• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.5
• /
• pp.568-576
• /
• 1999

Using a laser sheet beam projector combined with a CCD-Camera, an efficient technique to recognize complex surface of curvature and lane has been demonstrated for the purpose of mobile robot navigation. In general, obstacles of indoor environments in the field of SLIT-RAY plane are captured as segments of an elliptical arc and a line in the camera image. The robot has been capable of moving along around the obstacle in front of it, by recognizing the original shape of each segment with the differential coefficient by means of least squares method. In this technique, the imaged pixels of each segment, particularly elliptical arc, have been converted into a corresponding circular arc in the real-world coordinates so as to make more feasible the image processing for the position and radius measurement than conventional way based on direct elliptical are analyses. Advantages over direct elliptical cases include 1) higher measurement accuracy and shorter processing time because the circular arc process can reduce the shape-specifying parameters, 2) no complicated factor such as the tilt of elliptical arc axis in the image plane, which produces the capability to find column position and radiua regardless of the camera location . These are essentially required for a mobile robot application. This technique yields an accuracy less than 2cm for a 28.5cm radius column located in the range of 70-250cm distance from the robot. The accuracy obtained in this study is sufficient enough to navigate a cleaning robot which operates in indoor environments.

• Journal of the Korean Society of Safety
• /
• v.21 no.2 s.74
• /
• pp.29-34
• /
• 2006

It is revealed that these are correlated with the height of chamber deciding the turbulence extent. In the first experiment, It was examined about the effects of different multiple obstacles such as circular, triangular and square things with the rig that the dimension of original experimental rig was $700{\times}700{\times}200mm{\wedge}3$. Then the heights of chamber were increased from 200 to 1000mm. The dimensions of each obstacle were $70{\times}700{\times}{\wedge}2$ and rectangular vent area were $210{\times}700{\times}{\wedge}2$. In the second one, we performed to see the effects of locations of different multiple obstacles in 200, 500 and 800mm height from the bottom. The results are : The multiple triangular obstacles caused the highest overpressure while the lowest one was the multiple circle bars. Then, the triangular bars caused the highest flame acceleration while the circular obstacles was lowest too. The results showed that the critical height was 800mm due to the formation of turbulence. And the lesser $Av/V^{2/3}$ were small, the more pressure and pressure acceleration rate were increased.

• Journal of Korea Water Resources Association
• /
• v.43 no.3
• /
• pp.275-282
• /
• 2010

The purpose of culvert design is to determine optimum size for a safe drainage of flood discharge. The present method of culvert design in Korea is generally carried out by using "Road Drainage Design" of Korea Expressway Corporation (1991), which is based on the manual of Federal Highway Association (FHWA) of USA. However, this method may result in subjective error because of using graphs and the usage of nomograph can be a major obstacle for computer modelling. Some errors found in the previous works of culvert design are corrected, and a new logic has been developed for a simple determination of culvert size in this study. FHWA (1985) presents a nomograph to determine the critical water depth and the velocity head for a circular pipe, but in this study simple explicit equations have been developed to determine both respectively.

• Journal of computational fluids engineering
• /
• v.15 no.2
• /
• pp.21-27
• /
• 2010

Immersed boundary lattice Boltzmann method (IBLBM) has been applied to simulate a turbulent flow over circular cylinder in a flow field effectively. Although IBLBM is very effective method to simulate the flow over a complex shape of obstacle in the flow field regardless of the constructed grids in the calculation domain, the results, however, become numerically unstable in high reynolds number flow. The most effective suggestion to archive the numerical stability in high Reynolds number flow is applying the multiple relaxation time (MRT) model instead of single relaxation time(SRT) model in the collision term of lattice Boltzmann equation. In the research MRT model for IBLBM was introduced and comparing the numerical results obtained by applying SRT and MRT. The hydraulic characteristic of cylinder in a flow field between two parallel plate at the range of $Re{\leqq}2000$represented and it is also compared the drag and lifting coefficients of the cylinder calculated by IBLBM with SRT and MRT model.

• Journal of Advanced Navigation Technology
• /
• v.15 no.5
• /
• pp.696-704
• /
• 2011

In this paper, we propose a mobile robot navigation algorithm using data fusion of a monocular camera and ultrasonic sensors. Threshold values for binary image processing are generated by a fuzzy inference method using image data and data of ultrasonic sensors. Threshold value variations improve obstacle detection for mobile robot to move to the goal under poor illumination environments. Obstacles detected by data fusion of camera and ultrasonic sensors are expressed on the grid map and avoided using the circular planning algorithm. The performance of the proposed method is evaluated by experiments on the Pioneer 2-DX mobile robot in the indoor room with poor lights and a narrow corridor.

