• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.161-167
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• 2006

In this paper, lateral force control of a mobile robot with slip is presented. First, the bicycle model of a mobile robot is derived for the front steering. Second, impedance force control algorithm is applied to regulate contact force with environment. The desired distance is specified conservatively inside the environment to guarantee to make contact. Different stiffness of environment has been tested for force tracking task. Simulation results show that the proposed control algorithm works well to maintain desired contact force on the environment.

• Proceedings of the Korea Concrete Institute Conference
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• 2008.11a
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• pp.129-132
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• 2008

All bearing device should be examined to determine that they are functioning properly. Small changes in other portions of the structure, such as pier or abutment settlement, may be reflected in the bearings. Bearings should be checked to see that they can move freely and are clear of all foreign material. Shoes should be in proper position relative to the temperature at the time of the inspection. Check anchor bolts for any damage and to see that nuts are secure. See that anchor bolt nuts are properly set on the expansion bearings to allow normal movement. In this paper, rehabilitation method for damaged bearings is proposed and damage example of the skewed bridge is illustrated

• 한국가시화정보학회:학술대회논문집
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• 2004.11a
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• pp.84-85
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• 2004

Experimental study was conducted to characterize shear-induced lateral migration of $1.0-{\mu}m-diameter$ Brownian particles flowing through a rectangular microchannel which can be used to deliver small amount of liquids, drugs, biological agents and particles in microfluidic devices. Measurements were obtained by using a mercury lamp with a light of 532-nm wavelength, an inverted epi-fluorescence microscope, and a cooled CCD camera to record particle images. Peclet number was used as a parameter to assess the lateral distribution of the particles at a fixed volume fraction of $0.1\%$. It was shown that as Pe increased, particles were moved toward the centerline of the channel, which is in good agreement with previous studies.

• Water for future
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• v.23 no.4
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• pp.435-444
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• 1990

The flow characteristics varying with the rate of the radius of curvature to width (Rc/B) in open channel bends are investigated with a simplified numerical model, briefly. Secondary flow velocity and transverse bed slope are formulated from the equations of moment of momentum and force balance analysis, respectively. The conservation equations of mass and streamwise momentum are simplified by depth integration and its solution could be obtained form explicit finite difference method. Three sets of computer simulation are executed. The rates of Rc/B adopted in simulations are 2.7, 5.4, 8.1 , respectively. The terms analyzed in this paper are secondary flow velocity, streamwise velocity, the path of maximum streamwise velocity, deviation angle, and mass-shift velocity.

• Korean Journal of Mineralogy and Petrology
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• v.35 no.3
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• pp.235-258
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• 2022

We interpreted the evolutionary history of the southwestern part of the Pohang Basin, the largest Miocene basin in the southeastern part of the Korean Peninsula, based on the detailed geological mapping and analysis of the geological structures. The southwestern part of the Pohang Basin can be divided into the Bomun Domain in the west and Ocheon Domain in the east by an NNE-trending horst-in-graben. These two domains have different geometries and deformation histories. The Bomun Domain was rarely deformed after the incipient extension of the basin, whereas the Ocheon Domain is an area where continued and overlapped deformations occurred after the basin fill deposition. Therefore, the Bomun Domain provides critical information on the initial extension mode of the Pohang Basin. The subsidence of the Bomun Domain was led by the zigzag-shaped western border fault that consists of NNE-striking normal and NNW-striking dextral strike-slip fault segments. This border fault is connected to the Yeonil Tectonic Line (YTL), a regional dextral principal displacement zone and the westernmost limit of Miocene crustal deformation in SE Korea. Therefore, it is interpreted that the Pohang Basin was initially extended in WNW-ESE direction as a transtensional fault-termination basin resulting from the movement of NNE-striking normal and/or oblique-slip faults formed as right-stepover in the northern termination of the YTL activated since approximately 17-16.5 Ma. As a result, an NNE-trending asymmetric graben or half-graben exhibiting an westward deepening of basin depth was formed in the Bomun Domain. Afterward, crustal extension and deformation were migrated to the east, including the Ocheon Domain.

