• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.934-939
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• 2012

This paper proposes a new algorithm for ultrasonic sensors arranged on ring frame to identify obstacles surrounding itself by TOFs (time of flight). The ring frame has multiple channels consisting of a transmitter and a receiver. When the transmitter of a selected channel transmits ultrasonic signal, the TOFs of reflected signals from obstacles are acquired by the receiver of the channel. The process continues for all channels consecutively. Then, by using parabolic curve fitting of TOFs of all channel, the proposed algorithm not only calculates distances from multiple obstacles, but also identifies if the shape of obstacles are point or plane by the coefficients of the curve. By the experiment using 16 ultrasonic transceivers on the ring frame in the environment of two poles and two planes, we show the feasibility of the proposed scheme.

• Steel and Composite Structures
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• v.31 no.6
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• pp.541-558
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• 2019

In Special Concentrically Braced Frames (SCBFs), vertical and horizontal components of the brace force must be resisted by column and beam, respectively but normal force component existing at the gusset plate-to-column and beam interfaces, creates out-of-plane action making distortion in column and beam faces adjacent to the gusset plate. It is a main concern in Hollow Structural Section (HSS) columns and beams where their webs and gusset plate are not in the same plane. In this paper, a new gusset plate passing through the HSS columns and beams, named as through gusset plate, is proposed to study the force transfer mechanism in such gusset plates of SCBFs compared to the case with conventional gusset plates. For this purpose, twelve SCBFs with diagonal brace and HSS columns and twelve SCBFs with chevron brace and HSS columns and beams are considered. For each frame, two cases are considered, one with through gusset plates and the other with conventional ones. Based on numerical results, using through gusset plates prevents distortion and out-of-plane deformation at HSS column and beam faces adjacent to the gusset plate helping the entire column and beam cross-sections to resist respectively vertical and horizontal components of the brace force. Moreover, its application increases energy dissipation, lateral stiffness and strength around 28%, 40% and 32%, respectively, improving connection behavior and raising the resistance of the normal force components at the gusset plate-to-HSS column and beam interfaces to approximately 4 and 3.5 times, respectively. Finally, using such through gusset plates leads to better structural performance particularly for HSS columns and beams with larger width-to-thickness ratio elements.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.99-107
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• 2014

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the depth value using color and depth images. The coordinates transforms are defined using the depth value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between depth and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and depth value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space($3,500mm{\times}3,000mm{\times}2,500mm$).

• Steel and Composite Structures
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• v.31 no.4
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• pp.373-385
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• 2019

This paper presents a useful in-plane structural analysis of low-rise blind-bolted composite frames with semi-rigid joints. Analytical models were used to predict the moment-rotation relationship of the composite beam-to-column flush endplate joints that produced accurate and reliable results. The comparisons of the analytical model with test results in terms of the moment-rotation response verified the robustness and reliability of the model. Abaqus software was adopted to conduct frame analysis considering the material and geometrical non-linearities. The flexural behaviour of the composite frames was studied by applying the lateral loads incorporating wind and earthquake actions according to the Australian standards. A wide variety of frames with a varied number of bays and storeys was analysed to determine the bending moment envelopes under different load combinations. The design models were finalized that met the strength and serviceability limit state criteria. The results from the frame analysis suggest that among lateral loads, wind loads are more critical in Australia as compared to the earthquake loads. However, gravity loads alone govern the design as maximum sagging and hogging moments in the frames are produced as a result of the load combination with dead and live loads alone. This study provides a preliminary analysis and general understanding of the behaviour of low rise, semi-continuous frames subjected to lateral load characteristics of wind and earthquake conditions in Australia that can be applied in engineering practice.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.04a
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• pp.397-408
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• 2004

The aim of this paper is to study the interaction between adjacent buildings with different foundation levels under earthquake loading conditions. Buildings and soil are represented by two different models. In the first case, the building itself is modeled with standard frame elements, whereas the soil behavior is simulated by a special grid model, In the second case, the building and soil are represented by plane stress or plane strain elements. The modulus of elasticity of the ground as well as the varying relations of inertia have a strong influence on the section forces within the buildings. The interaction between the two buildings is demonstrated and discussed via numerical examples using the proposed method.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.86-103
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• 2006