• Nuclear Engineering and Technology
• /
• v.54 no.11
• /
• pp.4030-4048
• /
• 2022

In this study, road transportation tests were conducted with surrogate fuel assemblies under normal conditions of transport to evaluate the vibration and shock load characteristics of spent nuclear fuel (SNF). The overall test data analysis was conducted based on the measured acceleration and strain data obtained from the speed bump, lane-change, deceleration, obstacle avoidance, and circular tests. Furthermore, representative shock response spectrums and power spectral densities of each test mode were acquired. Amplification or attenuation characteristics were investigated according to the load transfer path. The load attenuated significantly as it transferred from the trailer to the cask. By contrast, the load amplified as it transferred from the cask to the surrogate SNF assembly. The fuel loading location on the cask disk assembly did not exhibit a significant influence on the strain measured from the fuel rods. The principal strain was in the vertical direction, and relatively large strain values were obtained in spans with large spacing between spacer grids. The influence of the lateral location of fuel rods was also investigated. The fuel rods located at the side exhibited relatively large strain values than those located at the center. Based on the strain data obtained from the test results, a hypothetical road transportation scenario was established. A fatigue evaluation of the SNF rod was performed based on this scenario. The evaluation results indicate that no fatigue damage occurred on the fuel rods.

• Journal of the Korean Society of Hazard Mitigation
• /
• v.3 no.2 s.9
• /
• pp.147-154
• /
• 2003

In this study, hydraulic characteristics around bridge piers were analyzed with and without collar through a hydraulic model experiment. The analysis of stage variation in front and back side of pier showed that collar installation did not function as obstacle to the stream flow. Little variation of water level between front and back sides of pier was observed before and after collar installation(0.2cm in front side and 0.1cm in back side of pier). Also, result that analyze velocity variation in front and back side of pier, lateral velocity(u) and transverse(v) before and after collar installation exhibited no alteration in the front and back side of pier. About 16.72% and 15.83% of vertical velocities(w) were reduced for the condition of y/d=0.33 in the front side of pier and y/d=0.67 in the back side of pier, respectively. This experimental results suggest that the collar installation around pier can minimize the local scouring depth by preventing the downflow that cause the pier scour.

• Computers and Concrete
• /
• v.33 no.5
• /
• pp.605-619
• /
• 2024

The increase of reclaimed asphalt pavement (RAP) content in recycled asphalt concrete (RAC) is accompanied by the degradation of low-temperature cracking resistance, which has become an obstacle to the development of RAC. This paper aims to reveal the meso-scale mechanisms of the low-temperature fracture behavior of RAC and provide a theoretical basis for the economical recycling of RAP. For this purpose, micromechanical heterogeneous peridynamic model of RAC was established and validated by comparing three-point bending (TPB) test results against corresponding numerical simulation results of RAC with 50% RAP content. Furthermore, the models with different aggregate shapes (i.e., average aggregates circularity (${\bar{C_r}}=1.00$, 0.75, and 0.50) and RAP content (i.e., 0%, 15%, 30%, 50%, 75%, and 100%) were constructed to investigate the effect of aggregate shape and RAP content on the low-temperature cracking resistance. The results show that peridynamic models can accurately simulate the low-temperature fracture behavior of RAC, with only 2.9% and 13.9% differences from the TPB test in flexural strength and failure strain, respectively. On the meso-scale, the damage in the RAC is mainly controlled by horizontal tensile stress and the stress concentration appears in the interface transition zone (ITZ). Aggregate shape has a significant effect on the low-temperature fracture resistance, i.e., higher aggregate circularity leads to better low-temperature performance. The large number of microcracks generated during the damage evolution process for the peridynamic model with circular aggregates contributes to slowing down the fracture, whereas the severe stress concentration at the corners leads to the fracture of the aggregates with low circularity under lower stress levels. The effect of RAP content below 30% or above 50% is not significant, but a substantial reduction (16.9% in flexural strength and 16.4% in failure strain) is observed between the RAP content of 30% and 50%. This reduction is mainly attributed to the fact that the damage in the ITZ region transfers significantly to the aggregates, especially the RAP aggregates, when the RAP content ranges from 30% to 50%.