• The Journal of the Convergence on Culture Technology
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• v.9 no.3
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• pp.633-640
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• 2023

In this study, numerical analysis was performed based on field investigation to derive an appropriate reinforcement method by analyzing the displacement behavior characteristics of concrete blocks generated in the direct fixation track on the bridges of the serviced light rail transit. The track of this study was a direct fixation track on a sharp curved track, and the problem of movement of the concrete blocks installed on the bridge deck in the longitudinal and lateral directions occurred. In this study, based on the finite element model using 3D solid elements, the behavior of the direct fixation track that could be occurred under operating load conditions was analyzed. In addition, the reinforcement effect of various reinforcement methods was analyzed. As a result of analyzing the lateral displacement before and after reinforcement, it was analyzed that the maximum lateral displacement after reinforcement under the extreme lateral wheel loads significantly decreased to about 3% (about 0.1mm) compared to before reinforcement. In addition, as a result of examining the generated stress of the filling mortar, bridge decks, and reinforcing bar, it was analyzed that all of them secured a sufficient safety factor of 2.6 or higher, and the optimal conditions for the reinforcement method were derived. Therefore, it is judged that the number of anchoring reinforcements and symmetrical anchor placement reviewed in this study will be effective in controlling the occurrence of lateral displacement of concrete blocks and securing the structural integrity of bridges and concrete blocks.

• Proceedings of the Korea Water Resources Association Conference
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• 2005.05b
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• pp.976-980
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• 2005

자연하천과 같은 사행수로에서 발생하는 이차류는 흐름 분포를 왜곡시킴으로써, 유사이동, 하상과 제방침식, 하천의 지형변형 등에 매우 큰 영향을 미치게 된다. 또한, 이차류는 주 흐름방향에 수직으로 발생하기 때문에 자연하천에 유입된 오염물의 횡방향 혼합에도 지대한 역할을 한다. 따라서, 본 연구에서는 사행수로에서 이차류의 특성을 정량적으로 분석하고자 중심각이 $120^{\circ}$인 두 개의 만곡부로 이루어진 사행수로에서 실험을 수행하였다. 실험수로는 직사각형 단면과 자연형 단면 두 가지 형태로 제작하였으며, 자연형 단면 하상은 베타함수를 이용하여 제작하였다. 이차류의 정확한 측정을 위해 3차원 유속측정 장치인 micro-ADV를 이용하였다. 실험조건으로는 직사각형 단면과 자연형 단면에서 평균수심과 유량을 달리하여 실험을 총 12회 수행하였다. 실험결과, 직사각형 단면수로에서의 주 흐름의 최대유속선은 수로의 가장 짧은 경로를 따라 발생하였는데, 이는 Shiono와 Muto (1998)의 결과와 일치한다. 자연형 단면 수로에서의 주 흐름은 직사각형 단면 수로에서의 주 흐름 거동과 비슷한 양상을 보였다. 이것은 실제 자연하천 만곡부에서의 주흐름 거동(최대유속선이 최심선을 따라 발생)과는 상이한 결과였다. 그 첫째 원인은 실험수로의 조도가 일반적인 실제하천의 조도를 상사법칙에 맞게 계산한 값보다 작았기 때문이다. 그리고 두 번째 원인은 실험수로의 하폭대 수심비율은 실제하천의 하폭대 수심비율보다 컸기 때문인 것으로 사료된다. 이차류의 정량적인 분석을 위해 각 측정지점별로 횡방향, 수심방향 유속을 그려본 결과, 직사각형 단면에서는 하나의 셀이 존재하는 반면에 자연형 단면에서는 셀이 두개 존재함을 알 수 있었다. 이는 자연하천에서도 발견되는 현상이다. 실제 자연하천에서는 주 셀이 바깥제방 셀보다 큰 형태를 보이지만, 실험수의에서의 셀의 형태는 주 셀보다 바깥제방 셀이 더 크게 발생하는 것으로 밝혀졌다. 이는 앞서 언급한 바와 같이 조도가 작음으로 인한 것으로 판단된다. 이차류 강도를 계산한 결과, 직사각형 단면 수로의 최대값은 두 번째 만곡 유입부지점(U2)에서 가장 크게 나타났으며. 자연형 단면 수로에서 최대값은 두 번째 만곡을 조금 지난 (U4)지점에서 가장 크게 나타났다. 자연형 단면에서는 하폭 대 수심비가 커질수록 이차류강도가 크게 나왔으나, 직사각형 단면에서는 반대로 나왔다. 그리고, 자연형 단면의 이차류 강도는 직사각형 단면보다 크게 나타났다. 특히, 직사각형 단면의 이차류강도는 첫 번째 만곡부분보다 두 번째 만곡부분이 더 크게 나타나는 현상만 보였지만, 자연형 단면의 이차류 강도는 앞서 언급한 특징 외에 만곡부에서 증가하고, 직선부에서 감소하는 주기적인 형태를 보였다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.5
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• pp.373-379
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• 2016

