• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.261-268
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• 2013

In this paper, we propose the algorithm that improves the linearity of the walking assistant robot on lateral slopes. The walking assistant robot goes out of the course due to the rotational moment which is caused by the weight of the robot and the slope. To compensate this, we give the weight to each driving axle after comparing the real rotational angular velocity with the target rotational angular velocity which is entered by an user. The results of applying the algorithm to the real walking assistant robot show that the yaw axis deviation of the robot without the algorithm diverges, but the yaw axis deviation of the robot with the algorithm lies within 20cm, which can be recognized as stable. In addition, the changing rate of the course deviation is stabilized and shows no more course deviation, after moving 300cm.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.9 no.1
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• pp.79-87
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• 1989

The influence of anchor slope on behavior of sheet pile is analysed by results of model test. It can be seen that the larger inclination of anchor causes more causes more increases of the horizontal and vertical deflection of wall, but the bending moment is less influenced by the inclination of anchor. The negative friction against vertical settlement of wall has the yielding point at the excavation level of 0.71-0.80 H. The redistribution of earth pressure on the sheet pile with dredging must be considered by soil-arching. The zero pressure point from the toe of wall is 20% higher than that of the Free Earth Support Method. It is also observed that the angle of failure planes to major principal plane is larger than the angle of $45^{\circ}+{\phi}/2$.

• Journal of Animal Environmental Science
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• v.2 no.1
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• pp.79-86
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• 1996

Solid/Liquid(S/L) separation is crucial for biological treatment of animal wastewater. Liquid portion from S/L separation has less BOD-load and proper post-strip treatment can be obtained. Screen or declined sieve was normally used to separate the solid parts. For better separating efficiency a vibration and a cylindrical separator were constructed and tested. The results are summarized as follows; Solids removal efficiency and moisture content of separated solid were 15~26% and 85~88%, respectively for the vibration separator. for the cylindrical separator, solid removal efficiency and moisture content of solid were 16~39% and 86~89%, respectively. The greatest amount of drymatter was obtained when operating vibration separator with 10$^{\circ}$ inclination and 100% vibrating power. For the cylindrical separator maximum efficiency was obtained with 40 rpm and 19$^{\circ}$ inclination. The vibration and the cylindrical separator have shown 21% and 26% in BOD removal, respectively. These two types of separator were proved to be applicable methods for animal wastewater separation.

• Journal of Navigation and Port Research
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• v.40 no.6
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• pp.353-360
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• 2016

The International Maritime Organization (IMO) has issued international standards for ship maneuverability and stability. These have been established to improve marine safety and influence the direction of research. The previous literature has been researched, but there are few studies on the relationship between ship maneuverability and stability. This study carried out a fundamental experiment to quantitatively evaluate that relationship. Radius of turn and maximum heel angle depending on changing were analyzed through a turning test using a free running model ship. The test results show the change tendency of decreasing turn radius and increasng maximum heel angle according to a GM decrease. A rough estimate equation is proposed to predict the change tendency on radius of turn and angle of maximum heel as GM decreases. Many ships can suddenly experience reduced GM due to unexpected reasons during sailing. The results in this study can be used as fundamental data to estimate a ship's tactical turn diameter and variable heel angle for steering as GM decreases.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.10
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• pp.229-235
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• 2019

A floating photovoltaic generation system is a new concept that combines existing photovoltaic generation technology with floating technology. This is installed in the water not on conventional land and a building. The system is designed as a unit module type that can be connected to other modules according to the power generation capacity, thereby forming a large-scale power generation facility. As a renewable energy source, it is composed of a floating structure, mooring device, photovoltaic power generation facility, and underwater cable. Because this system is installed outdoors, the effect of the wind load on the structure is very large. In this study, the wind loads most affected on the floating photovoltaic generation structure were obtained by computational fluid dynamic analysis. The flow characteristics and wind loads were analyzed for a range of wind orientations and angles of inclination. The analysis showed the position and magnitude of the maximum wind load to the wind direction and the flow characteristics around the solar panel and floating system. The wind load increased with increasing angle of inclination of the panel to the ground.

• Journal of the Korean Geotechnical Society
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• v.28 no.1
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• pp.29-39
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• 2012

The maximum unit point resistance ($q_{max}$) of rock socketed drilled shafts subjected to axial loads was investigated by a numerical analysis. A 3D Finite Difference Method (FDM) analysis and a Distinct Element Method (DEM) analysis were performed with varying rock elastic modulus (E), discontinuity spacing ($S_j$), discontinuity dip angle ($i_j$), and pile diameter (D). Based on the results of obtained, it was found that the ultimate point resistance ($q_{max}$) increased as rock elastic modulus (E) and rock discontinuity spacing ($S_j$) increased. But, it was found that $q_{max}$ decreased as pile diameter (D) increased. As for the influence of the dip angle of rock discontinuity ($i_j$), it was shown that $q_{max}$ decreased up to 50% of maximum value within the range of $0^{\circ}$ < $i_j$ < $60^{\circ}$ due to the shear failure at rock discontinuities. Furthermore, it was found that if $20^{\circ}{\leq}i_j{\leq}40^{\circ}$, influence of $i_j$ should be taken into account because $q_{max}$ tended to approach a minimum value as $i_j$ approached a value near the friction angle of the discontinuity (${\phi}_j$).

