑스의 이론적 고찰을 연결시킨다. 파사주 프로젝트는 역사적으로 19세기에 출현한 환등상의 경제체제와 그 시대의 일상적 생활영역에 대한 탐구 속에서 합리적 경제체제의 비합리적, 신화적 요소로의 전도가능성을 살펴보려는 시도였다. 이러한 연구를 추적하면서 우리는 벤야민에 의해 수행된, 보들레르와 초현실주의 등 현대 예술사조와 맑스 이론의 접목가능성 역시 살펴보게 될 것이다. 결국 이러한 연구는 21세기 오늘날의 현 시대를 특징짓는 감각적이고 초감각적인 현상들과 그 경험들에 대한 이론적 고찰을 위한 준비과정으로 기능할 수 있을 것이다. It is widely known that Benjamin borrowed Marx’s notion of commodity fetishism in his study of the Paris arcades in 19th century. However, it is very hard to find the attempts not only to compare both thinkers, but also to understand Benjamin recurring directly to Marx. What this article now tries to discover is that these two theories of comodity fetish commonly consider the dialectical paradox that the modern society which based on the economic rationality is revered into the irrationality, as the very consequence of its rational logic. This article attempts to bild a theoretical conversation between Marx and Benjamin beyond their different levels of the discriptions. Marx grasped the inverted forms of abstract social relations which come out during the process of the formation of value with expressions of spectral objectivity, fetishism and phantasmagoric form. Benjamin theorized now the way of how these categories are experienced and perceived in a concrete historical situation. He connected thereby his early theological conception of the capitalism as a religious system which has a function of the cult with Marx’s theoretical perspectives. The Arcaeds Project was an attempt to search the physiognomy of the inversion of the rational economic system into the irrational, mythical elements, studying economical system of the phantasmagoria and the everyday life sphere in it. Tracing such studies, we will search the possiblity of binding the modern art like Baudelaire and surrealism with Marx’s theory, what Benjamin diligently tried to do. As a result, this study will be able to function as a preparation process for the theoretical considers about sensory and extrasensory phenomena and their experiences which characterize the contemporary society in 21st century.

Differences in the clinical manifestations and short-term prognosis of acute cerebral infarction after exposure to Agent Orange

SangWoo Han,Inha Hwang,Seung Min Kim,Young Soon Yang,SangWon Ha,Jeong Ho Han,Tae Hwan Park 대한직업환경의학회 2016 대한직업환경의학회지 Vol.28 No.-

Background: Agent Orange (AO) is the code name for one of the herbicides and defoliants used in the Vietnam War. Studies conducted thus far show a significant correlation between AO and the occurrence of cardiovascular diseases. But there is little data on the association between AO and stroke, and limited studies have targeted patient groups exposed to AO. Method: Bohun medical center Institutional Review Board (IRB) approved the study. (ID: 341) We studied patients with acute ischemic stroke within 7 days of onset in VHS medical center and 4 other general hospitals. Among them, 91 consecutive patients with previous exposure to AO were evaluated. For controlled group, 288 patients with no history of AO exposure were chosen. Result: There were 49 (44.0 %) DM patient with a higher frequency in the exposure group (93 (32.3 %) in control P = 0.045). There were 6 (6.6 %) hyperlipidemia in exposure group and 69 (24.0 %) in control. (P < 0.002). Small vessel occlusion was the most common subtype (36, 39.6 %) in exposure group but in control group, the large artery atherosclesosis was (120, 41.7 %) (P = 0.014). The NIHSS of the exposure group on admission showed lower scores (median values, 2 and 4, respectively; P = 0. 003). The median mRS was 1 for the exposure group and 2 for the control group, at discharge and after 3 months. After 3 months of discharge, 55 (60.4 %) in the exposure group and 171 (59.4 %) in the control group showed below mRS 1 (P = 0.001). Conclusion: This study targeted patients who are Vietnam veteran. There is some difference in vascular risk factors and clinical manifestations suggest AO exposure has contributed to a certain extent to the stroke.

