• 대한임베디드공학회논문지
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• 제18권5호
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• pp.249-257
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• 2023

This paper discusses the increasing need for autonomous delivery robots due to the current growth in the delivery market, rising delivery fees, high costs of hiring delivery personnel, and the need for contactless services. Additionally, the cost of hardware and complex software systems required to build and operate autonomous delivery robots is high. To provide a low-cost alternative to this, this paper proposes a autonomous delivery robot platform using a low-cost sensor combination of 2D LIDAR, depth camera and tracking camera to replace the existing expensive 3D LIDAR. The proposed robot was developed using the RTAB-Map SLAM open source package for 2D mapping and overcomes the limitations of low-cost sensors by using the convex hull algorithm. The paper details the hardware and software configuration of the robot and presents the results of driving experiments. The proposed platform has significant potential for various industries, including the delivery and other industries.

• 한국지진공학회논문집
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• 제3권1호
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• pp.113-122
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• 1999

일본 고베지진후 구조물 수직방향 내진거동의 중요성은 잘 인식되었으나 대부분의 내진설계규준에서는 지반조건을 규정하지 않아 수직방향 구조물 내진해석시 대개 토질과 기초조건을 무시하고 수행하였다 이 논문에서는 연약지반이 Taft 지진과 El Centro 지진의 수직방향 지진하중을 받는 구조물의 수직방향 반응에 미치는 영향을 알아보기 위해 기초크기, 기초 및 지반깊이 , 기초근입깊이 및 말뚝기초가 수직방향 내진반응스펙트럼에 미치는 영향에 대해 연구하였는데 지반은 UBC-97에서 분류한 Sa. Sc. SE를 기초크기는 중 대형 기초를. 기초 및 지반깊이는 30m 와 60m를 기초근입깊이를 0m와 15m를 고려하였으며 연약지반에 설치한 말뚝은 기성제 콘크리트 선단지지말뚝을 고려하였다 연구결과에 의하면 기초크기는 구조물의 수직방향 내진반응에 별 영향이 없지만 지반깊이는 수평방향 내진해석에서처럼 기초 및 60m까지 고려해야 하며 연약지반위에 설치된 묻힌기초와 얕은 말뚝기초는 구조물의 수직방향 내진거동을 크기 증폭시켰다.

• 한국해안·해양공학회논문집
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• 제34권4호
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• pp.100-108
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• 2022

본 연구는 말뚝이 결합된 블록식방파제에 대하여 수평하중 재하에 따른 블록과 말뚝의 거동을 파악하기 위하여 FEM 3차원 수치해석을 실시하였다. 지반구성모델은 Mohr-Coulomb 모델을 향상시킨 Modified Mohr Coulomb 모델을 적용하였다. 말뚝이 블록에만 관입된 경우, 사석층(H = 4.29 cm)까지 근입된 경우, 원지반속에 근입된 2H, 3H, 4H의 경우에 검토하였다. 실내모형실험 결과와 수치해석를 비교한 결과, 수평저항력-변위가 서로 유사한 거동을 보이는 것으로 나타났다. 말뚝의 근입깊이가 1H~ 2H까지는 말뚝이 회전거동을 보이고, 3H~4H의 경우에는 휨거동 양상을 보이는 것으로 해석되었다. 말뚝의 근입깊이가 3H 이상인 경우에는 말뚝이 휨거동을 보이므로 말뚝이 블록식방파제의 수평저항력에 크게 기여한다고 볼 수 있다. 본 연구 결과는 실제 크기 구조물 설계를 위한 다양한 수치해석 시 자료로 활용이 있을 것이다.

• 한국지반환경공학회 논문집
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• 제24권7호
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• pp.5-14
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• 2023

최근 국내·외에서 지진이 자주 발생하고 있다. 이러한 지진은 다양한 형태의 자연적 피해와 물리적 피해의 원인이 된다. 특히, 지반이 액체와 같은 거동을 보이는 액상화는 구조물에 큰 피해를 발생시킨다. 이에 다양한 액상화 피해 저감 공법들이 연구 및 개발되고 있다. 이에 본 연구에서는 시트파일 공법을 이용하여 기존 구조물에 적용 가능한 지진 시 액상화 피해 저감 공법에 대해 연구하였다. 1-G 진동대 실험을 수행하였고 주문진 표준사로 지반을 조성하였다. 상사 법칙을 적용하여 2층 규모의 모형 구조물을 제작하였고, 입력파는 가속도 수준 0.6g와 주파수 10Hz의 정현파를 적용하였다. 다양한 근입비에 따른 구조물 피해 저감 효과를 분석하였다. 연구 결과, 시트파일 공법을 적용하여 지반을 보강하였을 때의 구조물 침하가 지반 보강을 하지 않았을 때보다 약 71% 정도 감소하였으며, 최소 침하량을 보인 근입비는 "1"이었다. 그리고 근입비가 증가할수록 시트파일로 인해 지반 내 간극수압의 소산이 지연되는 경향을 보였다. 이러한 결과를 바탕으로 근입비에 따른 구조물 침하와의 관계를 그래프와 관계식으로 제안하였다. 본 연구 결과는 향후 기존 구조물에 적용 가능한 시트파일 공법을 개발하는데 있어 기초자료로 사용될 수 있을 것으로 기대된다.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2000년도 춘계 학술발표회 논문집 Proceedings of EESK Conference-Spring
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• pp.120-129
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• 2000

