• The Journal of Korea Robotics Society
• /
• v.17 no.4
• /
• pp.417-424
• /
• 2022

In this paper, the developed trunk cargo unloading automation system is introduced, and the RGB-D sensor-based box loading situation recognition method and unloading plan applied to this system are suggested. First of all, it is necessary to recognize the position of the box in a truck. To do this, we first apply CNN-based YOLO, which can recognize objects in RGB images in real-time. Then, the normal vector of the center of the box is obtained using the depth image to reduce misrecognition in parts other than the box, and the inner wall of the truck in an image is removed. And a method of classifying the layers of the boxes according to the distance using the recognized depth information of the boxes is suggested. Given the coordinates of the boxes on the nearest layer, a method of generating the optimal path to take out the boxes the fastest using this information is introduced. In addition, kinematic analysis is performed to move the conveyor to the position of the box to be taken out of the truck, and kinematic analysis is also performed to control the robot arm that takes out the boxes. Finally, the effectiveness of the developed system and algorithm through a test bed is proved.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.38 no.7
• /
• pp.607-618
• /
• 2014

An experimental investigation of turbulent heat transfer during the vertical upward flow of supercritical $CO_2$ was conducted in a circular tube with inner diameter of 4.5 mm. The experiments were conducted at bulk fluid temperatures ranging from 29 to $115^{\circ}C$, pressures from 74.6 to 102.6 bar, local wall heat fluxes from 38 to $234kW/m^2$, and mass fluxes from 208 to $874kg/m^2s$. At moderate wall heat and low mass fluxes, the wall temperature had a noticeable peak value. For observing the buoyancy and flow acceleration effects on heat transfer, the ratios of Nusselt numbers from the experimental data and a reference correlation were compared with the $Bo^*$ and $q^+$ distributions. The flow acceleration parameter $q^+$ appropriately represented the heat transfer phenomena in the experiments. A new heat transfer correlation for the vertical upward flow of the supercritical pressure fluid was developed, and was found to agree with the experimental data with an error margin of ${\pm}30%$.

• Journal of the Korean Institute of Gas
• /
• v.18 no.1
• /
• pp.17-24
• /
• 2014

LNG storage tank is a facility to store liquefied natural gas (LNG) and its safety and stability to be greatly needed. When there is a LNG leakage in case of primary container problem, a special facility such as a bund wall should be constructed to store the leaked LNG. But this method makes the land usage inefficient and construction price high. So nowadays the full containment type LNG storage tank is selected instead of constructing a bund wall. In the full containment type tank, the concrete sidewall has the ability to store LNG temporarily. There are largely two methods to give the concrete sidewall the ability. In a method, rebar should be used when constructing the side wall of the LNG storage tank. In the other method, the protecting material such as sprayed polyurethane foam should be applied on the inner surface of the concrete sidewall. Sprayed PUF keeps the temperature of the sidewall above the specified temperature during the specified periods. Recently the thermal stability reinforcing method using sprayed polyurethane foam has been applied to all LNG storage tank built in Korea.

• Geomechanics and Engineering
• /
• v.21 no.1
• /
• pp.23-33
• /
• 2020

An advancing cutting roof for gob-side entry retaining with no-pillar mining under specific geological conditions is more conducive to the safe and efficient production in a coalmine. This method is being promoted for use in a large number of coalmines because it has many advantages compared to the retaining method with an artificial filling wall as the gateway side filling body. In order to observe the inner structure of the gateway cutting roof and understand its stability mechanism, an equivalent material simulation experiment for a coalmine with complex geological conditions was carried out in this study. The results show that a "self-stabilization bearing structure" equilibrium model was found after the cutting roof caving when the cut line deviation angle was unequal to zero and the cut height was greater than the mining height, and the caving roof rock was hard without damage. The model showed that its stability was mainly controlled by two key blocks. Furthermore, in order to determine the optimal parameters of the cut height and the cut line deviation angle for the cutting roof of the retaining gateway, an in-depth analysis with theoretical mechanics and mine rock mechanics of the model was performed, and the relationship between the roof balance control force and the cut height and cut line deviation angle was solved. It was found that the selection of the values of the cut height and the cut line deviation angle had to conform to a certain principle that it should not only utilize the support force provided by the coal wall and the contact surface of the two key blocks but also prevent the failure of the coal wall and the contact surface.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.10
• /
• pp.7-17
• /
• 2019

