• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.204-216
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• 2006

Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant changes in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer simulation and experiment.

• Journal of Advanced Marine Engineering and Technology
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• 제40권10호
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• pp.894-898
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• 2016

Solution plasma is a unique method which provides a direct discharge in solutions. It is one of the promising techniques for various applications including the synthesis of metallic/non-metallic nanomaterials, decomposition of organic compounds, and the removal of microorganism. In the context of nanomaterial syntheses, solution plasma has been utilized to produce carbon nanoparticles and metallic-carbon nanoparticle systems. The main purpose of this study was to synthesize nickel nanoparticles embedded in a matrix of carbon particles by solution plasma in one-step using waste vegetable oil as the carbon source. The experimental setup was done by simply connecting a bipolar pulsed power generator to nickel electrodes, which were submerged in the waste vegetable oil. Black powders of the nickel nanoparticles-embedded carbon (NiNPs/Carbon) particles were successfully obtained after discharging for 90 min. The morphology of the synthesized NiNPs/Carbon was investigated by a scanning electron microscope, which revealed a good dispersion of NiNPs in the carbon-particle matrix. The X-ray diffraction of NiNPs/Carbon clearly showed the co-existence of crystalline Ni nanostructures and amorphous carbon. The crystallite size of NiNPs (through the Ni (111) diffraction plane), as calculated by the Scherrer equation was found to be 64 nm. In addition, the catalytic activity of NiNPs/Carbon was evaluated by cyclic voltammetry in an acid solution. It was found that NiNPs/Carbon did not show a significant catalytic activity in the acid solution. Although this work might not be helpful in enhancing the activity of the fuel cell catalysts, it is expected to find application in other processes such as the CO conversion (by oxidation) and cyclization of organic compounds.

• 한국태양에너지학회 논문집
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• 제36권4호
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• pp.11-20
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• 2016

For accurate wind resource assessment and wind turbine performance test, it is essential to secure wind data covering a rotor plane of wind turbine including a hub height. In general, we can depict wind speed profile by extrapolating or interpolating the wind speed data measured from a meteorological tower where multiple anemometers are mounted at different heights using a power-law of wind speed profile. The most important parameter of a power-law equation is a vertical wind profile exponent which represents local characteristics of terrain and land cover. In this study, we calculated diurnal vertical wind profile exponents of 8 locations in Jeju Island who possesses excellent wind resource according to the GUM (Guide to the Expression of Uncertainty in Measurement) to evaluate its uncertainty. Expanded uncertainty is calculated by combined standard uncertainty, which is the result of composing type A standard uncertainty with type B standard uncertainty. Although pooled standard deviation should be considered to derive type A uncertainty, we used the standard deviation of vertical wind profile exponent of each day avoiding the difficult of uncertainty evaluation of diurnal wind profile variation. It is anticipated that the evaluated uncertainties of diurnal vertical wind profile exponents at 8 locations in Jeju Island are to be registered as a national standard reference data and widely used in the relevant areas.

• 대기
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• 제23권1호
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• pp.1-11
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• 2013

The angular momentum transport of an idealized axisymmetric vortex in the developing stage was investigated using the Weather Research and Forecast (WRF) model. The balanced axisymmetric vortex was constructed based on an empirical function for tangential wind, and the temperature, geopotential, and surface pressure were obtained from the balanced equation. The numerical simulation was carried out for 6 days on the f-plane with the Sea Surface Temperature (SST) set as constant. The weak vortex at initial time was intensified with time, and reached the strength of tropical cyclone in a couple of days. The Absolute Angular Momentum (AAM) was transported along with the secondary circulation of the vortex. Total AAM integrated over a cylinder of radius of 2000 km decreased with simulation time, but total kinetic energy increased rapidly. From the budget analysis, it was found that the surface friction is mainly responsible for the decrease of total AAM. Also, contribution of the surface friction to the AAM loss was about 90% while that of horizontal advection was as small as 8%. The trajectory of neutral numerical tracers following the secondary circulation was presented for the Lagrangian viewpoint of the transports of absolute angular momentum. From the analysis using the trajectory of tracers it was found that the air parcel was under the influence of the surface friction continuously until it leaves the boundary layer near the core. Then the air parcel with reduced amount of angular momentum compared to its original amount was transported from boundary layer to upper level of the vortex and contributed to form the anti-cyclone. These results suggest that the tropical cyclone loses angular momentum as it develops, which is due to the dissipation of angular momentum by the surface friction.