As structure-soil interaction analysis for the seismic analysis of structures requires a nonlinear analysis of a structure-soil system considering the inelastic characteristics of soil layers nonlinear analyses of the foundation-soil system with the horizontal excitation were performed considering the nonlinear soil conditions for the nonlinear seismic analysis of structures. Stiff soil profile of SD and soft soil profile of SE specified in UBC were considered for the soil layers of a foundation and Ramberg-Osgood model was assumed for the nonlinear characteristics of soil layers. Studies on the changes of dynamci stiffnesses and damping rations of surface and embedded foundations depending on foundation size soil layer depth and piles were performed to investigate the effects of the nonlinear soil layer on the horizontal and rotational dynamic stiffnesses and damping ratios of the foundation-soil system According to the study results nonlinear prperties of a soil laryer decreeased horizontal and rotational linear stiffnesses and increased damping ratios largely Effects of foundation size soil layer depth and piles were also significant suggesting the necessity of nonlinear seismic analyses of structures.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1999년도 학회창립 10주년 기념 1999년도 가을 학술발표회 논문집
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• pp.281-284
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• 1999

Bridge structure is known as one of important infrafacilities for comfortable human life. Recent long-span bridges, such as Kwang-Ahn Grand bridge, S대-Hae Grand Bridge, Young-Jong Grand Bridge, etc, have been designed and constructed near the seaside without in-depth consideration of concrete durability problems, It is in particular noted that corrosion of reinforcement steel in concrete is very important for the durability enhancement of concrete structures. The objective of this experimental study is to investigate the corrosion degree of reinforcing steels in concrete specimens which are exposed to cyclic wet and dry saltwaters, and then to develop pertinent corrosion protection system such as rational cover depth, corrosion inhibitors, cathodic system for reinforced concrete bridges exposed to marine environment.

• International Journal of Ocean System Engineering
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• 제1권2호
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• pp.76-88
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• 2011

The present study deals with the hydroelastic vibration analysis of structures in contact with fluid via coupled fluid-structure interaction (FSI) embedded with a finite element method (FEM) such that a structure displacement formulation is coupled with a fluid pressure-displacement formulation. For the preliminary study and validation of FEM based coupled FSI analysis, hydroelastic vibration characteristics of a rectangular plate in contact with fluid are first compared with the elastic vibration in terms of boundary condition and mode frequency. Numerical results from coupled FSI analysis have been shown to be rational and accurate, compared to energy method based theoretical solutions and experimental results. The effect of free surface on the vibration mode is numerically studied by changing the submerged depth of a rectangular plate. As a practical application, the hull structural vibration of 4,000 twenty-foot equivalent units (TEU) container ship is considered. Hydroelastic results of the ship hull structure are compared with those obtained from the elastic condition.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.851-856
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• 1997

This study is on the estimation of the tool temperature for different tool nose radius and cutting conditions in turning. The experiment has been performed in different cutting conditions such as cutting speed, feed rate, and depth of cut for the tool nose radius, 0.4R, 0.8R using SMC workpiece materials. Tool temperature is measured using thermo-couple which is embedded in the insert tip. Using a multiple linear regression method, the tool temperature can be determined as an exponential equation with cutting variables and tool nose diameters for different tool materials. The equations determined in this study show a good correlation for the cutting conditions and can be used for the tool temperature estimation. The result indicates that the tool temperature decreases for ~ncreasing the tool nose radius in general. Also, nose radius hardly influences on the tool temperature compared with cutting speed, feed rate and depth of cut.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2017년도 춘계 학술논문 발표대회
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• pp.56-57
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• 2017

In recent years, new construction methods have been required to reduce the construction cost and increase the available area in an environment where construction work is frequently performed in a narrow urban area like Korea. As a result of these studies, slim floor composite beam has been suggested. Slim floor composite beam can reduce required depth because web of steel beam is embedded in the slab, so it is effective to reduce floor height and increase the available area. The purpose of this study is the floor height reduction evaluation by comparing system consisting of reinforced concrete, steel, and slim floor using square-shape steel pipe. After doing structural design for a typical plan, checked effectiveness by comparing each design plan. It is proven that slim floor composite beam can reduce required depth effectively comparing required materials of other system.

• 전기학회논문지P
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• 제55권2호
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• pp.103-109
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• 2006

In this paper, the detection scheme of the spatial coordinates based on stereo camera for a intelligent path planning of an automatic mobile robot is proposed. In the proposed system, face area of a moving person is detected from a left image among the stereo image pairs by using the YCbCr color model and its center coordinates are computed by using the centroid method and then using these data, the stereo camera embedded on the mobile robot can be controlled for tracking the moving target in real-time. Moreover, using the disparity mad obtained from the left and right images captured by the tracking-controlled stereo camera system and the perspective transformation between a 3-D scene. and an image plane, depth information can be detected. Finally, based-on the analysis of these calculated coordinates, a mobile robot system is derived as a intelligent path planning and a estimation.