• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.36.6-36
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• 2001

The problem of robot navigation and control is a complex task. Its complexity and characteristics depends on the characteristics of the environment robot inhabits, robot construction (mechanical abilities to move, sense) and the job the robot is supposed to do. In this paper we propose a hybrid programming approach to mobile robot navigation and control in an indoor environment. In our approach we used declarative, procedural, and object oriented programming paradigms and we utilized some advantages of our distributed computing architecture. The programming languages corresponding to the paradigms we used were C, C++ and Prolog. In the paper we present some details of our mobile robot hardware and software structure, focusing on the software design and implementation.

• 한국해양공학회지
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• 제27권5호
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• pp.70-76
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• 2013

The present paper proposes a coupled volume-of-fluid (VOF) and level-set (LS) method for simulating incompressible two-phase flows that include surface tension effects. The interface of two fluids and its motion are represented by a VOF method designed using high-resolution differencing schemes. This hybrid method couples the VOF method with an LS distancing algorithm in an explicit way to improve the calculation of the normal and curvature of the interface. It is developed based on a rather simple algorithm to be efficient for various practical applications. The accuracy and convergence properties of the method are verified in a simulation of a single gas bubble rising in a three-dimensional flow with a large density ratio.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.680-690
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• 2020

In ocean environment, the sound speed gradient of seawater has an important influence on far field sound propagation. The FEM/BEM is used to decouple the vibroacoustic radiation of the spherical shell, and the Green function of the virtual source chain is adopted for decoupling. For far field radiated Sound Pressure Level (SPL), the Beam Displacement Ray normal Mode (BDRM) is employed. The vibration and near-/far-field radiated SPL of spherical shell is analyzed in shallow sea uniform layer, negative/positive gradient, negative thermocline environment, and deep-sea sound channel. Results show that the vibroacoustic radiation of spherical shell acted at 300Hz can be analogous to dipole. When the radiated field of the spherical shell is dominated by large-grazing-angle waves, it can be analogous to vertically distributed dipole, and the far field radiated SPL is lower; while similar to horizontally distributed dipole if dominated by small-grazing-angle waves, and the far field SPL is high.

• Structural Engineering and Mechanics
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• 제83권1호
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• pp.109-121
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• 2022

Twelve push-out test specimens were conducted with various parameters to study the static and fatigue performance of a new through-bolt shear connector transferring the shear forces of interface between prefabricated hybrid fiber reinforced concrete (HFRC) slabs and steel girders. It was found that the fibers could improve the fatigue life, capacity and initial stiffness of through-bolt shear connector. While the bolt-hole clearance reduced, the initial stiffness, capacity and slippage of through-bolt shear connector increased. After the steel-concrete interface properties were improved, the initial stiffness increased, and the capacity and slippage reduced. Base on the test results, the equation of the load-slip curve and capacity of through-bolt shear connector with prefabricated HFRC slab were obtained by the regression of test results, and the allowable range of shear force under fatigue load was recommended, which could provide the reference in the design of through-bolt shear connector with prefabricated HFRC slabs.

• Structural Engineering and Mechanics
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• 제80권5호
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• pp.595-608
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• 2021

To investigate the mechanical behavior of large stud shear connector embedded in hybrid fiber-reinforced concrete (HFRC), a refined 3D nonlinear finite element (FE) model incorporating the constitutive model of HFRC was developed using ANSYS. Firstly, the test results conducted by the authors (He et al. 2017) were used to validate FE model of push out tests. Secondly, a total of 27 specimens were analyzed with various parameters including fiber volume fractions of HFRC, diameter of studs and HFRC strength. Finally, an empirical equation considering the contribution of steel fiber (SF) and polypropylene fiber (PF) was recommended to estimate the ultimate capacity of large stud shear connector embedded in HFRC.

• 국제초고층학회논문집
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• 제11권3호
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• pp.171-180
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• 2022

Research and development on high-rise or large-scale wooden buildings have been actively conducted both domestically and internationally. The trend of high-rise wooden buildings is driven by increasing awareness of environmental issues. To utilize wooden materials in buildings is believed to lead to the reduction of the environmental impact. On the other hand, Japan is one of the most earthquake-prone countries in the world, and many wooden detached houses have been damaged in past major earthquakes. This paper summarizes the issues that arise in the realization of medium- and high-rise wooden buildings in Japan, and introduces the initiatives that have been seen so far.

• 국제학술발표논문집
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• The 1th International Conference on Construction Engineering and Project Management
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• pp.1118-1123
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• 2005

This paper proposes the CPM bar chart (CBC), a hybrid of the bar chart and the critical path method (CPM). The CBC overcomes shortages of the fence bar chart, while still retaining its advantages. The fence with direction is applied instead of the broken fence, which triggers considerable problems to identify and apply in the fenced bar chart. In addition, the notorious task to find dummy activities is no longer required. Upon the benefits of simplicity in the bar chart and logical work sequence in the CPM network, the CBC provides a relatively easy way to create and understand a schedule, thus improving communication quality between project participants.