• 대한수학교육학회지:수학교육학연구
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• 제26권4호
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• pp.715-730
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• 2016

본 연구는 대수와 기하의 영역을 연결하여 기존의 틀을 새로운 관점에서 이해하고 선대의 수학자들이 해결하지 못한 문제를 다룰 수 있었던 Descartes의 관점을 분석하고 적용 가능한 교수학적 시사점을 찾는 것을 목적으로 하고 있다. 연구의 목적을 달성하기 위하여 대수와 기하의 수학적 연결성을 기반으로 하고 있는 해석기하학의 기본 원리와 전개 방식의 특징을 조명하였으며, 국내 외 교육과정 문서 및 선행 연구를 분석하여 해석기하학의 관점에서 방정식의 기하학적 해법이 갖는 의미를 고찰하였다. 이를 바탕으로 좌표평면에 표현된 도형들의 교점으로 방정식의 기하학적 해를 제시하면서 대수와 기하의 수학적 연결성에 관한 통찰의 기회를 제공할 수 있는 가능성에 대하여 논의하였으며, 두 원뿔곡선의 교점을 활용한 삼차방정식의 기하학적 해법을 탐색 단계, 해결 단계, 반성 단계의 일련의 과정으로 해석하고 이를 교수학적으로 활용할 수 있는 방법을 제시하였다.

• 대한조선학회논문집
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• 제46권5호
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• pp.527-535
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• 2009

This paper describes the control system to suppress the load pendulation using tagline for the floating crane. Dynamic equation of motion of the floating crane and the load is derived using Newton's 2nd law and free body model. The floating crane and the load are assumed that they move in center plane. Each rigid body has 3 DOF (surge, heave, pitch), because it moves in two directions and rotates. Then, this system, which is composed of two rigid bodies, has 6 DOF. The gravitational force, the hydrostatic force, the hydrodynamic force and the tension of the wire rope are considered as external forces, which affect to the floating crane. To suppress the pendulation of the load, the tagline, which connects between the load and the float crane, is applied to the system. The tagline is composed of the spring and the wire rope. Proportional and Derivative control is used as a linear control algorithm. The results of the numerical analysis of the 3,600 ton floating crane show that the tagline system is effective to suppress the load pendulation.

• 한국조경학회지
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• 제31권5호
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• pp.1-10
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• 2003

The purpose of this study was to verify the shore margin protection effect of a root system developed from direct sticking of Salix gracilistyla Miq., focusing on the reinforcement of soil shear strength. The materials were 20cm long sticks whose average diameter and weight were 7.52mm and 14.58g respectively, and sandy loam(Sand 60.36%, Silt 28%, Clay 11.64%), whose maximum dry weight(${\gamma}$$_{dmax}$) was 1.59gf/㎤ at the water ratio( $W_{opt}$) 13.8%. The direct shearing test(KS F 2343) was applied to cylindric columms(diameter 132mm) of pure soil and two years old root reinforced soil. At each condition of vertical stress, 10N/$ extrm{cm}^2$, 14.41N/$\textrm{cm}^2$ and 18.82 N/$\textrm{cm}^2$, five soil+root columns were sheared. After shear tests, the root area ratio and soil moisture on the shear plane were measured. The results of this research were as follows: 1. The average of root area ratio was 1.86% and the soil moisture 14.67%. 2. Two years old root system was found to increase the soil shear strength of pure soil in terms of Cohesion(C) and Inner friction Angle($\phi$) as follows. 3. The relationship between root area ratio and the increased shear strength can be presented with the following equation, $\Delta$S ≒ 0.33ㆍ TrㆍAs/A $\Delta$S : Increased Shear Strength Tr : Average Tension Strength of Root, Ar/A : Root Area Ratioioage Tension Strength of Root, Ar/A : Root Area Ratio

