• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.384-391
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• 1998

When a device is mounted on the PCB, it is impossible to have zero defects due to many unpredictable problems. Among these problems, devices with bent corner leads due to mis-handling and which are not placed at a given point measured along the axis are principal problem in SMT(Surface Mounting Technology). It is obvious that given the complexity of the inspection task, the efficiency of a human inspection is questionable. Thus, new technologies for inspection of SMD(Surface Mounting Device) should be explored. An example of such technologies is the Automated Visual Inspection(AVI), wherein the vision system plays a key role to correct this problem. In implementing vision system, high-speed and high-precision are indispensable for practical purposes. In this paper, a new algorithm based on the Radon transform which uses a projection technique to inspect the FIC(Flat Integrated Circuit) device is proposed. The proposed algorithm is compared with other algorithms by measuring the position error(center and angle) and the processing time for the device image, characterized by line scan camera.

• 산업기술연구
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• 제18권
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• pp.363-370
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• 1998

This study focused on the development of an alternative stress estimation procedure to instantly calculate the critical stresses bonded concrete pavement. Closed form analysis is commonly used to analyze pavement structures. This type of analysis assumes linearelastic material properties and static loading conditions. The well-known ILLI-SLAB finite element program was used for the analysis. Bonded concrete overlay analyzed the stress distribution, behavior and load carrying capacity under track load is made evaluation standard of bonded concrete overlay. In the study, the following results were derived ; The properties of strength is that compress and 3-point bending strength of existing pavement is deteriorated with $184kg/cm^2$, $59kg/cm^2$ but compress and splitting tensile strength of overlay is satisfied with $465kg/cm^2$, $45kg/cm^2$. Load transfers is happen at adjacent slab by interlocking under track load. The stress distribution under interior, corner and edge load is described high loading position surrounding then loading position.

• 한국전자통신학회논문지
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• 제6권3호
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• pp.457-463
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• 2011

컴퓨터 관련 기술이 발달하면서 증강현실 기술에 대한 관심이 급부상하고 있다. 증강현실은 카메라를 통해 입력받은 실제 영상에 디지털 콘텐츠를 합성하는 기술로, 사용자와의 상호작용이 가능한 기술이다. 본 논문에서는 적외선을 발광하는 LED의 빛을 이용하여 방향성을 가진 마커를 제작하고, 이를 추출하기 위한 검출 알고리즘과 하나의 마커에서 다양한 가상 객체를 증강현실로 구현할 수 있는 마커 정보 추출 기법을 제안한다. 증강현실에 사용되는 기존의 마커 기술이 지니는 몰입감 및 인식률 감소, 단일 정보 표현에 대한 문제를 개선하고, 마커 정보를 저장함에 있어 비용이나 시간 소요를 최소화할 수 있다.

• 로봇학회논문지
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• 제1권1호
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• pp.25-35
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• 2006

Improving practicality of SLAM requires various sensors to be fused effectively in order to cope with uncertainty induced from both environment and sensors. In this case, combining sonar and vision sensors possesses numerous advantages of economical efficiency and complementary cooperation. Especially, it can remedy false data association and divergence problem of sonar sensors, and overcome low frequency SLAM update caused by computational burden and weakness in illumination changes of vision sensors. In this paper, we propose a SLAM method to join sonar sensors and stereo camera together. It consists of two schemes, extracting robust point and line features from sonar data and recognizing planar visual objects using multi-scale Harris corner detector and its SIFT descriptor from pre-constructed object database. And fusing sonar features and visual objects through EKF-SLAM can give correct data association via object recognition and high frequency update via sonar features. As a result, it can increase robustness and accuracy of SLAM in indoor environment. The performance of the proposed algorithm was verified by experiments in home -like environment.

• Geomechanics and Engineering
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• 제24권1호
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• pp.67-79
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• 2021

The influence of ground motions on the seismic response of utility tunnels was investigated. A series of small-scale shaking table model tests were carried out under uniform excitation in the transverse direction. Different peak accelerations of EL-Centro and Taft earthquake waves were applied. The acceleration responses, earth pressure, seismic strain, bending moment and structure deformations were measured and discussed. The results showed that the types of earthquake waves had significant influences on the soil-structure acceleration responses. However, the amplitude of the soil acceleration along the depth showed consistent variation regardless of the types of earthquake waves and tunnels. The horizontal soil pressure near the top and bottom slabs showed obviously larger values than those at other depths. In general, the strain response in the outer surface was more significant than that on the inner surface, and the peak strain in the end section of the model was larger than that in the middle section. Moreover, the bending moment at the corner points was much larger than that at middle point, and the bending moment was greatly affected by both input accelerations and seismic wave types. The opposite direction of shear deformation on the top and bottom slabs presented a rotation trend of the model structure.