• Proceedings of the Korea Institute of Fire Science and Engineering Conference
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• 2010.10a
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• pp.144-147
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• 2010

방화선 구축 작업은 산불확산이 진행되고 있는 화선으로부터 확산진행방향의 연소물질을 제거하여 화염이 확산되지 않도록 하는 대표적인 간접진화 방법이다. 하지만 방화선 구축 폭에 대한 기준은 산불진화 경험을 통해 약 0.5~1.5m폭으로 작업하는 것으로 알려져 있고 열전달 수치해석 및 실험 등을 통해 아직 구명된 바 없다. 이에 본 연구에서는 소나무 낙엽층을 대상으로 풍속 0~5m/s, 경사 $0{\sim}50^{\circ}$의 조건에 대해 복사열전달 수치해석을 이용하여 방화선 구축 폭을 산정하였다. 그 결과, 복사열유속에 의한 낙엽의 발화가 발생하지 않는 거리는 각 조건별 평균화염높이에 대해서는 0.35~0.65m, 최대화염높이에 대해서는 0.75~1.05m로 산정되었다. 따라서 안전율을 고려한 적정 방화선 구축 폭은 최대화염높이를 적용한 1.05m가 적합할 것으로 판단되며 향후, 실험 및 현장사례조사를 통한 적정 방화선 구축 폭에 대한 비교분석 연구가 추가적으로 필요할 것으로 판단된다.

• Proceedings of the Korean Information Science Society Conference
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• 1999.10b
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• pp.494-496
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• 1999

본 논문에서는 SV(Support Vector Machine)과 3단의 칼라 원형 조명장치를 이용한 효율적인 납땜 검사 시스템을 제안한다. 원형 조명장치를 이용하여 납땜부의 표면의 경사도에 의해서 생기는 명암의 분포로부터 납땜 검사를 위한 특징값을 추출한다. SVM은 추출된 특징값을 이용하여 납땜 영상을 정의된 타입중의 하나로 분류한다. SVM은 두 부류의 경계를 최대로 하는 최적경계를 학습하므로 납땜 영상과 같이 각 부류의 경계가 모호한 문제에 대해서 적은 수의 학습 데이터를 사용해도 우수한 성능을 나타낸다. 제안된 시스템은 현산업에서 사용되고 있는 다양한 표면실장형 부품에 대해서 적용해 본 결과 적은 학습 데이터에도 효율적으로 적용될 수 있음을 보였다.

• Proceedings of the Korea Water Resources Association Conference
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• 2006.05a
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• pp.858-863
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• 2006

본 연구에서는 금강유역을 대상으로 GIS기법에 의해 1:5,000 NGIS자료로부터 DEM과 하천망을 생성하였고, 이를 이용하여 하천차수별 하천수, 하천연장과 평균하천연장의 하천특성인자와 유역면적, 유역평균폭, 최원유로연장, 하천총수, 총하천연장, 수계밀도, 수계빈도, 형상인자, 평균표고, 평균경사, 최대하천차수, 유역내 최고표고, 기복비 등의 유역특성인자들을 추출함으로써 수자원단위지도 기반의 단위유역별 지형학적 특성을 파악하였다. 또한 대상유역을 금강권역상류, 금강권역중류, 금강권역하류유역으로 구분하여 지형학적 인자를 추출하고 그 특성을 분석하였으며, 선형 및 비선형 회귀곡선을 이용하여 인자들 간의 상관관계를 분석함으로써 각 유역을 특징짓는 주요 인자들을 추출하였다.

• Proceedings of the Korea Water Resources Association Conference
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• 2011.05a
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• pp.80-85
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• 2011

산지하천의 만곡부에서는 홍수시 원심력이 작용하여 하천 횡단방향으로 수면경사가 발생되기 때문에 만곡 외측에서는 수위가 상승하고 내측에서는 수위가 내려가는 편수위 현상이 일어난다. 산지하천 만곡수충부의 수위 상승 특성을 파악하기 위해 만곡수충부 하류부의 수위가 그 편수위에 미치는 영향을 확인하고자 하였다. 이에 강원지역 하천 만곡부의 형태학적인 특성을 바탕으로 산지하천 만곡부 조건을 설정한 수리모형 실험장치를 이용하여 하류부 수위를 6단계로 조절하고 각 단계별로 횡단수위 분포를 측정하는 과정으로 이루어졌다. 실험결과 만곡부의 최대 편수위는 하류부 수위조건이 고수위 보다 저수위에서 크게 나타났으며 이는 만곡수충부 하류에 보와 같은 수위조절구조물에 의하여 만곡부 내의 수위가 상승될 경우 편수위가 감쇠될 수 있는 가능성이 있다는 것을 나타낸다.