• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.293-300
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• 2020

The purpose of our sensor system is to transparentize the large hydraulic manipulators of a six-ton dual arm excavator from the operator camera view. Almost 40% of the camera view is blocked by the manipulators. In other words, the operator loses 40% of visual information which might be useful for many manipulator control scenarios such as clearing debris on a disaster site. The proposed method is based on a 3D reconstruction technology. By overlaying the camera image from front top of the cabin with the point cloud data from RGB-D (red, green, blue and depth) cameras placed at the outer side of each manipulator, the manipulator-free camera image can be obtained. Two additional algorithms are proposed to further enhance the productivity of dual arm excavators. First, a color correction algorithm is proposed to cope with the different color distribution of the RGB and RGB-D sensors used on the system. Also, the edge overlay algorithm is proposed. Although the manipulators often limit the operator's view, the visual feedback of the manipulator's configurations or states may be useful to the operator. Thus, the overlay algorithm is proposed to show the edge of the manipulators on the camera image. The experimental results show that the proposed transparentization algorithm helps the operator get information about the environment and objects around the excavator.

• Bulletin of the Korean Space Science Society
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• 2004.10b
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• pp.347-350
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• 2004

A space radiation analysis has been used to evaluate an ability of electronic equipment boxes or spacecrafts to endure various radiation effects, so it helps design thicknesses of structure and allocate components to meet the radiation requirements. A comparison study of space radiation dose analysis programs SPENVIS Sectoring Tool (SST) and SIGMA II is conducted through some structure cases, simple sphere shell, box and representative satellite configurations. The results and a discussion of comparison will be given. A general comparison will be shown for understanding those programs. The both programs use the same strategy, solid angle sectoring with ray-tracing method to produce an approximate dose at points in representative simple and complex models of spacecraft structures. Also the particle environment data corresponding to mission specification and radiation transport data are used as input data. But there are distinctions between them. The specification of geometry model and its input scheme, the assignment of dose point and the numbers, the prerequisite programs and ways of representing results will be discussed. SST is a web-based interactive program for sectoring analysis of complex geometries. It may be useful for a preliminary dose assessment with user-friendly interfaces and a package approach. SIGMA II is able to obtain from RSICC (Radiation Safety Information Computational Center) as a FOR-TRAN 77 source code. It may be suitable for either parametric preliminary design or detailed final design, e.g. a manned flight or radiation-sensitive component configuration design. It needs some debugs, recompiling and a tedious work to make geometrical quadric surfaces for actual spacecraft configuration, and has poor documentation. It is recommend to vist RSICC homepage and GEANT4/SSAT homepage.

• Bulletin of the Korean Chemical Society
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• v.32 no.1
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• pp.277-280
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• 2011

We studied the relative stability and atomic structure of five $C_{20}^{2+}$ isomers obtained by two-electron ionization of a $C_{20}$ cage (the smallest fullerene). All the isomers are bond-stretch isomers, i.e., they differ in bond length. In particular, in one of the isomers with Ih symmetry, all the bond lengths are equal. Full geometry optimizations of the dipositive ion $C_{20}^{2+}$ were performed using the hybrid density functional (B3LYP/6-31G(d)) methods. All isomers were found to be true minima by frequency analysis at the level of B3LYP/6-31G(d) under the reinforced tight convergence criterion and a pruned (99,590) grid. The zero-point correction energy for the cage bond-stretch isomers was in the increasing order $D_{2h}<C_{2h}<C_2<T_h<I_h$ of $C_{20}^{2+}$. The energy difference among the isomers of cage dipositive ions was less than that among neutral cage isomers. Our results suggest that these isomers show bond-stretch isomerism and that they have an identical spin state and an identical potential energy curve. Although the predominant electronic configurations of the isomers are similar, the frontier orbital characteristics are different, implying that we could anticipate an entirely different set of characteristic chemical reactions for each type of HOMO and LUMO.

• Journal of the Korean Geographical Society
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• v.46 no.3
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• pp.366-381
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• 2011

A competitive location problem in discrete space is computationally difficult to solve in general because of its combinatorial feature. In this paper, we address an alternative method for solving competitive location problems in discrete space, particularly employing deterministic allocation. The key point of the suggested method is to reducing the number of predefined potential facility sites associated with the size of problem by utilizing geometric concepts. The suggested method was applied to the existing broadband marketplace with increasing competition as an application. Specifically, we compared computational results and spatial configurations of two different sized problems: the problem with the original potential sites over the study area and the problem with the reduced potential sites extracted by a GIS-based geometric algorithm. The results show that the competitive location model with the reduced potential sites can be solved more efficiently, while both problems presented the same optimal locations maximizing customer capture.