• Earthquakes and Structures
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• 제25권3호
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• pp.209-221
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• 2023

The Mw=7.7 (Pazarcık-Kahramanmaraş) and Mw=7.6 (Elbistan-Kahramanmaraş) earthquakes that occurred in Türkiye on 06.02.2023 with 9 hours' intervals, caused great losses of life and property as the biggest catastrophe in the instrumental period. The earthquakes affecting an area of 14% of the country were enormous and caused a great deal of loss of life and damage. Numerous buildings have collapsed or damaged at different levels, both in the city centers and in rural areas. Within the scope of this study, masonry structure damage built from different types of materials in the earthquake region was taken into consideration. In this study, the damage and causes of such masonry structures that do not generally receive engineering services were examined and explained in detail. Insufficient interlocking between wall-wall and wall-roof, inadequate masonry, lack of horizontal and vertical bond beams, usage of low-strength materials, poor workmanship, and heavy earthen roof are commonly caused to structural damages. Separation at the corner point and out-of-plane mechanism in structural walls, and heavy earthen roof damages are common types of damage in masonry structures.

• 한국정밀공학회지
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• 제21권4호
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• pp.39-47
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• 2004

In mold machining, there are many concave machining regions where chatter and tool deflection occur since MRR(material removal rate) increases as curvature increases even though cutting speed and depth of cut are constant. Boolean operation between stock and tool model is widely used to compute MRR in NC milling simulation. In finish cutting, the side step is reduced to about 0.3mm and tool path length is sometimes over loom, so Boolean operation takes long computation time and includes much error if the resolution of stock and tool model is larger than the side step. In this paper, curvature of CL (cutter location) surface and side step of tool path is used to compute the feedrate for constant MRR machining. The data structure of CL surface is Z-map generated from NC tool path. The algorithm to get local curvature from discrete data was developed and applied to compute local curvature of CL surface. The side step of tool path was computed by point density map which includes cutter location point density at each grid element. The feedrate computed from curvature and side step is inserted to new tool path to regulate MRR. The resultants were applied to feedrate optimization system which generates new tool path with feedrate from NC codes for finish cutting. The system was applied to the machining of speaker and cellular phone mold. The finishing time was reduced to 12.6%, tool wear was reduced from 2mm to 1.1mm and chatter marks and over cut on corner were reduced, compared to the machining by constant feedrate. The machining time was shorter to 17% and surface quality and tool was also better than the conventional federate regulation using curvature of the tool path.

• 한국운동역학회지
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• 제15권4호
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• pp.169-179
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• 2005

In the 500m short track speed skating, the matter of who reaches the first corner first can important factor since each competitor races with all speed from the start to the first line. A filed study was attempted to kinematical estimation six female foreign skaters, who participated in the 500m female final round competition, and two Korea skates during the World Short track Skating Championship. The three dimensional motion analysis with DLT method was executed using four video cameras for analyzing the actual competition situation. In point of analyzing the actual competition situation, it is expected that skaters and coaches the effective informations, and the following conclusions are drawn; The elapsed time by phase in start motion of the foreign skaters appeared shorter those of Korea skaters, so the start training of Korea skaters should be strengthed. Also the displacement of C.G in the foreign skaters appeared shorter displacement than those of Korea skaters. Especially in the starting position, the foreign skaters are superior to Korea skaters in displacement of first(left) and next following stroke(right). The velocity of C.G and maximum velocity of skate blade of foreign skaters art faster than those of Korea skaters. And the foreign skaters show the superior early velocity change. Both of leaning body angle, and left and knee angle of the foreign skaters lead to positive point of having the propulsive force in the early starting position. Observing in the most prominent feature of foreign and Korea skaters in start phase, foreign skaters skate quickly the third stroke. These features of Korea skaters would appear disadvantage of location selection in entering the coner course.

• 한국강구조학회 논문집
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• 제24권5호
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• pp.535-547
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• 2012

PSRC 기둥은 앵글을 콘크리트에 매입시킨 기둥으로, 단면의 외곽 코너에 배치되는 앵글이 기둥의 휨-압축에 저항하고, 횡철근은 기둥의 전단과 앵글-콘크리트 사이의 부착에 저항한다. 본 연구에서는 KBC 2009에 따라 PSRC 합성기둥의 휨, 전단, 부착 설계방법을 정립하고, 단순지지된 2/3 스케일의 PSRC 보와 SRC 보의 2점 가력 휨실험을 통하여 제안된 설계법을 검증하고 PSRC 합성기둥의 파괴특성을 분석하였다. 단면의 강재비와 횡철근 간격을 실험 변수로 고려하였다. 실험결과, KBC 2009으로 예측한 PSRC 합성기둥의 휨, 전단, 부착 강도는 실험결과와 잘 일치하였다. 고강도 앵글이 기둥 단면의 외곽에 배치되므로 PSRC 합성기둥은 동일한 강재비를 갖는 일반 SRC 합성기둥 단면에 비하여 매우 우수한 휨저항 성능을 나타냈다. 그러나 앵글과 콘크리트 사이의 부착강도가 충분히 학보되지 못한 경우 합성기둥 단면의 휨항복강도를 발휘하기 이전에 앵글의 부착파괴, 피복콘크리트 파괴, 횡철근의 파단 등이 발생하였다. 또한 앵글 용접성 및 인성이 부족할 경우 앵글-횡철근 용접부에서 앵글의 파단에 의해 실험체가 파괴되었다.