• Proceedings of the Korean Geotechical Society Conference
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• 2002.03a
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• pp.611-618
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• 2002

In this study the CGS as an injection method by low slump mortar was performed the pilot test to confirm the applicability of this method and the effectiveness of settlement restraint. From the results, there has been concluded the construction control standard such as an institutional diameter, space, depth, injection materials, Infection pressure etc. Also, there has been estimated the ground improvement effectiveness which has resulted from the field investigation and consolidation test etc. From the results, in the adjacent ground the CGS, generally, has been confirmed to in-crease ground strength to improve the consolidation characteristic obtained from the field investigation and consolidation test. Especially, the CGS which performed the larger stiffness to the ground has been concluded that the settlement restraint to the ground complicates the ground effect which Increases the bearing capacity and stress assignment. So, the CGS can be considered as an effective method to increase the bearing capacity as well as the settlement restraint of soft ground.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.983-988
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• 2011

This paper presents a robust method for ground plane detection in vision-based applications based on a monocular sequence of images with a non-stationary camera. The proposed method, which is based on the reliable estimation of the homography between two frames taken from the sequence, aims at designing a practical system to detect road surface from traffic scenes. The homography is computed using a feature matching approach, which often gives rise to inaccurate matches or undesirable matches from out of the ground plane. Hence, the proposed homography estimation minimizes the effects from erroneous feature matching by the evaluation of the difference between the predicted and the observed matrices. The method is successfully demonstrated for the detection of road surface performed on experiments to fill an information void area taken place from geometric transformation applied to captured images by an in-vehicle camera system.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.754-757
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• 1995

This system can detect a ground fault point or a bad insulated line by measuring a power plant DC feeder insulation resistance at the uninterruptible power status. And when the power plant DC feeder with low frequency AC signal has a ground fault, this measuring system can keep recording of its ground fault current and phase checked by Z.C.T. Therefore the power plant could protect a unexpected service interruption.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.856-864
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• 2008

This paper describes a vehicle low speed driving assistant (VLDA) system that is composed of laser scanner. This vehicle is designed for following lead vehicle (LV) without driver's operation. The system is made up several component systems that are based on unmanned ground vehicle (UGV). Each component system is applied to use advanced safety vehicle developed to complete UGV system. VLDA system was divided into vehicle control system and obstacle detecting system. The obstacle detecting system calculate distance and angle of LV and transmit these data to vehicle control system using front, left and right laser scanners. Vehicle control system makes vehicle control values such as steering angle, acceleration and brake position and control vehicle's movement with steering, acceleration and brake actuators. In this research, we designed VLDA system like as low speed cruise control system and test it on real road environments.

• Bulletin of the Korean Space Science Society
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• 2005.10a
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• pp.78-78
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• 2005

• Journal of Bio-Environment Control
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• v.17 no.3
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• pp.188-196
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• 2008

Single span pipe greenhouses (pipe houses) are widely used in Korea because these simple structures are suitable for construction by farmers thus reducing labor cost. However, these pipe houses are very weak and frequently damaged by heavy snow and strong wind. Pipe house is constructed by pipe fabricator, which is anchored to the ground by inserting each pipe end into ground to $30\sim40cm$, so the ground support condition of pipe end is not clear for theoretical analysis on greenhouse structure. This study was carried out to find out the suitable ground support condition needed f3r structural analysis when pipe house was designed. The snow and wind loading tests on the actual size pipe house were conducted to measure the collapsing shape, displacement and strain. The experimental results were compared with the structural analysis results for 4 different ground support conditions of pipe ends(fixed at ground surface, hinged at ground surface, fixed under ground and hinged under ground). The pipe house under snow load was collapsed at the eaves as predicted, and the actual strain at the windward eave and ground support under wind load was larger than that under snow load. The displacement was the largest at the hinged support under ground, followed by the hinged at ground surface, the fixed under ground and then the fixed at ground surface independent of displacement direction and experimental loading condition. The experimental results agreed most closely with the results of theoretical analysis at the fixed condition under ground among 4 different ground support conditions. As the results, it was recommended that the pipe end support condition of single span pipe greenhouse was the fixed under ground for structural analysis.

• Aerospace Engineering and Technology
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• v.4 no.1
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• pp.114-121
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• 2005

다목적실용위성 2호 영상의 geo-location 정밀도 80 m (CE90) 요구사항을 만족시키기 위하여, 1개의 IRU 와 2개의 star tracker 들로부터 획득되는 데이터를 이용하여 지상에서 후처리 추정 과정을 거쳐 위성의 자세를 결정하는 정밀자세결정 시스템이 개발되었다. 정밀자세결정 시스템의 정밀도를 극대화하기 위해서는 우주 공간의 극심한 열적 환경으로 인해 발생하는 star tracker 정렬 오차를 효율적으로 보정하여야 한다. 정밀한 정렬 오차의 보정을 위해서는 영상 내에 촬영된 지상의 ground control point 데이터를 이용하여야 하는데, 현실적으로 한반도 모든 지역에 대해 ground control point 를 확보할 수 없다. 현재 항공우주연구원이 확보하고 있거나 이후 확보할 예정에 있는 고해상도 영상을 위한 ground control point 들은 대전지역에 국한될 예정이다. 이와 같은 상황에서 정밀자세결정 시스템의 성능을 높이기 위한 최적의 시스템 운용 개념을 본 연구에서 제시하였으며, 시뮬레이션을 통해 그 타당성을 분석하였다.

• Journal of Biosystems Engineering
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• v.21 no.4
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• pp.399-405
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• 1996

In order to maintain a constant speed ratio between the tractor and attached seed planter, a feedback control unit to rotate the feed shaft of the planter in proportional to the ground speed of the tractor was designed. The fifth wheel was used as a ground speed sensor for the unit. Using this control unit a feed shaft driving system was developed and tested to estimate its performance both in laboratory and fields. The test results showed that the system rotates the feed shaft proportionally to the ground speed in the range of the normal planting speed of 0.5-0.8m/s with errors less than 5%.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.442-445
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• 2002

The casing oscillator used for the foundation work in the construction place. Construction machinery which makes the casing rotate and roll can insert the casing in the ground. It is very important to make the casing perpendicular to sea level regardless of slope of ground. So in this paper, we present the new type casing oscillator that need not to level the ground for the work of casing insertion. The inverse kinematics analysis for the real-time control of casing oscillator is presented.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.372-378
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• 2009

For effective mobility control of unmanned ground vehicles in outdoor off-road environments, terrain cover classification technology using passive sensors is vital. This paper presents a novel method far terrain classification based on color and texture information of off-road images. It uses a neural network classifier and wavelet features. We exploit the wavelet mean and energy features extracted from multi-channel wavelet transformed images and also utilize the terrain class spatial coordinates of images to include additional features. By comparing the classification performance according to applied features, the experimental results show that the proposed algorithm has a promising result and potential possibilities for autonomous navigation.