With increasing demand for large offshore infrastructures, suction cofferdams have been large, and the lid stiffener arrangement for a suction cofferdam has become a key element in cofferdam design to constrain the flexural deformation effectively. This study analyzed the changes in the structural behavior of a lid for a suction cofferdam due to lid stiffeners to provide insights into effective stiffener arrangements. By investigating conventional suction anchors, several stiffener patterns of a lid for a polygonal suction cofferdam were determined and analyzed. The structural performance of the stiffened lids was estimated by comparing the stress and deformation, and the reaction distributions on the edge of lid were investigated to analyze the effects of the stiffener arrangement on the lid-wall interface. Finite element analysis showed that radial stiffeners contribute dominantly to decreasing the stress and vertical deflection of the lids, but the stiffeners cause an increase in shear forces between the lid and wall; the forces are concentrated on the lid near the areas reinforced with radial stiffeners, which is negative to lid-wall connection design. On the other hand, inner and outer circumferential stiffeners show little reinforcement effects in themselves, while they can help reduce the stress and deformation when arranged with partial radial stiffeners simultaneously.

• Journal of Korean Neurosurgical Society
• /
• v.62 no.4
• /
• pp.376-381
• /
• 2019

Objective : To define optimal method that calculate the safe direction of cervical pedicle screw placement using computed tomography (CT) image based three dimensional (3D) cortical shell model of human cervical spine. Methods : Cortical shell model of cervical spine from C3 to C6 was made after segmentation of in vivo CT image data of 44 volunteers. Three dimensional Cartesian coordinate of all points constituting surface of whole vertebra, bilateral pedicle and posterior wall were acquired. The ideal trajectory of pedicle screw insertion was defined as viewing direction at which the inner area of pedicle become largest when we see through the biconcave tubular pedicle. The ideal trajectory of 352 pedicles (eight pedicles for each of 44 subjects) were calculated using custom made program and were changed from global coordinate to local coordinate according to the three dimensional position of posterior wall of each vertebral body. The transverse and sagittal angle of trajectory were defined as the angle between ideal trajectory line and perpendicular line of posterior wall in the horizontal and sagittal plane. The averages and standard deviations of all measurements were calculated. Results : The average transverse angles were $50.60^{\circ}{\pm}6.22^{\circ}$ at C3, $51.42^{\circ}{\pm}7.44^{\circ}$ at C4, $47.79^{\circ}{\pm}7.61^{\circ}$ at C5, and $41.24^{\circ}{\pm}7.76^{\circ}$ at C6. The transverse angle becomes more steep from C3 to C6. The mean sagittal angles were $9.72^{\circ}{\pm}6.73^{\circ}$ downward at C3, $5.09^{\circ}{\pm}6.39^{\circ}$ downward at C4, $0.08^{\circ}{\pm}6.06^{\circ}$ downward at C5, and $1.67^{\circ}{\pm}6.06^{\circ}$ upward at C6. The sagittal angle changes from caudad to cephalad from C3 to C6. Conclusion : The absolute values of transverse and sagittal angle in our study were not same but the trend of changes were similar to previous studies. Because we know 3D address of all points constituting cortical shell of cervical vertebrae. we can easily reconstruct 3D model and manage it freely using computer program. More creative measurement of morphological characteristics could be carried out than direct inspection of raw bone. Furthermore this concept of measurement could be used for the computing program of automated robotic screw insertion.