• Steel and Composite Structures
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• 제49권2호
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• pp.197-213
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• 2023

To investigate the static properties of large high strength bolt shear connector in hybrid fiber-reinforced concrete (HFRC) and normal concrete (NC), eight push-out test specimens with single/double nut and HFRC/NC slabs were designed and push-out tests were conducted. A fine 3D nonlinear finite element (FE) model including HFRC constitutive model was established by using ANSYS 18.0, and the test results were used to verify FE models of the push-out test specimens. Then a total of 13 FE models were analyzed with various parameters including fiber volume fractions of HFRC, bolt diameter and thickness of steel flange. Finally, the empirical equations considering the contribution of polypropylene fiber (PF) and steel fiber (SF) obtained from the regression of the test results and FE analysis were recommended to evaluate the load-slip curve and ultimate capacity of the large high strength bolt shear connector embedded in HFRC/NC.

• 예술인문사회 융합 멀티미디어 논문지
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• 제7권6호
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• pp.719-729
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• 2017

최근 농업 분야는 농업 분야에 ICT 기술이 접목 되면서 새로운 도약의 계기가 마련되고 있다. 특히 농업에 사물 인터넷(IoT: Internet of Things) 기술을 접목한 스마트 팜 [smart farm] 영역이 각광받고 있다. 스마트 팜 [smart farm] 기술은 농작물이 재배 되는 환경의 온도, 습도 등의 정보를 센서를 이용해 실시간으로 수집, 분석하여 제어장치에서 농작물 수확에 필요한 장치들을 자동으로 구동하여 농작물이 자랄 수 있는 최적의 환경을 제공하는 것이다. 스마트 팜 [smart farm] 기술이 마치 모든 것을 해결할 수 있을 것처럼 주목을 받고 있지만, 대부분의 연구가 농작물의 생산량 증대에만 치중되어 있다. 본 논문 에서는 농작물의 생산량 증대 보다는 우수한 품질의 농작물을 최적기에 수확할 수 있는 시스템의 아키텍처 개발에 중점을 두어 이루어졌다. 본 논문에서는 사과나무를 표본으로 아키텍처를 개발 하였으며 사과나무의 수확시기를 예측하는 데이터로는 색상정보와 중량정보를 사용하였다. 색상정보와 중량정보를 수집하여 서버 단으로 전송하는 간이형 보드는 아두이노를 사용하였으며. 개발 방법론으로는 모델 주도 개발(model-driven development :MDD)를 적용하였다. PC 사용자들에게는 웹 형태로 서비스를 제공하며 Smart Phone 사용자들에게는 하이브리드앱 형태로 서비스를 제공할 수 있도록 아키텍처를 개발했다. 또한 비콘 기술을 사용해서 과수원 정보를 실시간으로 사용자들에게 제공하도록 아키텍처를 개발했다.

• 한국통신학회논문지
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• 제41권8호
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• pp.974-985
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• 2016

Riverbed Modeler는 복잡한 통신 프로토콜과 큰 규모의 네트워크를 설계하기 위한 패킷 수준의 이산 사건 시뮬레이터이며 그 신뢰성을 인정받아 대규모 네트워크의 성능분석에 널리 활용되고 있다. Riverbed Modeler를 활용하는 MANET 시뮬레이션 환경에서, 새로운 라우팅 프로토콜을 구현하여 추가하는 방법이 매우 복잡하고 많은 부분의 수정을 요구한다. 본 논문에서는 Riverbed Modeler의 라우팅 지원 구조에 대하여 살펴보고, 라우팅 추가에 대한 어려움을 해결하기 위하여 보다 쉽고 실수의 가능성을 줄일 수 있는 라우팅 추가 프레임워크를 제안하였다. 라우팅 추가 프레임워크는 프로토콜을 인식하는 부분에 대하여 적응적 구조 갖는 API로서 제공되며, 라우팅 프로토콜을 최소한의 수정으로 추가할 수 있도록 구성하였다. 라우팅 추가 프레임워크를 이용하여 라우팅 프로토콜을 추가하는 경우, 수정해야 하는 부분을 기존의 절반 이하로 간소화 하였다. 또한 제안한 라우팅 추가 프레임워크를 이용하여 Hybrid 라우팅 프로토콜인 AntHocNet을 구현하여 추가한 사례를 제시하여, 라우팅 추가 프레임워크가 타당하게 설계 및 적용되었음을 확인하였다.