• Smart Structures and Systems
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• v.26 no.5
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• pp.641-656
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• 2020

The finite element solutions of thermal buckling load values of the graded sandwich curved shell structure are reported in this research using a higher-order kinematic model including the shear deformation effect. The numerical buckling temperature has been computed using an in-house specialized code (MATLAB environment) prepared in the framework of the current mathematical formulation. In addition, the mathematical model includes the excess structural distortion under the influence of elevated environment via Green-Lagrange nonlinear strain. The corresponding eigenvalue equation has been solved to predict the critical buckling temperature of the graded sandwich structure. The numerical stability and the accuracy of the current solution have been confirmed by comparing with the available published results. Thereafter, the model is extended to bring out the influences of structural parameters i.e. the curvature ratio, core-face thickness ratio, support conditions, power-law indices and sandwich types on the thermal buckling behavior of graded sandwich curved shell panels.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.2
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• pp.223-229
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• 2017

Recently, robotic bin-picking tasks have drawn considerable attention, because flexibility is required in robotic assembly tasks. Generally, stereo camera systems have been used widely for robotic bin-picking, but these have two limitations: First, computational burden for solving correspondence problem on stereo images increases calculation time. Second, errors in image processing and camera calibration reduce accuracy. Moreover, the errors in robot kinematic parameters directly affect robot gripping. In this paper, we propose a method of correcting the bin-picking error by using trinocular vision system which consists of two stereo cameras andone hand-eye camera. First, the two stereo cameras, with wide viewing angle, measure object's pose roughly. Then, the 3rd hand-eye camera approaches the object, and corrects the previous measurement of the stereo camera system. Experimental results show usefulness of the proposed method.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.39-47
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• 2014

Odometry using wheel encoders is one of the fundamental techniques for the pose estimation of wheeled mobile robots. However, odometry has a drawback that the position errors are accumulated when the travel distance increases. Therefore, position errors are required to be reduced using appropriate calibration schemes. The UMBmark method is the one of the widely used calibration schemes for two wheel differential drive robots. In UMBmark method, it is assumed that odometry error sources are independent. However, there is coupled effect of odometry error sources. In this paper, a new calibration scheme by considering the coupled effect of error sources is proposed. We also propose the test track design for the proposed calibration scheme. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed calibration scheme.

• Journal of the Korean GEO-environmental Society
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• v.16 no.5
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• pp.13-25
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• 2015

This paper proposes an extended model evaluation method that considers not only the model performance but also the model structure and parameter uncertainties in hydrologic modeling. A simple reservoir model (SFM) and distributed kinematic wave models (KWMSS1 and KWMSS2 using topography from 250-m, 500-m, and 1-km digital elevation models) were developed and assessed by three evaluative criteria for model performance, model structural stability, and parameter identifiability. All the models provided acceptable performance in terms of a global response, but the simpler SFM and KWMSS1 could not accurately represent the local behaviors of hydrographs. Moreover, SFM and KWMSS1 were structurally unstable; their performance was sensitive to the applied objective functions. On the other hand, the most sophisticated model, KWMSS2, performed well, satisfying both global and local behaviors. KMSS2 also showed good structural stability, reproducing hydrographs regardless of the applied objective functions; however, superior parameter identifiability was not guaranteed. A number of parameter sets could result in indistinguishable hydrographs. This result indicates that while making hydrologic models complex increases its performance accuracy and reduces its structural uncertainty, the model is likely to suffer from parameter uncertainty.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.2
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• pp.48-55
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• 2006

Performance characteristics of the position-domain Hatch filter is analyzed for differential global navigation satellite systems. It is shown that the position-domain Hatch filter generates white measurement residual sequences, which is beneficial property for fault detection. It is also shown that the position-domain Hatch filter yields more accurate a priori state estimate than the position-domain Kalman-type filter. Thus, it can be concluded that the position-domain Hatch filter is beneficial in wide application areas where fault-tolerance and accuracy are required at the same time.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.10a
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• pp.348-350
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• 2012

현재 국토해양부에서 전국을 대상으로 실시하고 있는 지상파 DMB 기반 DGPS 실험방송의 정확도를 PC기반 수신 시스템과 내비게이션 단말을 이용하여 평가하였다. 정확도 평가를 위한 지역은 인천 송도 신도시와 서울 반포지역으로, 두 지역에 측위 경로를 선정하여 이동측위를 실시하였으며 각각 GPS 단독측위와 DMB 기반 DGPS를 이용한 측위 결과를 비교하였다. 먼저 위치보정정보의 송수신을 위하여 개발된 PC 기반 수신 시스템을 이용한 정확도 평가 결과는 송도에서 GPS 단독측위의 경우 2.5m의 수평오차가 발생하였고, DMB 기반 DGPS는 1.5m의 수평오차가 발생하였다. 또한 반포지역에서는 GPS 단독에서 2.0m, DMB기반 DGPS에서는 0.8m 수평오차가 발생하였다. 앞서 PC 기반 수신 시스템을 통해 검증 된 알고리즘을 구현한 DMB 기반 DGPS 샘플 내비게이션 단말을 이용하여 동일한 방법으로 정확도를 평가하였고 본 논문에서 그 결과를 소개한다.

