• Journal of the Korea Society of Computer and Information
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• v.24 no.11
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• pp.29-39
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• 2019

As mobile robot applications increase in real life, the need of low cost autonomous driving are gradually increasing. We propose a novel vision-based real-time lane detection and tracking system that supports autonomous driving of mobile robots in constrained tracks which are designed considering indoor driving conditions of mobile robots. Considering the processing of lanes with various shapes and the pre-adjustment of operation parameters, the system structure with multi-operation modes are designed. In parameter tuning mode, thresholds of the color filter is dynamically adjusted based on the geometric property of the lane thickness. And in the unstable input mode of curved tracks and the stable input mode of straight tracks, lane feature pixels are adaptively extracted based on the geometric and temporal characteristics of the lanes and the lane model is fitted using the least-squared method. The track centerline is calculated using lane models and the motion model is simplified and tracked by a linear Kalman filter. In the driving experiments, it was confirmed that even in low-performance robot configurations, real-time processing produces the accurate autonomous driving in the constrained track.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.3
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• pp.127-132
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• 2018

In this paper, a scheme for the evaluation of variability in the eigen-modes of functionally graded material(FGM) beams is proposed within the framework of perturbation-based stochastic analysis. As a random parameter, the spatially varying elastic modulus of FGM along the axial direction at the mid-surface of the beam is chosen, and the thru-thickness variation of the elastic modulus is assumed to follow the original form of exponential variation. In deriving the formulation, the first order Taylor expansion on the eigen-modes is employed. As an example, a simply supported FGM beam having symmetric elastic modulus with respect to the mid-surface is chosen. Monte Carlo analysis is also performed to check if the proposed scheme gives reasonable outcomes. From the analyses it is found that the two schemes give almost identical results of the mean and standard deviation of eigen-modes. With the propose scheme, the standard deviation shape of respective eigen-modes can be evaluated easily. The deviated mode shape is found to have one more zero-slope points than the mother modes shapes, irrespective of order of modes. The amount of deviation from the mean is found to have larger values for the higher modes than the lower modes.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.221-226
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• 2005

In this paper, a dynamic model for the rotor shaft-coupling-blade system is developed. The blades are attached to a disk and driven by an electric motor shaft which is flexible in torsion. We assumed that the shaft torsional flexibility is lumped in the flexible coupling which is usually adopted in rotor systems. The Lagrangian approach with the small deformation theory for both blade-bending and shaft-torsional deformations is employed for developing the equation of the motion. The assumed modes method is used for estimating the blade transverse deflection. The numerical results highlight the effects of both structural damping of the system and the torsional stiffness of the flexible coupling to the dynamic response of the blade. The results showed strong coupling between the blade bending and shaft torsional vibrations in the form of inertial nonlinearif, stiffness hardening and softening.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.9 s.102
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• pp.1023-1029
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• 2005

In this paper, a dynamic model for the rotor shaft-coupling-blade system was developed. The blades are attached to a disk and driven by an electric motor shaft which is flexible in torsion. We assumed that the shaft torsional flexibility was lumped in the flexible coupling which is usually adopted in rotor systems. The Lagrangian approach with the small deformation theory for both blade-bending and shaft-torsional deformations was employed for developing the equation of the motion. The Assumed Modes Method was used for estimating the blade transverse deflection. The numerical results highlight the effects of both structural damping of the system and the torsional stiffness of the flexible coupling to the dynamic response of the blade. The results showed strong coupling between the blade bending and shaft torsional vibrations in the form of inertial nonlinearity, stiffness hardening and softening.

• Journal of the Korea institute for structural maintenance and inspection
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• v.16 no.4
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• pp.60-68
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• 2012

This study describes an analytical and experimental investigation of the pedestrian steel-deck truss bridge in the City of Rochester, New York, U.S.A. This investigation was undertaken to provide assurance that this important bridge continues to be functional for this use. An ambient vibration experiment on full-scale structures is a way of assessing the reliability of the various assumptions employed in the mathematical models used in analysis. It is also the most reliable way of determining the structural parameters of major importance in structural dynamics, such as the mode shapes and the associated natural frequencies. Pedestrian-induced vibrations have been measured on the bridge to determine the displacement and the vertical and transverse dynamic characteristics of the steel deck truss. In the analytical modeling, three-dimensional finite element analysis was developed and validated against the ambient tests.