• Journal of the Architectural Institute of Korea Planning & Design
• /
• v.34 no.11
• /
• pp.113-123
• /
• 2018

First of all, the multi-story Housing applying resident's participation in europe was classified by the menu selection method, the two-step supply method and the cooperative method. And then I analyzed flexible unit plan of cases for deriving the planning methode and the characteristics of flexibility. First, I analyzed the area and form of the unit plan, structure and Installation, fixed and variable elements to derive the planning method. The area of units are distributed from a minimum of $35m^2$ to a maximum of $150m^2$, and many of the unit planes have a narrow front and a deep depth. The structure is a long-span wall-structure or a skeleton structure, and is designed without any columns and bearing walls in the interior space for flexibility in spatial composition. The vertical shafts are located in the center of the unit in a box-form or in the corner at the unit dividing wall for free placement of interior wall. Fixed elements are framework and facility systems. Most of the future residents in the two-steps supply method and the cooperative method were able to freely design the internal space within the zoning concept proposed by the architect and change the location of the facade element within module system proposed by the architect. Second, the characteristics of the flexibility applied to the unit plan were divided in integrated flexibility, functional flexibility, construction flexibility, and supply flexibility. The integrated flexibility enables residents to give the variable space combination based on the complex structure of the inner space for providing various living experiences. Regarding functional flexibility, the three-dimensional spatial structure with neutral space has multi-functionality according to the needs of residents and easily accepts mixing of hybrid programs such as work and residence. Constructive flexibility allows residents to create identity by freely planning interior space and changing the size or location of facade components in a determined system of architects. Finally, various types of size and space composition are proposed and realized in the whole building applying menu selection method, so that flexibility in the offer can accommodate and integrate various types of living.

• Applied Microscopy
• /
• v.38 no.1
• /
• pp.21-28
• /
• 2008

Carnivorous plants vary in their unique features of morphology, ultrastructure and biochemical properties by species. Furthermore, prey-capturing mechanism as well as structural and physiological adaptations have been used for grouping various carnivorous species. In Drosera plants, glandular trichomes, which develop in the leaf epidermis, are known to play the most important role during the prey capturing process. The present study examined such trichomes, focusing on the glandular type, in leaves of Drosera anglica using scanning and transmission electron microscopy. Three types of rudimentary glandular trichomes were found to develop within the folded leaf primordia and immature leaf during early development. The first type, stalked glandular trichomes (Type I), occurred on the margin and upper epidermis of the leaf. With maturation, the longest glandular trichomes having lengthy stalks, ca. $2.2{\sim}5.1\;mm$, developed along the margin, while shorter stalked trichomes, ca. up to $200\;{\mu}m$, were found on the inner leaf blade. The shorter ones consisted of a globose head having two layers of secretory cells, parenchyma bell cells and tracheids and a multicellular stalk. The stalks gradually decreased in length in centripetal fashion. The second type, Type II, having ca. $15{\sim}30\;{\mu}m$ short stalks, also developed along the inner blade. Both types secreted mucilage from the secretory cells which had a thin cell wall and cuticle layer. The sessile six-celled glandular trichomes were the third type, Type III, and were $25{\sim}40\;{\mu}m$ in length. They were distributed most commonly throughout the upper and lower epidermis, petiole and even on the stalk surfaces of the first two types of trichomes. The third type was also found to be involved in the active secretion. In prey capturing leaves, all trichome types secreted substances through thin cuticles in the head cell wall, which exhibited relatively loose wall components.