Using a combination of force transducer measurement to quantify net lift force, high frame rate camera to quantify and subtract inertial contributions, and Digital Particle Image Velocimetry (DPIV) to calculate aerodynamic contributions in the spanwise plane, the contribution of spanwise flow to the generation of lift force in wings undergoing a pure flapping motion in hover is shown as a function of flapping angle throughout the flapping cycle. These experiments were repeated at various flapping frequencies and for various wing planform sizes for flat plate and span wise cambered wings. Despite the previous identification of the importance of span wise fluid structures in the generation of lift force in flapping wings throughout the existing body of literature, the direct contribution of spanwise flow to lift force generated has not previously been quantified. Therefore, in the same manner as commonly applied to investigate the chordwise lift distribution across an airfoil in flapping wings, spanwise flow due to bulk flow and rotational fluid dynamic mechanisms will be investigated to validate the existence of a direct component of the lift force originating from the flapping motion in the spanwise plane instead.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.510-514
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• 1994

This paper deals with an application of neural network to camera calibration with wide angle lens and 2-D range finding. Wide angle lens has an advantage of having wide view angles for mobile environment recognition ans robot eye in hand system. But, it has severe radial distortion. Multilayer neural network is used for the calibration of the camera considering lens distortion, and is trained it by error back-propagation method. MLP can map between camera image plane and plane the made by structured light. In experiments, Calibration of camers was executed with calibration chart which was printed by using laser printer with 300 d.p.i. resolution. High distortion lens, COSMICAR 4.2mm, was used to see whether the neural network could effectively calibrate camera distortion. 2-D range of several objects well be measured with laser range finding system composed of camera, frame grabber and laser structured light. The performance of 3-D range finding system was evaluated through experiments and analysis of the results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.11 no.1
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• pp.1-15
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• 1986

Optic flow is 2D velocity projected on the image plane of 3D velocity of a moving surface element. In this paper, we survey techniques computing optic flows from an image time sequence of moving objects and techniques determining 3D velocities and surface structures of the moving objects from the optic flows determined.

• Structural Engineering and Mechanics
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• v.11 no.1
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• pp.17-34
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• 2001

An improved method has been developed for the computation of the section forces and stiffness in nonlinear finite element analysis of RC plane frames. The need for a new approach arises because the conventional technique may have a questionable level of efficiency if a large number of layers is specified and a questionable level of accuracy if a smaller number is used. The proposed technique is based on automatically dividing the section into zones of similar state of stress and tangent modulus and then numerically integrating within each zone to evaluate the sectional stiffness parameters and forces. In the new system, the size, number and location of the layers vary with the state of the strains in the cross section. The proposed method shows a significant improvement in time requirement and accuracy in comparison with the conventional layered approach. The computer program based on the new technique has been used successfully to predict the experimental load-deflection response of a RC frame and good agreement with test and other numerical results have been obtained.

• Journal of the Korean Mathematical Society
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• v.58 no.6
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• pp.1485-1500
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• 2021

A curve is rectifying if it lies on a moving hyperplane orthogonal to its curvature vector. In this work, we extend the main result of [Chen 2017, Tamkang J. Math. 48, 209] to any space dimension: we prove that rectifying curves are geodesics on hypercones. We later use this association to characterize rectifying curves that are also slant helices in three-dimensional space as geodesics of circular cones. In addition, we consider curves that lie on a moving hyperplane normal to (i) one of the normal vector fields of the Frenet frame and to (ii) a rotation minimizing vector field along the curve. The former class is characterized in terms of the constancy of a certain vector field normal to the curve, while the latter contains spherical and plane curves. Finally, we establish a formal mapping between rectifying curves in an (m + 2)-dimensional space and spherical curves in an (m + 1)-dimensional space.