• 대한임베디드공학회논문지
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• 제19권1호
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• pp.65-71
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• 2024

An indirect visual SLAM takes raw image data and exploits geometric information such as key-points and line edges. Due to various environmental changes, SLAM performance may decrease. The main problem is caused by dynamic objects especially in highly crowded environments. In this paper, we propose a robust feature-based visual SLAM, building on ORB-SLAM, via multi-channel dynamic objects estimation. An optical flow and deep learning-based object detection algorithm each estimate different types of dynamic object information. Proposed method incorporates two dynamic object information and creates multi-channel dynamic masks. In this method, information on actually moving dynamic objects and potential dynamic objects can be obtained. Finally, dynamic objects included in the masks are removed in feature extraction part. As a results, proposed method can obtain more precise camera poses. The superiority of our ORB-SLAM was verified to compared with conventional ORB-SLAM by the experiment using KITTI odometry dataset.

• Geomechanics and Engineering
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• 제36권4호
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• pp.407-416
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• 2024

Dynamic response of a rock tunnels by laminated porous concrete beam reinforced by nanoparticles subjected to harmonic transverse dynamic load is investigated considering structural damping. The effective nanocomposite properties are evaluated on the basis of Mori-Tanaka model. The concrete beam is modeled by the exponential shear deformation theory (ESDT). Utilizing nonlinear strains-deflection, energy relations and Hamilton's principal, the governing final equations of the concrete laminated beam are calculated. Utilizing differential quadrature method (DQM) as well as Newmark method, the dynamic displacement of the concrete laminated beam is discussed. The influences of porosity parameter, nanoparticles volume percent, agglomeration of nanoparticles, boundary condition, geometrical parameters of the concrete beam and harmonic transverse dynamic load are studied on the dynamic displacement of the laminated structure. Results indicated that enhancing the nanoparticles volume percent leads to decrease in the dynamic displacement about 63%. In addition, with considering porosity of the concrete, the dynamic displacement enhances about 2.8 time.

• Structural Engineering and Mechanics
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• 제52권2호
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• pp.261-274
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• 2014

An accurate finite element (FE) model of a structure is essential for predicting reliably its dynamic characteristics. Such a model is used to predict the effects of structural modifications for dynamic design of the structure. These modifications may be imposed by design alterations for operating reasons. Most of the model updating techniques neglect damping and so these updated models can't be used for accurate prediction of vibration amplitudes. This paper deals with the basic formulation of damped finite element model updating method and its use for structural dynamic modifications. In this damped damped finite element model updating method, damping matrices are updated along with mass and stiffness matrices. The damping matrices are updated by updating the damping coefficients. A case involving actual measured data for the case of F-shaped test structure, which resembles the skeleton of a drilling machine is used to evaluate the effectiveness of damped FE model updating method for accurate prediction of the vibration levels and thus its use for structural dynamic modifications. It can be concluded from the study that damped updated FE model updating can be used for structural dynamic modifications with confidence.

• Structural Engineering and Mechanics
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• 제48권1호
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• pp.103-124
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• 2013

This paper studies the static and dynamic characteristics of composite plates subjected to an arbitrary periodic load in hygrothermal environments. The material properties of composite plates are depended on the temperature and moisture. The governing equations of motion of Mathieu-type are established by using the Galerkin method with reduced eigenfunction transforms. A periodic load is taken to be a combination of axial pulsating load and bending stress in the example problem. The regions of dynamic instability of laminated composite plates are determined by solving the eigenvalue problems based on Bolotin's method. The effects of temperature rise and moisture concentration on the dynamic instability of laminated composite plates are investigated and discussed. The influences of various parameters on the instability region and dynamic instability index are also investigated. The numerical results reveal that the influences of hygrothermal effect on the dynamic instability of laminated plates are significant.

