• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.2
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• pp.299-306
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• 2016

In this paper, a method of shape prediction of an endoscope handling robot that can imitate a surgeon's behavior using a sensor network is suggested. Unit sensors, which are composed of a 3-axis magnetometer and 3-axis accelerometer pair comprise the network through CAN bus communication. Each unit of the sensor is used to detect the angle of the points in the longitudinal direction of the robot, which is made from a flexible tube. The signals received from the sensor network were filtered using a low pass Butterworth filter. Here, a Butterworth filter was designed for noise removal. Finally, the Euler angles were extracted from the signals, in which the noise was filtered by the low path Butterworth filter. Using this Euler angle, the position of each sensor on the sensor network is estimated. The robot body was assumed to consist of links and joints. The position of each sensor can be assumed to be attached to the center of each link. The position of each link was determined using the Euler angle and kinematics equation. The interpolation was carried out between the positions of the sensors to be able to connect each point smoothly and obtain the final posture of the endoscope in operation. The experimental results showed that the shape of the colonoscope can be visualized using the Euler angles evaluated from the sensor network suggested and the shape of serial link estimated from the kinematics chain model.

• Proceedings of the Korea Water Resources Association Conference
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• 2007.05a
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• pp.1737-1741
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• 2007

Using kinematic wave equation, the influence of moving rainstorms to runoff was analysised with a focus on watershed shapes and rainfall distribution types. Watershed shapes used are the oblong, square and elongated shape, and the distribution types of moving storms used are uniform, advanced and intermediate type. The runoff hydrographs according to the rainfall distribution types were simulated and the characteristics were explored for the storms moving down, up and cross the watershed with various velocity. And the hydrographs were compared in the case of varing the rainstorm intensity and varing the rainstorm length in order to make the same total runoff volume. When the rainstorm intensity was varied the shape, peak time and peak runoff of a runoff hydrograph are significantly influenced by spatial and temporal variability in rainfall and watershed shapes. The peak time of down and upstream moving strorms appeared latest in the case of the elongated shape basin, meanwhile at cross stream moving storms, the peak time of elongated shape basin is earlier than the others. For storms moving downstream peak time was more delayed than for other storm direction in the case of elongated watershed. The runoff volume and time base of the hydrograph decreased with the increasing storm speed.

• Journal of the Society of Naval Architects of Korea
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• v.28 no.2
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• pp.159-173
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• 1991

This paper describes a potential-based panel method formulated for the analysis of a super-cavitating two-dimensional hydrofoil. The method employs normal dipoles and sources distributed on the foil and cavity surfaces to represent the potential flow around the cavitating hydrofoil. The kinematic boundary condition on the wetted portion of the foil surface is satisfied by requiring that the total potential vanish in the fictitious inner flow region of the foil, and the dynamic boundary condition on the cavity surface is satisfied by requiring thats the potential vary linearly, i.e., the tangential velocity be constant. Green's theorem then results in a potential-based integral equation rather than the usual velocity-based formulation of Hess & Smith type. With the singularities distributed on the exact hydrofoil surface, the pressure distributions are predicted with improved accuracy compared to those of the linearized lilting surface theory, especially near the leading edge. The theory then predicts the cavity shape and cavitation number for an assumed cavity length. To improve the accuracy, the sources and dipoles on the cavity surface are moved to the newly computed cavity surface, where the boundary conditions are satisfied again. This iteration process is repeated until the results are converged. Characteristics of iteration and discretization of the present numerical method are much faster and more stable than the existing nonlinear theories. The theory shows good correlations with the existing theories and experimental results for the super-cavitating flow. In the region of small angles of attack, the present prediction shows and excellent comparison with the Geurst's linear theory. For the long cavity, the method recovers the trends of the Wu's nonlinear theory. In the intermediate regions of the short super-cavitation, the method compares very well with the experimental results of Parkin and also those of Silberman.

• Journal of Korean Society of Steel Construction
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• v.23 no.4
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• pp.429-438
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• 2011

In this study, the explicit numerical algorithm was proposed to simulate the stress erection process and ultimate-load analysis of the strarch (stressed arch) system. The strarch system is a unique and innovative structural system and member prestress comprising prefabricated plane truss frames erected through a post-tensioning stress erection procedure. The flexible bottom chord, which has sleeve and gap details, is closed by the reaction force of the prestressing tendon. The prestress imposed on the tendon will enable the strarch system to be erected. This post-tensioning process is called "stress erection process." During this process, plastic rigid-body rotation occurs to the flexible top chord due to the excessive amount of plastic strain, and the structural characteristic is unstable. In this study, the dynamic relaxation method (DRM) was adopted to calculate the nonlinear equilibrium equation of the system, and a displacement-based finite-element-formulated filament beam element was used to simulate the nonlinear behavior of the top chord sections of the strarch system. The section of the filament beam element was composed by the amount of filaments, which can be modeled by various material models. The Ramberg-Osgood and bilinear kinematic elastic plastic material models were formulated for the nonlinear material behaviors of the filaments. The numerical results that were obtained in the present study were compared with the experiment results of the stress erection and with the results of the ultimate-load analysis of the strarch unit frame. The results of the present studies are in good agreement with the previous experiment results, and the explicit DRM enabled the analysis of the post-buckling behaviors of the strarch unit frame.

• Journal of the Korean Association of Geographic Information Studies
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• v.25 no.4
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• pp.136-150
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• 2022

In this study, a comparative review was conducted on how to use RGB images to obtain river topographic information, which is one of the most essential data for eco-friendly river management and flood level analysis. In terms of the topographic information of river zone, to obtain the topographic information of flow section is one of the difficult topic, therefore, this study focused on estimating the river topographic information of flow section through RGB images. For this study, the river topography surveying was directly conducted using ADCP and RTK-GPS, and at the same time, and orthomosiac image were created using high-resolution images obtained by drone photography. And then, the existing developed regression equations were applied to the result of channel topography surveying by ADCP and the band values of the RGB images, and the channel bathymetry in the study area was estimated using the regression equation that showed the best predictability. In addition, CCHE2D flow modeling was simulated to perform comparative verification of the topographical informations. The modeling result with the image-based topographical information provided better water depth and current velocity simulation results, when it compared to the directly measured topographical information for which measurement of the sub-section was not performed. It is concluded that river topographic information could be obtained from RGB images, and if additional research was conducted, it could be used as a method of obtaining efficient river topographic information for river management.

• Journal of the Korean Geotechnical Society
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• v.22 no.9
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• pp.45-59
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• 2006

The successful performance of any numerical geotechnical simulation depends on the accuracy and efficiency of the numerical implementation of constitutive model used to simulate the stress-strain (constitutive) response of the soil. The corner stone of the numerical implementation of constitutive models is the numerical integration of the incremental form of soil-plasticity constitutive equations over a discrete sequence of time steps. In this paper a well known two-surface soil plasticity model is implemented using a generalized implicit return mapping algorithm to arbitrary convex yield surfaces referred to as the Closest-Point-Projection method (CPPM). The two-surface model describes the nonlinear behavior of coarse-grained materials by incorporating a bounding surface concept together with isotropic and kinematic hardening as well as fabric formulation to account for the effect of fabric formation on the unloading response. In the course of investigating the performance of the CPPM integration method, it is proven that the algorithm is an accurate, robust, and efficient integration technique useful in finite element contexts. It is also shown that the algorithm produces a consistent tangent operator $\frac{d\sigma}{d\varepsilon}$ during the iterative process with quadratic convergence rate of the global iteration process.