• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.6
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• pp.3074-3080
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• 2013

Amplification of wave height at concave corner was investigated by three dimensional hydraulic tests. A typical rubble mound structure was tested with two-layer Tetrapod and the slope of 1:1.5. The irregular waves with Bretschneider-Mitsuyasu spectrum were applied to the tests. The center angles of concave corner were 120 degree, 140 degree and 160 degree. According to the test results, the maximum wave height amplification ratio at concave corner was about 1.5 times of incident wave height among the all test conditions, and the W-shaped wave height distribution was shown.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.20 no.5
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• pp.429-438
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• 2008

The present study is to predict the multidiretional random wave height at the front face and concave corner of a refracted breakwater which is not straight. The numerical simulation on wave height at the front face of an insular breakwater is performed by using the boundary element method, and obtained results have been compared with those of exact- and analytical solutions of the eigenfunction presented by Goda et al. (1971) and the other existing numerical solution. Also, the results of wave-height distribution due to the refracted breakwater have been validated through comparisons with previous results of analytical solution. Based on the validation through these comparisons, several wave-height distributions at the interested region have been illustrated for various conditions related with concave corner angles and the wave incidence, and then the prediction of wave height are simulated at the front face and concave corner of a refracted breakwater under construction currently. Excellent agreements have been obtained in all cases, and this study can effectively be utilized for predicting random waves for various breakwater system.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.27 no.1
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• pp.37-55
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• 2023

In this paper we propose a new algorithm for detecting and counting flowers in a complex background based on digital images. The algorithm mainly includes the following parts: edge contour extraction of flowers, edge contour determination of overlapped flowers and flower counting. We use a contour detection technique in Computer Vision (CV) to extract the edge contours of flowers and propose an improved algorithm with a concave point detection technique to find accurate segmentation for overlapped flowers. In this process, we first use the polygon approximation to smooth edge contours and then adopt the second-order central moments to fit ellipse contours to determine whether edge contours overlap. To obtain accurate segmentation points, we calculate the curvature of each pixel point on the edge contours with an improved Curvature Scale Space (CSS) corner detector. Finally, we successively give three adaptive judgment criteria to detect and count flowers accurately and automatically. Both experimental results and the proposed evaluation indicators reveal that the proposed algorithm is more efficient for flower counting.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.12
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• pp.2094-2102
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• 2016

In this paper, we propose an extended Kalman filter(EKF)-based simultaneous localization and mapping(SLAM) method using laser corner pattern matching for mobile robots. SLAM is one of the most important problems of mobile robot. However, existing method has the disadvantage of increasing the computation time, depending on the number of landmarks. To improve computation time, we produce the corner pattern using classified and detected corner points. After producing the corner patterns, it is estimated that mobile robot's global position by matching them. The estimated position is used as measurement model in the EKF. To evaluated proposed method, we preformed the experiments in the indoor environments. Experimental results of proposed method are shown to maintain an accuracy and decrease the computation time.

• Journal of the Optical Society of Korea
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• v.15 no.2
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• pp.152-154
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• 2011

We propose a novel method which detects convex and concave corners using radial projection. The sum of two neighbors' differences at the local maxima or minima of the radial projection is compared with the angle threshold for detecting corners. In addition, the use of oriented bounding box trees and partial circles makes it possible to detect the corners of complex shapes. The experimental results show that the proposed method can separately detect the convex and concave corners, and that this method is scale invariant.

• Geotechnical Engineering
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• v.14 no.3
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• pp.73-94
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• 1998

In the present study, a method of the three-dimensional limit equilibrium stability analysis of shape of the potential failure wedge for the concave-shaped excavation corner is assumed on the basis of the results of the FLACSU program analysis. Estimation of the three-dimensional seepage forces expected to act on the failure wedge is made by solving the three-dimensional continuity equation of flow with appropriate boundary conditions. By using the proposed method of three-dimensional stability analysis of the concave-shaped excavation corner, a parametric study is performed to examine the reinforcement effect of skew soil nailing system, range of the efficient skew angles and seepage effect on the overall stability. Also examined is the effect of an existence of the right-angled excavation corner on three-dimensional deflection behaviors of the convex-shaped skew soil nailing walls. The results of analyses of the convexshaped excavation corner with skew soil nailing system is further included to illustrate the effects of various design parameters for typical patterns of skew nails reinforcement system.