• Advances in Computational Design
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• 제2권1호
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• pp.71-87
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• 2017

This study focuses on the efficiency and applicability of dynamic relaxation methods in form-finding of membrane structures. Membrane structures have large deformations that require complex nonlinear analysis. The first step of analysis of these structures is the form-finding process including a geometrically nonlinear analysis. Several numerical methods for form-finding have been introduced such as the dynamic relaxation, force density method, particle spring systems and the updated reference strategy. In the present study, dynamic relaxation method (DRM) is investigated. The dynamic relaxation method is an iterative process that is used for the static equilibrium analysis of geometrically nonlinear problems. Five different examples are used in this paper. To achieve the grading of the different dynamic relaxation methods in form-finding of membrane structures, a performance index is introduced. The results indicate that viscous damping methods show better performance than kinetic damping in finding the shapes of membrane structures.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.772-775
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• 2005

Most engineers, related to soil and civil dynamic field, have been interested in the direct dynamic design of building transmitted from soil and rock to structure due to blasting. However it is not easy to estimate the dynamic response of structures due to blasting by using analytical method because of difficulties of soil modeling, prediction of excitation force and so on. In this paper, dynamic analysis have been performed to predict vibration level and evaluate dynamic safety of structure adjacent to tunnel blast and the semi empirical method, which is based on vibration measurement data, has been employed to consider blast vibration characteristics.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2010년도 추계 학술발표회
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• pp.184-191
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• 2010

This paper proposes the shaking table testing method for replicating the dynamic behavior of soil-structure interaction (SSI) system, without any physical soil model and only using superstructure model. Applying original SSI system to the substructure method produces two substructures; superstructure and soil model corresponding to experimental and numerical substructures, respectively. Interaction force acting on interface between the two substructures is observed from measuring the accelerations of superstructure, and the interface acceleration or velocity, which is the needed motion for replicating the dynamic behavior of original SSI system, is calculated from the numerical substructure reflecting the dynamic soil stiffness of soil model. Superstructure is excited by the shaking table with the motion of interface acceleration or velocity. Analyzing experimental results in time and frequency domains show the applicability the proposed methodologies to the shaking table test considering dynamic soil-structure interaction.

• 한국도로학회논문집
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• 제15권3호
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• pp.65-74
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• 2013

PURPOSES: This study is to evaluate the dynamic modulus changes of permeable asphalt mixtures by using non-destructive impact testing method and to compare the dynamic moduli of permeable asphalt mixtures through repeated freezing and thawing conditions. METHODS: For the study, non-destructive impact testing method is used in order to obtain dynamic modulus of asphalt specimen and to confirm the change of dynamic modulus before and after freezing and thawing conditions. RESULTS : This study has shown that the dynamic moduli of asphalt concrete specimens consisting of 10%, 15% and 20% porosity are reduced by 11.851%, 1.9564%, 24.593% after freezing and thawing cycles. CONCLUSIONS : Non-destructive impact testing method is very useful and has repeatability. Specimen with 15% porosity has high durability than others.

• 소음진동
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• 제6권4호
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• pp.447-456
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• 1996

Dynamic characteristics of the bell-type structure including acoustic effects and transient dynamic problems were analyzed numerically. Natural frequencies, mode shapes and transient dynamic analysis used the finite element method with 3-D general shell element. Mode shapes and stress distributions of transient dynamic analysis were expressed by computer graphics. The method using this study was evaluated by comparision of theoretical results at reference papers(14), (15) and the experimental test using Fast Fourier Transform analyzer. Vibrational modes governing acoustic characteristics of the typical bell-type structure depended on the first flexural mode(4-0 mode) and the second flexural mode(6-0 mode). Asymmetric effects by Dangiwas, acoustic holes gave rise to beat frequencies, and the Dangjwa was found to be most effective. When impact load acted on the bell, stress concentration occured at the rim part of bell. It was found that the bell type structure should be designed thickly at the rim part in order to prevent impact load from stress concentration.

• 소음진동
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• 제10권4호
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• pp.686-691
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• 2000

In this paper a computer aided analysis method is proposed for durability assessment in the early design stages using dynamic analysis, stress analysis and fatigue life prediction method. From dynamic analysis of a vehicle suspension system, dynamic load time histories of a suspension component are calculated. From the dynamic load time histories and the stress of the suspension component, a dynamic stress time history at the critical location is produced using the superposition principle. Using linear damage law and cycle counting method, fatigue life cycle is calculated. The predicted fatigue life cycle is verified by experimental durability tests.