‘아니오’라고 말하기 위한 용기

한상원(Sangwon Han) 철학연구회 2016 哲學硏究 Vol.0 No.114

저상 버스 차량의 동역학적 특성을 고려한 종방향 및 횡방향 모델 예측 제어 시스템 개발

한상원(Sangwon Han),김기훈(Gihoon Kim),최재호(Jaeho Choi),허건수(Kunsoo Huh) 한국자동차공학회 2022 한국자동차공학회 학술대회 및 전시회 Vol.2022 No.11

아렌트와 아도르노 : 총체적 지배와 성찰의 힘

한상원 ( Sangwon Han ) 한국하이데거학회 2021 현대유럽철학연구 Vol.- No.63

아렌트와 아도르노는 생전 어떠한 밀접한 이론적 교류도 하지 않았다. 그러나 아렌트와 아도르노를 교차하는 공통의 몇 가지 문제의식들이 존재하며, 이를 밝혀내는 것이 본 논문의 과제다. 특히 이 글에서는 크게 세 가지 점이 주장될 것이다. 첫째로, 아렌트와 아도르노는 현대 ‘대중사회’가 전체주의의 토대를 형성한다고 비판한다. 둘째로, 두 이론가는 유사한 관점에서 정치 공동체가 추구해야 할 덕목을 제시한다. 즉 정치 공동체는 인간 존재의 다양성과 복수성(아렌트), 그리고 개별자의 비동일성(아도르노)이 자유롭게 표출될 수 있는 공간으로 제시된다. 마지막으로, 아렌트와 아도르노는 공통적으로 이러한 정치 공동체는 주체들의 ‘성찰의 힘’을 요구한다고 주장한다. 민주주의 정치 공동체의 작동을 위해서는 그 구성원들이 사유할 수 있는 능력, 비판할 수 있는 능력을 갖춰야 한다는 것이다. 이러한 맥락에서 오늘날 필요한 ‘민주주의의 위기’에 관한 사유를 아렌트와 아도르노를 경유해 도출하는 것이 본 논문의 과제다. 특히 이 글에서는 대안적이고 다원적인 시민들의 공동체에 대한 정치적 상상력이 필요함이 주장될 것이다. Arendt and Adorno had no close theoretical exchanges during their lifetime. However, there are some common problems that intersect Arendt and Adorno, and it is the task of this paper to uncover them. In particular, three main points will be argued in this article. First, Arendt and Adorno criticize modern “mass society” as forming the basis of totalitarianism. Second, from a similar point of view, they suggest the virtues that the political community should pursue. In other words, the political community is presented as a space in which the diversity and plurality of human existence (Arendt) and the individual's non-identity (Adorno) can be freely expressed. Finally, Arendt and Adorno argue that these political communities require the “power of reflection” of subjects. Members of a democratic political community must be able to think and criticize for the community to function. In this context, this article builds on the thoughts on the “crisis of democracy” needed today through Arendt and Adorno.

액티브 서스펜션과 토크 벡터링을 활용한 차량 통합 제어 시스템 개발

한상원(Sangwon Han),조정민(Jeongmin Cho),양정근(Junggun Yang),송유호(Yuho Song),허건수(Kunsoo Huh) 한국자동차공학회 2019 한국자동차공학회 부문종합 학술대회 Vol.2019 No.5

승용차용 휠너트 체결력 저하에 대한 연구

한상원(Sangwon Han),윤동영(Dongyoung Yoon),권철웅(Chelwoong Kwon),박정률(Jungryul park),김정윤(Jungyun Kim) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5

The wheel nut plays a role as installation of wheel & tire Assembly for chassis corner module. The wheel nut is one of the most frequent reorganization parts. On the other hand, it also should be maintained its fastening state for the safety. However when it driving a vehicle, the various causes occur to reduce the fastening force. Inadequate fastening force of wheel nut leads slip and rotation to wheel and hub bolt. This may cause shear-stress concentration to the hub bolt and also affect breakdown of it. This phenomenon is closely connected with noise and vibration. In this paper, the experimental methods to estimations of fastening force reduced is proposed. Also this estimates the fastening force of wheel nut as fastening condition and suggest an appropriate fastening condition.