• 로봇학회논문지
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• 제3권1호
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• pp.33-41
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• 2008

Based on object recognition technology, we present a new global localization method for robot navigation. For doing this, we model any indoor environment using the following visual cues with a stereo camera; view-based image features for object recognition and those 3D positions for object pose estimation. Also, we use the depth information at the horizontal centerline in image where optical axis passes through, which is similar to the data of the 2D laser range finder. Therefore, we can build a hybrid local node for a topological map that is composed of an indoor environment metric map and an object location map. Based on such modeling, we suggest a coarse-to-fine strategy for estimating the global localization of a mobile robot. The coarse pose is obtained by means of object recognition and SVD based least-squares fitting, and then its refined pose is estimated with a particle filtering algorithm. With real experiments, we show that the proposed method can be an effective vision- based global localization algorithm.

• 대한두개안면성형외과학회지
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• 제20권4호
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• pp.265-269
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• 2019

Congenital hypoplasia of the depressor anguli oris muscle is a rare cause of asymmetrical crying facies in newborns. The clinical manifestations range from mild to severe asymmetry and may persist up to adulthood. In the current case, the patient did not exhibit other congenital anomalies or paralysis of other branches of the facial nerve. This adult patient presented with severe asymmetrical lower lip deformity during full mouth opening since birth. A chromosomal study for the detection of 22q gene deletion yielded negative results. The electromyography findings of the lower lip were insignificant. Depressor labii inferioris muscle resection was not effective, but bidirectional (horizontal and vertical) fascia lata grafting improved the aesthetic appearance of the asymmetrical lower lip. The patient showed improved lower lip symmetry during full mouth opening at 1 year after the surgery. Therefore, the details of this rare case are reported herein.

• 한국농공학회논문집
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• 제62권4호
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• pp.45-51
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• 2020

The poisson's ratio was obtained from the effective vertical stress and horizontal stress of consolidation-undrained test. It was analyzed void ratio verse poisson's ratio. At the result, the effective friction angle was increase with relative density increased, was decreased the poisson's ratio. The empirical equation of void ratio and poisson's ratio was showed very high correlation r²=0.846. The empirical equation was showed that the smaller the void ratio in the fine grained soil than granular soil. In the case of 0.85 times the correlation analysis equation of granular and fine grained soil, the experimental results were shown very similarly. In especially, the poisson's ratio prediction results was shown within 5% of the error range, was revalidation 0.85 times the correlation analysis equation using the void ratio. In this study, correlation analysis equation of the granular and fine grained soil was more reliability of the poisson's ratio prediction results apply to the void ratio than dry unit weight.

• Geomechanics and Engineering
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• 제31권2호
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• pp.223-235
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• 2022

Bearing capacity of shallow foundations is often determined for either dry or saturated soils. In some occasions, foundations may be subjected to external loading which is inclined and/or eccentric. In this study, the ultimate bearing capacity of shallow foundations resting on partially saturated coarse-grained cohesionless and fine-grained cohesive soils subjected to a wide range of combined vertical (V) - horizontal (H) - moment (M) loadings is rigorously evaluated using the well-established limit equilibrium method. The unified effective stress approach as well as the suction stress concept is effectively adopted so as to simulate the behaviour of the underlying unsaturated soil medium. In order to obtain the bearing capacity, four equilibrium equations are solved by adopting Coulomb failure mechanism and Bishop effective stress concept and also considering a linear variation of the induced matric suction beneath the foundation. The general failure loci of the shallow foundations resting on unsaturated soils at different hydraulic conditions are presented in V - H - M spaces. The results indicate that the matric suction has a marked influence on the bearing capacity of shallow foundations. In addition, the effect of induced suction on the ultimate bearing capacity of obliquely-loaded foundations is more pronounced than that of the eccentrically-loaded footings.

• 한국지진공학회논문집
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• 제1권1호
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• pp.31-39
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• 1997