Hydraulic forces on a vessel are changed according to the depth/draft ratio (h/d) during berthing or towing in a lateral direction. It is well known that lateral current force coefficient is dependent on the kinds of vessel in question. However, not much research exists about the characteristics of general ships, except for oil tankers, as suggested by the Oil Companies International Marine Forum (OCIMF). In this paper, lateral current coefficient related to h/d is analyzed in comparison with theoretical values and experiments with a 93m passenger ship. The estimated total resistance on the ship was 14.0 tons under an h/d of 1.6 with a lateral current force coefficient of 1.9. This was found to be similar to the measured value of 13.8 tons on the towing line in actual experiments. Resistances on the ship under an h/d of 3.0 was calculated to be 19.9 tons with a lateral current force coefficient of 1.3. Therefore, the lateral current force coefficient was expected to be 1.3 under an h/d of 3.0, in experiments measured value 20.0 tons. And the discharging currents did not affect the towing force if the towing line was over 30 m, since the towing resistance showed a similar tendency for changes in line length from 30 m to 60 m.

• Journal of the Korea Society of Computer and Information
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• v.28 no.1
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• pp.93-101
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• 2023

In this paper, we propose a method of creating a 3D bounding box for an object using a vanishing point to increase the accuracy of object recognition in an image when recognizing an traffic object using a video camera. Recently, when vehicles captured by a traffic video camera is to be detected using artificial intelligence, this 3D bounding box generation algorithm is applied. The vertical vanishing point (VP1) and horizontal vanishing point (VP2) are derived by analyzing the camera installation angle and the direction of the image captured by the camera, and based on this, the moving object in the video subject to analysis is specified. If this algorithm is applied, it is easy to detect object information such as the location, type, and size of the detected object, and when applied to a moving type such as a car, it is tracked to determine the location, coordinates, movement speed, and direction of each object by tracking it. Able to know. As a result of application to actual roads, tracking improved by 10%, in particular, the recognition rate and tracking of shaded areas (extremely small vehicle parts hidden by large cars) improved by 100%, and traffic data analysis accuracy was improved.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.7 s.238
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• pp.828-836
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• 2005

Impingement/effusion cooling technique is used for combustor liner or turbine parts cooling in gas turbine engine. In the impingement/effusion cooling system, the crossflow generated in the cooling channel induces an adverse effect on the cooling performance, which consequently affects the durability of the cooling system. In the present study, to reduce the adverse effect of the crossflow and improve the cooling performance, circular pin fins are installed in impingement/effusion cooling system and the heat transfer characteristics are investigated. The pin fins are installed between two perforated plates and the crossflow passes between these two plates. A blowing ratio is changed from 0.5 to 1.5 for the fixed jet Reynolds number of 10,000 and five circular pin fin arrangements are considered in this study. The local heat/mass transfer coefficients on the effusion plate are measured using a naphthalene sublimation method. The results show that local distributions of heat/mass transfer coefficient are changed due to the installation of pin fins. Due to the generation of vortex and wake by the pin fin, locally low heat/mass transfer regions are reduced. Moreover, the pin fin prevents the wall jet from being swept away, resulting in the increase of heat/mass transfer. When the pin fin is installed in front of the impinging let, the blockage effect on the crossflow enhances the heat/mass transfer. However, the pin fin installed just behind the impinging jet blocks up the wall jet, decreasing the heat/mass transfer. As the blowing ratio increases, the pin fins lead to the higher Sh value compared to the case without pin fins, inducing $16\%{\~}22\%$ enhancement of overall Sh value at high blowing ratio of M=1.5.