• Economic and Environmental Geology
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• v.27 no.2
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• pp.191-199
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• 1994

We have developed an algorithm based on the method of integral equations to simulate the magnetotelluric (MT) responses of three-dimensional (3-D) bodies in a layered half-space. The inhomogeneities are divided into a number of cells and are replaced by an equivalent current distribution which is approximated by pulse basis functions. A matrix equation is constructed using the electric Green's tensor function appropriate to a layered earth, and is solved for the vector current in each cell. Subsequently, scattered fields are found by integrating electric and magnetic Green's tensor functions over the scattering current About a 3-D conductive body near the earth's surface, interpretation using 2-D transverse electric modeling schemes can imply highly erratic low resistivities at depth. This is why these routines do not account for the effect of boundary charges. However, centrally located profiles across elongate 3-D prisms may be modeled accurately with a 2-D transverse magnetic algorithm, which implicitly includes boundary charges in its formulation. Multifrequency calculations show that apparent resistivity and impedance phase are really two complementary parameters. Hence, they should be treated simultaneously in broadband MT interpretation.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.4
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• pp.457-462
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• 2011

In this study, a simplified design procedure for friction dampers of a multi-story structure in order to reduce seismic response is proposed. To get insight for control effect of the structure with friction dampers is difficult, because of a nonlinear characteristic by a friction damper. Since a control force of a friction damper is influenced by coupling velocity between floors, adjoining modes are coupled. Thus structural response are derived by assuming steady-state response in resonance. As it is impossible that an exact solution is obtained for seismic load, first, a closed form solution can be achieved under harmonic vibration. Second, to convert a three-story building into a single-degree-of-freedom(SDOF) structure, modal analysis is performed. Third, an equivalent damping ratio is derived with utilizing closed form solution. And response reducing factor is proposed by it. Finally, friction force of a damper is designed for using response reducing factor, and then designed dampers are verified for seven seismic data. The nonlinear analysis results confirm the validity of the proposed procedure.

• Journal of Korean Association for Spatial Structures
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• v.6 no.1 s.19
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• pp.83-90
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• 2006

The GF(Gust Factor) method is usually used as a method to evaluate equivalent static wind loads for general structures. The GF method is performed on the assumption that the shape of the equivalent static wind load profile is typically similar to that of mean wind loads. The shape of fluctuating wind loads could be quite different with that of the mean wind loads in case of large-span structures. So, the effect of higher modes as well as first mode must be considered to evaluate the wind loads. In this study, the ACS (Advanced Conditional Sampling) method is suggested to evaluate of equivalent static wind loads after investigating about GF and LRC method. The An method ran derive effective static wind loads by combining wind pressures and inertia forces of a structure chosen at a maximum load effect. The maximum load effect is assessed with the time history analysis using pressure data measured in wind tunnel tests. Equivalent static wind loads evaluated using ACS, GF, and LRC methods are compared to verify the effectiveness of ACS method.

• Geotechnical Engineering
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• v.4 no.2
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• pp.15-24
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• 1988

To identify the stability of cantilever retaining wall in safe state by the deterministic method, these potential modes of such geotechnical failures as bearing capacity, horizontal sliding and overturning are analysed using Advanced First Order Second Moment (AFOSM) method. All design variables are assumed of the normal distribution and to be statistically independent. Considering the correlations between the single modes, structural system reliability index is 2. 05. Even if the safety factors are larger than the required value in the codes' by the conventional deterministic method, the system reliability of this structure may not be Judged to be safe state since the system reliability index is much lower than general value of 3.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.12
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• pp.948-953
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• 2014

Many studies using the assumed mode method have been found for the free vibration analysis of stiffened plate with known elastic boundary conditions. However many local structures such as tank edges and equipment foundations consist of connected structures and it is very difficult to find suitable elastic boundary conditions. In this study combined polynomials which satisfy simply and fixedly supported boundary conditions are proposed. The proposed method has been applied to tanks which bounded by bulkhead and a deck. The results of this study shows good agreements with these obtain by the FEA S/W(Patran/Nastran).