• Geomechanics and Engineering
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• 제34권5호
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• pp.491-505
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• 2023

The practical usage of underground space and demand for vehicular tunnels necessitate the construction of non-circular wide rectangular tunnels. However, constructing large tunnels in soft clayey soil conditions with no ground improvement can lead to excessive ground deformations and collapse. In recent years, in situ ground improvement techniques such as jet grouting and deep cement mixing are often utilized to perform cement-stabilisation around the tunnel boundary to prevent large deformations and failure. This paper discusses the stability characteristics and failure behaviour of a wide rectangular tunnel in cement-treated soft clays. First, the plane strain finite element model is developed and validated with the results of centrifuge model tests available in the past literature. The critical tunnel support pressures computed from the numerical study are found to be in good agreement with those of centrifuge model tests. The influence of varying strength and thickness of improved soil surround, and cover depth are studied on the stability and failure modes of a rectangular tunnel. It is observed that the failure behaviour of the tunnel in improved soil surround depends on the ratio of the strength of improved soil surround to the strength of surrounding soil, i.e., q_ui/q_us, rather than just q_ui. For low q_ui/q_us ratios,the stability increases with the cover; however, for the high strength improved soil surrounds with q_ui >> q_us, the stability decreases with the cover. The failure chart, modified stability equation, and stability chart are also proposed as preliminary design guidelines for constructing rectangular tunnels in the improved soil surrounded by soft clays.

• 대한토목학회논문집
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• 제28권4A호
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• pp.465-474
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• 2008

일반적으로, 보-기둥 부재로 구성된 강뼈대구조물의 설계는 개별부재의 유효좌굴길이를 고려하여 설계기준에서 제시한 안정성 평가식을 적용하고 있다. 그러나 이 방법은 구조물에서 상대적으로 작은 압축력이 적용되는 부재에서는 유효좌굴길이가 커지는 문제가 발생하게 된다. 이러한 문제를 극복하고자 본 연구에서는 대상 구조물의 초기결함(initial imperfection)을 고려한 2차 탄성해석법을 제시한다. 이 방법은 탄성좌굴 고유치해석으로 산정된 좌굴모드 및 좌굴고유치, 개별부재의 축력을 이용하여, 가장 작은 무차원 세장비를 가진 부재를 선정하고, 그 부재에 대하여 기하적, 재료적인 효과가 고려된 설계기준의 기준강도곡선으로부터 좌굴모드에 대한 증폭량을 산정한다. 이렇게 결정된 증폭량을 대상 구조물의 좌굴모드에 증폭시켜 2차 탄성해석을 수행하고, 개별부재의 안정성을 평가한다. 본 방법의 타당성을 확인하기 위하여, 8층 및 4층으로 이루어진 평면 강뼈대구조물에 적용시키고, 설계기준에서 제시하는 안정성 평가법과 비교한다.

• 한국전자파학회논문지
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• 제25권12호
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• pp.1201-1211
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• 2014

본 논문에서는 무한 도체평판의 슬롯을 통해 침투하는 침투 전자파를 저감(차단)시키기 위한 개구면 차단필터를 제안하고 슬롯으로 침투하는 전자파의 저감(차단) 특성을 검토하고 있다. 개구면 차단필터의 개념을 정립하기 위해 무한 도체평판에 있는 슬롯의 개구면 전계분포에 관한 적분방정식을 유도하고, 적분방정식의 해를 모멘트법으로 구하여 평면파가 슬롯 개구에 입사할 때 개구면 차단필터에 의한 침투 전자파의 저감(차단) 효과를 검토하였다. 이론해석의 결과, 도체평판의 슬롯으로 침투하는 침투 전자파를 저감(차단)시킬 수 있는 개구면 차단필터가 실현 가능함을 확인할 수 있었다. 개구면 차단필터의 개념 및 이론해석의 타당성을 검증하기 위해 폭이 좁은 슬롯에 개구면 차단필터를 부착하여 침투 전자파의 저감(차단) 효과를 실험적으로 확인하였다.