본 논문은 철근 콘크리트(RC) 격자보위에 설치된 access floor 에 발생하는 진동 중 수평방향 진동을 제어하기 위해 정밀 스프링 댐퍼를 이용한 실험을 이용한 실험을 통하여 수평진동 방진 시스템을 개발하였고, 대상 구조물의 진동해석을 위한 모델링과 그에 따른 해석을 수행하였다. 설계된 스프링 댐버 시스템의 방진효과를 알아보기 위하여 모형구조물에 댐퍼를 설치하지 않은 경우, 설피시 댐버를 pedestal과 pedestal에 연결하여 설치한 경우 그리고 pedestal과 격자보에 연결하여 설치한 경우로 나누어 실험을 실시하였다. 각각의 경우에 대해 충격 가진 및 외부 진동을 가해 슬래브와 access floor에서의 가속도 응답을 측정하였다. 실험결과 댐퍼를 설치한 경우에 공진 응답은 댐퍼가 없는 경우에 비해 응답크기가 감소하고, 공진 최대치도 부분적으로 저진동수 대역으로 이동하는 경향으로 나타났다. 또한 저진동수 대역에서 보다는 고진동수 대역에서 가속도 성분의 감소가 크게 나타나고 있고, 특히 외부 진동에 대해서는 상당한 효과가 있다는 것을 알 수 있었다. 대상 구조물의 진동해석을 유한요소법에 의해 실시 하였으며 해석을 통해서도 스프링 댐퍼 시스템의 방진효과를 확인할 수 있었고, 실험과 해석의 결과가 잘 일치함을 알 수 있었다. 따라서 본 연구는 정밀 방.제진 시스템 및 미진동 제어 콘크리트 구조물 설계를 위해 유용하게 이용될 수 있으리라 판단된다.

• Geomechanics and Engineering
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• 제37권3호
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• pp.293-306
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• 2024

Influenced by the alternating effects of dynamic and static pressure during the mining process of close range coal seams, the surrounding rock support of cross mining roadway is difficult and the deformation mechanism is complex, which has become an important problem affecting the safe and efficient production of coal mines. The paper takes the inclined longwall mining of the 10304 working face of Zhongheng coal mine as the engineering background, analyzes the key strata fracture mechanism of the large inclined right-angle trapezoidal mining field, explores the stress distribution characteristics and transmission law of the surrounding rock of the roadway affected by the mining of the inclined coal seam, and proposes a segmented and hierarchical support method for the cross mining roadway affected by the mining of the close range coal seam group. The research results indicate that based on the derived expressions for shear and tensile fracture of key strata, the ultimate pushing distance and ultimate suspended area of a right angle trapezoidal mining area can be calculated and obtained. Within the cross mining section, along the horizontal direction of the coal wall of the working face, the peak shear stress is located near the middle of the boundary. The cracks on the floor of the cross mining roadway gradually develop in an elliptical funnel shape from the shallow to the deep. The dual coupling support system composed of active anchor rod support and passive U-shaped steel shed support proposed in this article achieves effective control of the stability of cross mining roadways, which achieves effective control of floor by coupling active support and preventive passive support to improve the strength of the surrounding rock itself. The research results are of great significance for guiding the layout, support control, and safe mining of cross mining roadways, and to some extent, can further enrich and improve the relevant theories of roof movement and control.

• 한국지반환경공학회 논문집
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• 제17권7호
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• pp.15-25
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• 2016

본 연구에서는 압밀을 고려한 고등 3차원 유한요소해석을 통하여 압밀이 진행 중인 지반에 근입된 단독말뚝 및 군말뚝의 거동을 연구하였다. 수치해석에서는 단독말뚝 및 말뚝 중심간의 간격이 2.5D인 $4{\times}4$ 및 $6{\times}6$ 군말뚝을 고려하였다. 여기서 D는 말뚝의 직경을 의미한다. 부마찰에 의한 말뚝의 침하 및 부마찰력은 압밀초기 단계에서 비교적 빠르게 발생하는 것으로 분석되었다. 그러나 압밀도가 50~75%를 초과하는 경우 말뚝의 침하 및 부마찰력의 증가량은 상대적으로 크지 않은 것으로 분석되었다. 성토층에서의 부마찰은 신속하게 발현되며 이후의 압밀 단계에서는 일정하게 유지된다. 말뚝에 작용하는 부마찰은 상대변위 및 유효지중응력에 좌우되는 것으로 분석되었다. 압밀 초기단계에서는 상대변위가 큰 영향을 미치는데 비해, 압밀 후반기에서는 유효지중응력이 큰 영향을 주는 것으로 분석되었다. 말뚝-인접지반에서의 전단응력 전이로 인해 말뚝과 인접한 흙의 유효수직응력이 감소하며 이러한 현상은 군말뚝에서 특히 현저하다. 부마찰이 영향을 미치는 영역의 범위는 흙의 유효수직응력의 분포를 고려할 경우 말뚝으로부터 수평으로 20D 정도 되는 것으로 분석되었다. 이에 비해 말뚝에 작용하는 유효수평응력은 far field 조건의 응력과 거의 유사한 것으로 분석되었다.

