• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2468-2473
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• 2005

Because the rain gauges of tipping bucket type can easily use the digital signal, the rain gauges are widely used for the meteorological observation. In general, the resolution of rain gauges of tipping bucket type can be categorized by the 0.1mm, 0.5mm, and 1.0mm classes. But, the error of the tipping bucket rain gauges is made by the intensity of rainfalls and is expected to make the standard calibration method for error measurement. Thus, we developed the hardware of standard calibration facility for rain gauges by weighting measurement method and proposed the standard procedure by rainfall intensity in this study Also, we calculated the error for the rainfall intensity and obtained useful result through the proposed calibration method.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.78-83
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• 2007

The paper focuses on the establishment of optimized bucket path planning and trajectory control designated for force-reflecting backhoe reacting to excavation environment, such as potential obstacles and ground characteristics. The developed path planning method can be used for precise bucket control, and more importantly for obstacle avoidance which is directly related to safety issues. The platform of this research was based on conventional papers regarding the kinematic model of excavator. Jacobian matrix was constructed to find optimal joint angles and rotation angles of bucket from position and orientation data of excavator. By applying Newton-Raphson method optimal joint angles and bucket orientation were derived simultaneously in the way of minimizing positional errors of excavator. The model presented in this paper was intended to function as a cornerstone to build complete and advanced path planning of excavator by implementing soil mechanics and further study of excavator dynamics together.

• 대한토목학회논문집
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• 제32권3C호
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• pp.105-111
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• 2012

해상 풍력발전기의 기초로 사용되는 버켓기초에는 수평하중과 모멘트가 크게 작용한다. 그러므로, 수평하중과 모멘트에 대한 지지력을 증가시키기 위해 3개의 단일 버켓기초를 묶은 Tripod 버켓기초가 적용되고 있다. 본 연구는 ABAQUS(2010) 해석을 수행하여 점토 지반에 근입된 Tripod 기초의 무리효과와 지지력을 분석하였다. 변수연구를 위해 버켓간 간격비 S/D(S=버켓과 타워중심간의 거리, D=버켓 직경)와 근입깊이비 L/D(L=버켓의 지반 근입깊이)를 변화시키며 해석을 수행하였다. 구성모델은 정규압밀 점토지반에 대해 Tresca 항복기준을 적용한 탄성-완전 소성 모델, 그리고 버켓기초에 대해 탄성모델을 적용하였다. 하중조건은 절점의 변위를 증가시키는 방법으로 연직, 수평 그리고 모멘트 하중을 재하하였다. 해석결과로부터, 단일 버켓기초와 Tripod 기초의 지지거동과 지지력을 비교한 후 단일 버켓의 지지력을 이용하여 Tripod 기초의 지지력을 산정하는 방법을 제안하였다.

• Transactions on Electrical and Electronic Materials
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• 제15권3호
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• pp.125-129
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• 2014

A dataset can be clustered by merging the bucket indices that come from the random projection of locality sensitive hashing functions. It should be noted that for this to work the merging interval must be calculated first. To improve the feasibility of large scale data clustering in high dimensional space we propose an enhanced Locality Sensitive Hashing Clustering Method. Firstly, multiple hashing functions are generated. Secondly, data points are projected to bucket indices. Thirdly, bucket indices are clustered to get class labels. Experimental results showed that on synthetic datasets this method achieves high accuracy at much improved cluster speeds. These attributes make it well suited to clustering data in high dimensional space.

• 한국정밀공학회지
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• 제27권1호
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• pp.76-83
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• 2010

There have been many studies regarding development of autonomous excavation system which is helpful in construction sites where repetitive jobs are necessary. Unfortunately, bucket trajectory planning was excluded from the previous studies. Since, the best use of excavator is to dig efficiently; purpose of this research was set to determine an optimized bucket trajectory in order to get best digging performance. Among infinite ways of digging any given path, criterion for either optimal or efficient bucket moves is required to be established. One method is to adopt work know-how from experienced excavator operator; However the work pattern varies from every worker to worker and it is hard to be analyzed. Thus, other than the work pattern taken from experienced operator, we developed an efficiency model to solve this problem. This paper presents a method to derive a bucket trajectory from optimization theory with empirical CLUB soil model. Path is greatly influenced by physical constraints such as geometry, excavator dimension and excavator workspace. By minimizing a energy function under these constraints, an optimal bucket trajectory could be obtained.