• Computers and Concrete
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• v.25 no.4
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• pp.303-310
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• 2020

In this research, a hybrid mathematical model is derived using the higher-order polynomial kinematic model in association with soft computing technique for the prediction of best fiber volume fractions and the minimal mass of the layered composite structure. The optimal values are predicted further by taking the frequency parameter as the constraint and the projected values utilized for the computation of the eigenvalue and deflections. The optimal mass of the total layered composite and the corresponding optimal volume fractions are evaluated using the particle swarm optimization by constraining the arbitrary frequency value as mass/volume minimization functions. The degree of accuracy of the optimal model has been proven through the comparison study with published well-known research data. Further, the predicted values of volume fractions are incurred for the evaluation of the eigenvalue and the deflection data of the composite structure. To obtain the structural responses i.e. vibrational frequency and the central deflections the proposed higher-order polynomial FE model adopted. Finally, a series of numerical experimentations are carried out using the optimal fibre volume fraction for the prediction of the optimal frequencies and deflections including associated structural parameter.

• Steel and Composite Structures
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• v.34 no.2
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• pp.279-288
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• 2020

The computational post-buckling strength of the tilted sandwich composite shell structure is evaluated in this article. The computational responses are obtained using a mathematical model derived using the higher-order type of polynomial kinematic in association with the through-thickness stretching effect. Also, the sandwich deformation behaviour of the flexible soft-core sandwich structural model is expressed mathematically with the help of a generic nonlinear strain theory i.e. Green-Lagrange type strain-displacement relations. Subsequently, the model includes all of the nonlinear strain terms to account the actual deformation and discretized via displacement type of finite element. Further, the computer code is prepared (MATLAB environment) using the derived higher-order formulation in association with the direct iterative technique for the computation of temperature carrying capacity of the soft-core sandwich within the post-buckled regime. Further, the nonlinear finite element model has been tested to show its accuracy by solving a few numerical experimentations as same as the published example including the consistency behaviour. Lastly, the derived model is utilized to find the temperature load-carrying capacity under the influences of variable factors affecting the soft-core type sandwich structural design in the small (finite) strain and large deformation regime including the effect of tilt angle.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.5
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• pp.397-402
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• 2019

Recently, with the emergence of autonomous vehicles and the increasing interest in safety, a variety of research has been being actively conducted to precisely estimate the position of a vehicle by fusing sensors. Previously, researches were conducted to determine the location of moving objects using GNSS (Global Navigation Satellite Systems) and/or IMU (Inertial Measurement Unit). However, precise positioning of a moving vehicle has lately been performed by fusing data obtained from various sensors, such as LiDAR (Light Detection and Ranging), on-board vehicle sensors, and cameras. This study is designed to enhance kinematic vehicle positioning performance by using feature-based recognition. Therefore, an analysis of the required precision of the observations obtained from the images has carried out in this study. Velocity and attitude observations, which are assumed to be obtained from images, were generated by simulation. Various magnitudes of errors were added to the generated velocities and attitudes. By applying these observations to the positioning algorithm, the effects of the additional velocity and attitude information on positioning accuracy in GNSS signal blockages were analyzed based on Kalman filter. The results have shown that yaw information with a precision smaller than 0.5 degrees should be used to improve existing positioning algorithms by more than 10%.

• Proceedings of the Korea Water Resources Association Conference
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• 2018.05a
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• pp.10-10
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• 2018

기후변화로 인한 집중호우의 빈도 및 강도가 증가하여 치수 구조물의 설계 홍수 빈도를 초과하는 피해가 발생하고 있다. 본 연구에서는 이러한 침수 피해를 저감하기 위해 수치예보자료를 활용한 홍수 예 경보시스템의 적용성을 비교 평가하였다. 수치예보자료는 국내 기상청에서 제공하는 국지예보모델(LDAPS)과 일본 기상청의 중규모모델(Meso-scale Model ; MSM)을 이용하였으며, 남강댐 유역 내의 산청 유역에 대해 태풍 및 정체 전선 등 3 개의 강우사상을 선정하였다. 강우유출 해석에는 분포형 수문 모형인 KWMSS(Kinematic Wave Method for Subsurface and Surface)를 이용하였다. 그 결과, LDAPS와 MSM 모두 강우발생 유무를 잘 재현하였다. 특히, 광역적 강우인 태풍사상에 대해 강우 예측에서 비교적 높은 정확도를 나타내었다. 강우 예측의 정확도 향상을 위해 강우장의 공간 변위를 고려하여 앙상블 강우 분포를 적용한 결과, 강우 예측의 정확도가 향상되는 것으로 나타났다. 홍수 예측의 경우 두 수치예보자료 모두 유출 패턴을 잘 재현하였다. 앙상블 홍수 예측 결과, 단일 강우 자료를 통한 홍수 예측에서의 예측 불확실성을 개선하는 것으로 나타났다. 3개의 강우 사상에 대해 MSM의 예측 결과가 LDAPS의 예측 결과보다 비교적 높은 상관관계를 나타내었다. 본 연구를 통해 강우 및 홍수 예측에 수치예보자료의 적용 가능성이 있다고 판단되며, 홍수 예 경보의 기초자료로 활용성이 있다고 판단된다.