• Computers and Concrete
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• 제34권3호
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• pp.329-346
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• 2024

In this study, it is aimed to investigate the vertical seismic performance of reinforced concrete (R/C) frame buildings in two different building stocks, one of which consists of those designed as per the previous Turkish Seismic Code (TSC-2007) that does not consider the vertical earthquake load, and the other of which consists of those designed as per the new Turkish Seismic Code (TSCB-2018) that considers the vertical earthquake load. For this aim, three R/C buildings with heights of 15 m, 24 m and 33 m are designed separately as per TSC-2007 and TSCB-2018 based on some limitations in terms of seismic zone, soil class and structural behavior factor (Rx/Ry) etc. The vertical earthquake motion effects are identified according to the linear time-history analyses (LTHA) that are performed separately for only horizontal (H) and combined horizontal+vertical (H+V) earthquake motions. LTHA is performed to predict how vertical earthquake motion affects the response of the designed buildings by comparing the linear response parameters of the base shear force, the base overturning, the base axial force, top-story vertical displacement. Nonlinear time-history analysis (NLTHA) is generally required for energy dissipative buildings, not required for design of buildings. In this study, the earthquake records are scaled to force the buildings in the linear range. Since nonlinear behavior is not expected from the buildings herein, the nonlinear time-history analysis (NLTHA) is not considered. Eleven earthquake acceleration records are considered by scaling them to the design spectrum given in TSCB-2018. The base shear force is obtained not to be affected from the combined H+V earthquake load for the buildings. The base overturning moment outcomes underline that the rigidity of the frame system in terms of the dimensions of the columns can be a critical parameter for the influence of the vertical earthquake motion on the buildings. In addition, the building stock from TSC-2007 is estimated to show better vertical earthquake performance than that of TSCB-2018. The vertical earthquake motion is found out to be highly effective on the base axial force of 33 m building rather than 15 m and 24 m buildings. Thus, the building height is a particularly important parameter for the base axial force. The percentage changes in the top-story vertical displacement of the buildings designed for both codes show an increase parallel to that in the base axial force results. To extrapolate more general results, it is clear to state that many buildings should be analyzed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.769-772
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• 2005

Five DOF motion errors of a hydrostatic bearing table driven by the coreless type linear motor were compensated utilizing the active controlled capillaries in this study. Horizontal linear motion and yaw error were simultaneously compensated using two active controlled capillaries and vertical linear motion, pitch and yaw error were also simultaneously compensated using three active controlled capillaries. By the compensation, horizontal linear motion accuracy and yaw were improved from 0.16 ${\mu}m$ and 1.96 arcsec to 0.02 ${\mu}m$ and 0.03 arcsec. Vertical linear motion accuracy, pitch and roll were also largely improved from 0.18 ${\mu}m$, 2.26 arcsec and 0.14 arcsec upto 0.03 ${\mu}m$, 0.07 arcsec and 0.02 arcsec. The compensated motion errors were within the range of measuring repeatability which was ${\pm}0.02\;{\mu}m$ in the linear motion and ${\pm}0.05$ arcsec in the angular motion. From these results, it is found that the motion error compensation method utilizing the active controlled capillaries are very effective to improve the five motion accuracies of the hydrostatic bearing tables.

• 한국콘텐츠학회논문지
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• 제8권11호
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• pp.1-9
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• 2008

현재 멀티미디어 기술의 발달로 인하여 영상의 전처리 및 후처리 과정을 이용한 수정 작업으로 고품질의 영상 표현 및 다양한 영상 처리가 가능하다. 영상 처리 기법 중에서 이방성 확산의 경우 영상의 스페클 노이즈 제거, 에지 검출, 영상 분할 등에 응용할 수 있는 효과적인 확산 필터링으로 활용되고 있다. 하지만 전통적인 이방성 확산은 십자형 커널을 기반으로 하고 있기 때문에 확산 필터링을 반복 적용하면 영상의 에지가 수평 및 수직 방향으로 집중되는 문제점이 있다. 본 논문에서는 기존의 십자형 커널 기반의 이방성 확산 문제점을 해결하기 위하여 기울기의 방향성에 기반한 새로운 이방성 확산 방식을 제안한다. 제안된 방식은 십자형 커널을 확장하여 대각선 방향 정보를 포함한 8방향의 정방형 커널을 기반으로 작은 기울기를 갖는 방향으로 이방성 확산을 적용한다. 제안된 방식의 실험 결과 에지가 수평 및 수직 방향으로 집중되는 문제점을 해결하면서 임펄스성 노이즈를 제거하여 고품질의 영상을 획득할 수 있었다.