• 대한조선학회논문집
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• 제55권2호
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• pp.161-168
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• 2018

This paper presents the design procedure of the suction bucket used to support a subsea manifold. The soil-suction bucket interaction numerical analysis technique was verified by comparing the present results with a reference data. In order to simulate the soil-bucket interaction analyses of a subsea manifold structure, various material data such as undrained shear strength, elastic modulus, and poisson ratio of soft clay in Gulf of Mexico were collected from reference survey. We proposed vertical and horizontal design loads based on system weights and current-induced drag forces. Under the assumption that diameter of the suction bucket was 3.0 m considering real dimension of the subsea manifold frame structures, aspect ratio was decided to be 3.0 based on reference survey. The ultimate bearing load components were determined using tangent intersection method. It was proved that the two design load components were less than ultimate bearing loads.

• Journal of Advanced Marine Engineering and Technology
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• 제37권2호
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• pp.178-182
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• 2013

채굴이나 유사한 산업에서 버킷 회전형 소형 굴삭기가 협소한 공간 작업에 흔히 사용된다. 이러한 소형 굴삭기가 많이 개발이 되고 있지만 버킷회전부의 응력 해석 연구가 없었다. 본 연구에서 유한요소법과 Spare solver를 이용하여 소형 굴삭기의 버킷 회전부와 그 인접부의 응력 해석을 다양한 위상에서 수행하였다. 결론적으로 회전부의 연결부분에서 응력집중으로 인해 다른 부분의 평균 응력 1MPa보다 조금 높은 응력을 확인하였다. 특히 상대운동이 있는 버킷 핀과 회전 피니언 기어에서 각각 7.7MPa과 40MPa 응력을 보였다.

• 드라이브 ㆍ 컨트롤
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• 제18권2호
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• pp.20-31
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• 2021

An excavator is a construction machine that can perform various tasks such as trenching, piping, excavating, slope cutting, grading, and rock demolishing. In the 2010s, unmanned construction equipment using ICT technology was continuously developed. In this paper, the path design process was studied to implement the output data of the decision stage, and the path design algorithm was developed. For example, the output data of the decision stage were terrain data around the excavator, excavator mechanism information, excavator hydraulic information, the position and posture of the bucket at key points, the speed of the desired bucket path, and the required excavation volume. The result of the path design was the movement of the hydraulic cylinder, boom arm, bucket, and bucket edge. The core functions of the path design algorithm are the function of avoiding impact during the excavation process, the function to calculate the excavation depth that satisfies the required excavation volume, and the function that allows the bucket to pass through the main points of the excavation process while maintaining the speed of the desired path. In particular, in the process of developing the last function, the node tracking method expressed in the path design table was newly developed. The path design algorithm was verified as this path design satisfied the JCMAS H02 requirement.

• 제어로봇시스템학회논문지
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• 제12권8호
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• pp.818-823
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• 2006

Because the rain gauges of tipping bucket type can easily use the digital signal, the rain gauges are widely used for the meteorological observation. In general, the resolution of rain gauges of tipping bucket type can be categorized by the 0.1mm, 0.5mm, and 1.0mm classes. But, the error of the tipping bucket rain gauges is made by the intensity of rainfalls and is expected to make the standard calibration method for error measurement. Thus, we developed the hardware of standard calibration facility for rain gauges by weighting measurement method and proposed the standard procedure by rainfall intensity in this study Also, we calculated the uncertainty for the rainfall intensity and obtained useful result through the proposed calibration method.

• 한국지반공학회논문집
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• 제32권12호
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• pp.69-78
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• 2016

최근에 해상 풍력발전기의 기초구조물로 석션 버켓기초가 적용되고 있다. 그런데, 석션기초는 보통 해양 연약지반에 설치되므로 장기 반복하중에 의해 누적변위가 발생할 수 있다. 본 연구에서는 1-g 모형실험을 수행하여 장기 수평 반복하중을 받는 석션 버켓기초의 누적 회전각을 분석하였다. 지반조건은 2가지 밀도의 건조 사질토 지반에 대하여 실험하였다. 모형석션 버켓기초의 근입깊이, 모형지반의 밀도, 반복하중의 크기를 변화시키며 실험을 수행하였다. 수평 반복하중은 일방향 재하로 최대 $10^4$번까지 재하하였다. 실험결과, 석션 버켓기초의 누적회전각은 재하횟수와 재하진폭이 증가에 비례하여 증가하였다. 실험결과를 이용하여 건조 사질토 지반에 근입된 석션 버켓기초의 장기 누적회전각을 산정할 수 있는 경험식을 제안하였다.