• Journal of the Korean Institute of Gas
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• v.6 no.1 s.17
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• pp.52-58
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• 2002

The PIG(Pipeline Inspection Gauge) is inserted in the pipeline and stores data of pipeline. In order to investigate the status of pipeline, a lot of sensors such as caliper, pressure, IMU and odometer are used. In this paper, the navigation storage data system for PIG is developed. It has master/slave structure for a real time operation. The master system stores data, while the slave system acquire the data from sensors. The performance of the developed system is verified by pull rig test.

• Geomechanics and Engineering
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• v.18 no.3
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• pp.267-275
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• 2019

Tabriz is a large Iranian city and the capital of the East Azerbaijan province. The bed rock of this city is mainly consisted of marl layers. Marl layers have some outcrops in the northern and eastern parts of city that mainly belong to the Baghmisheh formation. Based on their colors, these marls are classified into three types: yellow, green, and gray marls. The city is developing toward its eastern side wherein various civil projects are under construction including tunnels, underground excavation, and high-rise building. In this regard, the swelling behavior assessment of these marls is of critical importance. Also, in lightweight structures with foundation pressure less than swelling pressure, several problems such as walls cracking and jamming of door and windows may occur. In the present study, physical properties and swelling behavior of Baghmisheh marls are investigated. According to the X-ray diffractometer (XRD) results, the marls are mainly composed of Illite, Kaolinite, Montmorillonite, and Chloride minerals. Type and content of clay minerals and initial void ratio have a decisive role in swelling behavior of these marls. The swelling potential of these marls was investigated using one-dimensional odometer apparatus under stress level up to 10 kPa. The results showed that yellow marls have high swelling potential and expansibility compared to the other marls. In addition, green and gray marls showed intermediate and low swelling potential and swelling pressure, respectively.

• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.35-43
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• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• Journal of Advanced Navigation Technology
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• v.20 no.4
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• pp.314-320
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• 2016

Inertial navigation system (INS) has used aided systems and sensors to compensate navigation error. Global navigation satellite system (GNSS), velocity measurement sensor (VMS), and radar are commonly used to aid INS. Land navigation system (LNS) also mainly uses VMS when GNSS cannot be used such as at tunnel or on jammed scenario. A straight drive is required when VMS-aided navigation is used, because there is only speed of straight direction whereas no crossways and vertical directions. In local environment, even an expressway has lack of straight drive which is constraint of VMS-aided navigation algorithm. This paper proposes an enhanced VMS-aided navigation algorithm for LNS with indirect drive by restricting filter update condition. Also, there is a result of vehicle test to prove performance of the proposed algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.8
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• pp.133-140
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• 2002

In this paper, the structure of integrated navigation computer for experiment is proposed. It is designed for considering the real time processing and data storage capacity. It will be used in missile, aircraft, submarine system and experimental vehicle. The I/O device supports IMU, GPS, odometer, altimeter, depth sensor, inclinometer etc. And the main storage device uses the tape device. That can improve the system stability. Therefore it can be used in a high dynamic or shock environment. The embedded linux is used as an Operating System. For the real time capability, sensor data processing and algorithm processing units are seperated. The time synchronization is referenced by IMU data.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.5
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• pp.171-179
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• 2004

Today, the number of vehicle increased rapidly with the development of modem science technology, and it caused serious problems; traffic jam, accident and pollution etc. One of the solve methods these problems it is necessary to develope the vehicle navigation systems and it is already widely used to in field of military etc. Vehicle navigation system can increase the efficiency of traffic flow and offer at a drivers at a best driving conditions. In the vehicle navigation, most important thing is to measure of correct position. There are classifiable as three types. The first is G.P.S., method at artificial satellites which measures the present position and velocity any time, any where in the world at the same time. Secondly, a vehicle can determine its position and path information with a gyroscope and odometer signal, which is called Dead-Reckoning method. Thirdly, hybrid navigation system is the combined of two methods to make utilize the advantage of each navigation system. In the paper, we are analyzed to characteristics at a gyro sensor and introduce at a composition of hybrid navigation system which is combined with the G.P.S., D.R., and map-matching technique. We analyze deeply for the Map-Matching method and explain the coordinate transformation for G.P.S., and the Hybrid navigation algorithm is developed and experimented. Finally, we conclude and comment about our road test results.