• Journal of the Korean Institute of Traditional Landscape Architecture
• /
• v.38 no.4
• /
• pp.12-24
• /
• 2020

The purpose of this study is to analyze the influence of the water system on the location, spatial structure, and construction method of Hongju-eupseong, centering on Hongjumok-eupchi. During the Joseon Dynasty, the water system in Hongjumok-eupchi is composed of artificially constructed Seong-an Runnel and ponds based on a branch-shaped natural waterways flowing from south to north and west to east. Compiling the results of various literature records, excavations and analysis of map data, it can be seen that the water system has an important influence on the construction of Hongju-seong. Firstly, Hongju-seong from the Goryeo Dynasty to the late Joseon Dynasty is located using a circular shape of topographical structure and a small erosion basin formed on the inner side of the Hongseongcheon and Wolgyecheon streams without significant change in location. In particular, Wolgyecheon and Hongseongcheon are natural moats, which are harmonized with Sohyangcheon and riverside topographical structures, affecting the location and construction method of Hongju-seong, water related facilities, and the spatial structure of eupseong. It is understood that location characteristic of Hongju-seong reflects the urban location structure harmonized with waterways in ancient China and Korea. Secondly in harmony with the water system and topographic structure of Hongju-seong, it is an important factor in deciding the land use of the town, the arrangement of the town hall facilities and inducing various non-subsidiary measures such as the establishment of embankment forest with a secret function and the closure of the south gate. In addition, artificial drainage facilities such as Seongan runnel and ponds are being actively introduced from early on to protect the walls or towns from flooding of Wolgyecheon. Especially there were typical methods for protecting the walls from water damage such as the Joseon Dynasty stone castle structure that was integrated with saturn(soil wall) in the Goryeo Dynasty, retreating wall in the northern gate area in the late Joseon Dynasty, and the method of constructing wall using korean tile and stone floors between reinforced soil layers in the western and northern wall.

• Korean Journal of Heritage: History & Science
• /
• v.55 no.1
• /
• pp.265-280
• /
• 2022

Hwangnyongsa Temple was the large Buddhist monastery of Silla that has existed for about 685 years. The temple underwent a series of excavations from 1976 to 1983, during which it was discovered that its layout consisted of one pagoda and three main dharma halls. This discovery also led to the production of four artistic depictions of the temple at various times from its foundation to its final phase. Previous studies on the architectural layout of Hwangnyongsa Temple are largely focused on the inner sanctuary ("Buddha's Land"). The studies on the temple's main architectural structures may be natural for those who are interested in the origins of and background to its establishment, but the studies on its outer sanctuary ("Sangha's Land") have to come first to acquire a deeper knowledge of the architectural layout of the temple as a whole. To gain a comprehensive understanding of the entire layout of Buddhist monasteries of the Silla dynasty, including both their inner and outer sanctuaries, the studies on Hwangnyongsa Temple are essential as it was once the kingdom's most highly honored temple. The studies on Korean Buddhist monasteries of the Three Kingdoms Period have produced only a limited amount of information concerning the outer sanctuary, resulting in little evidence about the exact scope of the temple's sanctuary. Meanwhile, the excavations of the Hwangnyongsa Temple site have revealed the archaeological features of the walls that divided the monastery and its neighboring facilities, thus helping to delineate the size of the temple site. The excavations have revealed the boundaries between the inner and outer sanctuaries of Hwangnyongsa Temple, as well as the entire temple precincts and the exterior, providing valuable information about the changes made to the layout of the temple. In this study, the main discussion focuses on the changes made to the sanctuary of Hwangnyongsa Temple during the Unified Silla and Goryeo Periods, particularly in relation to the architectural layout of the temple. The discussion is based on a review of the periods in which the Nammunji(South Gate site) was built, which provides tangible evidence about the expansion of the temple to the south, and the walls enclosing the temple precincts on the four sides and the changes that occurred afterwards. As a result, the study concludes that both the inner and outer sanctuaries of the temple probably changed through the 1 st and 3rd. It also concludes that the changes made to the architectural layout of Hwangnyongsa Temple were intended not only to alter the scope of the temple but were also closely associated with the politico-geographical significance of its location at the center of the royal capital of Silla and the urban archaeological remains around it.