• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.5
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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.

• Journal of the Earthquake Engineering Society of Korea
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• v.3 no.1
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• pp.113-122
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• 1999

The importance of the vertical response of a structure was well recognized after the Hyogoken-Nanbu earthquake of Japan. However, most of the seismic design codes does not specified the site sail profiles, and the sail and foundations conditions were mostly neglected in the vertical seismic analyses of a structure. In this paper, the effects of foundation size, sail layer depth under the foundation, foundation embedment and pile foundation on the vertical seismic response spectra for both surface and embedded mat foundation were studied to investigate the effects of the soft soil layer on the vertical response of a structure excited with the vertical components of Taft and El Centro earthquakes, considering the sail profile types of $S_A,S_C,S_E$ in UBC-97, the medium and large size foundations, the soil layer depth under the foundation of 30 and 60m, the foundation embedment of 0 and 15m, and the precast reinforced concrete bearing piles installed in the soft soil deposit. According to the study results, the foundation size has a little effect on the vertical seismic response, However, the soil layer depth under the foundation of 60m has to be considered for the vertical seismic analysis of a structure as for the horizontal one. The embedded pile foundations as well as the surface ones built on the soft soil layer amplified the vertical seismic response of a structure very much.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.34 no.4
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• pp.100-108
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• 2022

Three-dimensional FEM numerical analysis was performed to understand the behaviors of blocks and piles according to the horizontal load for the block breakwater combined with piles. The Modified Mohr-Coulomb model, the improved version of the Mohr-Coulomb model, was applied for the ground modeling. The cases when the pile is embedded only into the block, embedded to the riprap layer (H = 4.29 cm), and embedded to the ground down to 2H, 3H, and 4H were examined. The results of the laboratory model experiment and the numerical analysis showed similar horizontal resistance force-displacement behaviors. The pile showed rotational behavior up to the embedment depth of 1H~2H and bending behavior in the case of 3H~4H depth embedment. When the embedment depth of the pile is 3H or more, the pile shows a bending behavior, so it can be considered that the pile contributes significantly to the horizontal resistance of the block breakwater. The results of this study will be used for various numerical analyses for real-size structure design.

• Journal of the Korean GEO-environmental Society
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• v.24 no.7
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• pp.5-14
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• 2023

Recently, earthquakes have occurred frequently in worldwide. These earthquakes cause various forms of natural and physical damage. In particular, liquefaction in which the ground shows liquid-like behavior causes great damage to the structure. Accordingly, various liquefaction damage reduction methods are being studied and developed. Therefore, in this study, a method of reducing liquefaction damage in the event of an earthquake applicable to existing structures was studied using the sheet pile method. The 1-G Shaking table test was performed and the ground was constructed with Jumunjin standard sand. A two-story model structure was produced by applying the similitude law, and the input wave applied a sine wave with an acceleration level of 0.6 g and a frequency of 10 Hz. The effect of reducing structure damage according to various embedded depth ratio was analyzed. As a result of the study, the structure settlement when the ground is reinforced by applying the sheet pile method is decreased by about 71% compared to when the ground is not reinforced, and the EDR with minimum settlement is "1". In addition, as the embedded depth ratio is increased, the calculation of the pore water pressure in the ground tends to be delayed due to the sheet pile. Based on these results, the relationship with structural settlement according to the embedded depth ratio is proposed as a relational equation with the graph. The results of this study are expected to be used as basic data in developing sheet pile methods applicable to existing structures in the future.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.04a
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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.

• Proceedings of the Korea Concrete Institute Conference
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• 1999.10a
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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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• v.1 no.2
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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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.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2017.05a
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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.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.55 no.2
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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.