• Journal of Environmental Science International
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• v.16 no.2
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• pp.179-185
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• 2007

Nitrous oxide ($N_2O$) is an important trace gas in the atmosphere not only because of its large global warming potential (GWP) but also because of the role in the ozone depletion in the stratosphere. It has been known that soil is the largest natural source of $N_2O$ in global emission. However, anthropogenic sources contributing from industrial section is likely to increase with rising the energy consumption, and transportation as well. In this study, a total of 32 gasoline-powered passenger vehicles (ranging from small to large engine's displacement and also ranging from aged catalyst to new catalyst) were tested on the chassis dynamometer system in order to elucidate the characteristics of $N_2O$ emission from automobiles under different driving modes. Ten different driving modes developed by NIER were adapted for the test. The results show that the $N_2O$ emission decreases logarithmically with increase of vehicle speed over the all test vehicles ($N_2O$) emission = -0.062 Ln (vehicle speed) + $0.289,\;r^2=0.97$). It revealed that the larger engine's displacement, the more $N_2O$ emission were recorded. The correlation between $N_2O$ emission and catalyst aging was examined. It found that the vehicles with aged catalyst (odometer record more than 8,0000km) emit more $N_2O$ than those with new catalyst. Average $N_2O$ emission was $0.086{\pm}0.095\;N_2O-g/km$ (number of samples=210) for the all test vehicles over the test driving modes.

• Geomechanics and Engineering
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• v.8 no.1
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• pp.81-95
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• 2015

The permeability behavior of Ariake clays has been investigated by constant rate of strain (CRS) consolidation tests with vertical or radial drainage. Three types of Ariake clays, namely undisturbed Ariake clay samples from the Saga plain, Japan (aged Ariake clay), clay deposit in shallow seabed of the Ariake Sea (young Ariake clay) and reconstituted Ariake clay samples using the soil sampled from the Saga plain, were tested. The test results indicate that the deduced permeability in the horizontal direction ($k_h$) is generally larger than that in the vertical direction ($k_v$). Under odometer condition, the permeability ratio ($k_h/k_v$) increases with the vertical strain. It is also found that the development of the permeability anisotropy is influenced by the inter-particle bonds and clay content of the sample. The aged Ariake clay has stronger initial inter-particle bonds than the young and reconstituted Ariake clays, resulting in slower increase of $k_h/k_v$ with the vertical strain. The young Ariake clay has higher clay content than the reconstituted Ariake clay, resulting in higher values of $k_h/k_v$. The microstructure of the samples before and after the consolidation test has been examined qualitatively by scanning electron microscopy (SEM) image and semi-quantitatively by mercury intrusion porosimetry (MIP) tests. The SEM images indicate that there are more cut edges of platy clay particles on a vertical plane (with respect to the deposition direction) and there are more faces of platy clay particles on a horizontal plane. This tendency increases with the increase of one-dimensional (1D) deformation. MIP test results show that using a sample with a larger vertical surface area has a larger cumulative intruded pore volume, i.e., mercury can be intruded into the sample more easily from the horizontal direction (vertical plane) under the same pressure. Therefore, the permeability anisotropy of Ariake clays is the result of the anisotropic microstructure of the clay samples.

• Geotechnical Engineering
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• v.14 no.6
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• pp.93-112
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• 1998

In the present study, 2-D consolidation theory of the dredged clay by means of the horizontal drain method is proposed. The horizontal drain method to install the drains such as plastic drain board within the dredged clay is a soil improvement method to accelerate the consolidation by expelling pore water in the vertical direction along the horizontal drains. Based on the finite strain consolidation theory by Gibson et al., the partial differential equation of 2-D consolidation due to the horizontal drain is derived. The consolidation due to the horizontal drain can be illustrated from combined self-weight consolidation effect and consolidation effect by horizontal drains. For the prediction of consolidation settlement and degree of consolidation numerical analysis is suggested on the basis of Dufort-Frankel finite differential algorithm. Also, the analytical procedures proposed in this study are verified by the model tests, and the predictions of the consolidation settlement and degree of consolidation are compared with the results obtained from the tests for the dredged clay gathering at Siwha site in Ansan, Korea. For the predictions, the relationship void ratio vs effective stress and the relationship permeability vs void ratio of the dredged clay are obtained from the odometer tests. Additionally, the parametric study for consolidation settlement by variations of design parameters related with horizontal drain method is carried out. Based on the results of the parametric study, design .charts for the preliminary design are also proposed.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.1
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• pp.64-73
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• 2012

In this paper, a new land preview system using laser range finder based on heave estimation algorithm is proposed. The proposed land preview system is an equipment which measures the shape of forward topography for autonomous vehicle. To implement this land preview system, the laser range finder is generally used because of its wide measuring range and robustness under various environmental condition. Then the current location of the vehicle has to be known to generate the shape of forward topography and sensors based on acceleration such as IMU and accelerometer are generally utilized to measure heave motion in the conventional land preview system. However the drawback to these sensors is that they are too expensive for low-cost vehicle such as mobile robot and their measurement error is increased for mobile robot with abrupt acceleration. In order to overcome this drawback, an algorithm that estimates heave motion using the information of odometer and previously measured topography is proposed in this paper. The proposed land preview system based on the heave estimation algorithm is verified through simulation and experiments for various terrain using a simulator and a real system.