• Geomechanics and Engineering
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• v.29 no.3
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• pp.339-348
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• 2022

The bored tunneling method is generally preferred for urban tunnel construction, However the cut & cover tunnel is still necessary for special conditions, such as metro station and access structures. In some case, deep excavation for cut & cover construction is planed of irregular and unusual shape, as a consequence, the convex and concave corner is often encountered during that excavation. In particular, discontinuity or imbalance of the support structure in the convex corner can lead to collapse, which may result in damages and casualties. In this study, the behavior of the convex corner of retaining structure were investigated using 3-dimensional numerical models established to be able to simulate the split-shaped behavior of convex corners. To improve the stability in the vicinity of the convex corner, several stabilizing measures were proposed and estimated numerically. It is found that linking two discretized wales at the convex corner can effectively perform the control of deformation. Furthermore, it was also confirmed that the stabilizing measures can be enhanced when the tie-material linking two discretized wales is installed at the depth of the maximum wall deflection.

• East Asian mathematical journal
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• v.33 no.1
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• pp.1-9
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• 2017

In [8] they introduced a new finite element method for accurate numerical solutions of Poisson equations with corner singularities, which is useful for the problem with known stress intensity factor. They consider the Poisson equations with homogeneous Dirichlet boundary condition, compute the finite element solution using standard FEM and use the extraction formula to compute the stress intensity factor, then they pose a PDE with a regular solution by imposing the nonhomogeneous boundary condition using the computed stress intensity factor, which converges with optimal speed. From the solution they could get accurate solution just by adding the singular part. This approach works for the case when we have the reasonably accurate stress intensity factor. In this paper we consider Poisson equations defined on a domain with a concave corner with Neumann boundary conditions. First we compute the stress intensity factor using the extraction formular, then find the regular part of the solution and the solution.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.314-319
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• 2005

When a robot navigates in the real environment, it frequently meets various environments that can be expressed by simple geometrical shapes such as fiat floor, uneven floor, floor with obstacles, slopes, concave or convex corners, etc. Among them, the convex corner composed of two plain surfaces is the most difficult one for the robot to negotiate. In this paper, we propose a gait planning algorithm to help the robot overcome the convex environment. The trajectory of the body is derived from the maximum distance between the edge boundary of the corner and the bottom of the robot when it travels in the convex environment. Additionally, we find the relation between kinematical structure of the robot and its ability of avoiding collision. The relation is realized by considering the workspace and the best posture of the robot in the convex structure. To provide necessary information for the algorithm, we use an IR sensor attached in the leg of the robot to perceive the convex environment. The validity of the gait planning algorithm is verified through simulations and the performance is demonstrated using a quadruped walking robot, called "MRWALLSPECT III"( Multifunctional Robot for WALL inSPECTion version 3).

• International Journal of CAD/CAM
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• v.3 no.1_2
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• pp.1-12
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• 2003

When milling concave corners, cutter load increases momentarily and fluctuates severely due to concentration and uneven distribution of material stock. This abrupt change of cutter load produces undesirable machining results such as wavy machined surface and cutter breakage. An important factor for studying cutter load in 2.5D pocket milling is the instantaneous Radial Depth of Cut (RDC). However, previous work on RDC under different corner-cutting conditions is lacking. In this different corner shapes. In our work, we express RDC mathematically in terms of the instantaneous cutter engage angle which is defined as Cutter Swept Angle (CSA). An analytical approach for modeling CSA is explained. Finally, examples are shown to demonstrate that the proposed CSA modeling method can give an accurate prediction of cutter load pattern at cornering cut.