• Journal of Satellite, Information and Communications
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• v.9 no.4
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• pp.127-133
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• 2014

In this paper, we present the design, functions and performance analysis of the virtual machine (VM) based on the Lua interpreter for On-Board Control Procedure Execution Environment (OEE). The development of the OEE has been required in order to operate the lunar explorer mission autonomously which is planned by Korea Aerospace Research Institute (KARI) autonomously. The concept of On-Board Control Procedure (OBCP) is already being applied to the deep space missions with a long propagation delay and a limited data transmission capacity since it ensure he autonomy of the mission without the ground intervention. The interpreter is the execution engine in the VM and it interpreters high-level programming codes line by line and executes the VM instructions. So the execution speed is very more slower than that of natively compiled codes. In order to overcome it, we design and implement OEE using register-based Lua interpreter for execution engine in OEE. We present experimental results on a range of additional hardware configurations such as usages of cache and floating point unit. We expect those to utilized to the OBCP scheduling policy and the system with Lua interpreter.

• Journal of Korean Society of Transportation
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• v.26 no.4
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• pp.7-16
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• 2008

Severe congestion is happening at urban freeway off-ramps in Seoul. Major causes of congestion at off-ramps are a shortage of capacity and inefficient signal operations at the downstream intersection at off-ramps. It is necessary to control congestion by improving design or operations in the downstream intersection. In this study, the authors analyzed the case of the Jungdong interchange that was improved for design in the downstream intersection. When a freeway and an arterial road cross, diamond interchanges are usually selected with a single-point urban interchange (SPUI) as an alternative. To compare the effectiveness of a diamond interchange with a SPUI, the authors applied these two configurations to the Jungdong interchange using a simulation. The result of the analysis shows that congestion at off-ramps in diamond interchanges can be reduced by improving signal operations such as the application of "4 phase with overlaps" and that diamond interchanges are more efficient than a SPUI with a frontage road. Efficient operation of the downstream intersection by these findings can minimize congestion of not only the downstream intersection but also the freeway mainline.

• Earthquakes and Structures
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• v.13 no.2
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• pp.165-176
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• 2017

Multi-Axial Testing System (MATS) is a 6-DOF loading system located at National Center for Research on Earthquake Engineering (NCREE) in Taiwan for advanced seismic testing of structural components or sub-assemblages. MATS was designed and constructed for a large variety of structural testing, especially for the specimens that require to be subjected to vertical and longitudinal loading simultaneously, such as reinforced concrete columns and lead rubber bearings. Functionally, MATS consists of a high strength self-reacting frame, a rigid platen, and a large number of servo-hydraulic actuators. The high strength self-reacting frame is composed of two post-tensioned A-shape reinforced concrete frames interconnected by a steel-and-concrete composite cross beam and a reinforced concrete reacting base. The specimen can be anchored between the top cross beam and the bottom rigid platen within a 5-meter high and 3.25-meter wide clear space. In addition to the longitudinal horizontal actuators that can be installed for various configurations, a total number of 13 servo-hydraulic actuators are connected to the rigid platen. Degree-of-freedom control of the rigid platen can be achieved by driving these actuators commanded by a digital controller. The specification and information of MATS in detail are described in this paper, providing the users with a technical point of view on the design, application, and limitation of MATS. Finally, future potential application employing advanced experimental technology is also presented in this paper.

• Nuclear Engineering and Technology
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• v.54 no.9
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• pp.3310-3316
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• 2022

Owing to the rising concerns about the safety of nuclear power plants (NPP), it is essential to study the venturi scrubber in detail, which is a key component of the filtered containment venting system (FCVS). FCVS alleviates the pressurein containment byfiltering and venting out the contaminated air. Themain objective of this research was to perform a CFD investigation of different configurations of a circular, non-submerged, self-priming venturi scrubber to estimate and improve the performance in the removal of elemental iodine from the air. For benchmarking, a mass transfer model which is based on two-film theory was selected and validated by experimental data where an alkaline solution was considered as the scrubbing solution. This mass transfer model was modified and implemented on a unique formation of two self-priming venturi scrubbers in series. Euler-Euler method was used for two-phase modeling and the realizable K-ε model was used for capturing the turbulence. The obtained results showed a remarkable improvement in the removal of radioactive iodine from the air using a series combination of venturi scrubbers. The removal efficiency was improved at every single data point.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.5A
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• pp.477-486
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• 2009

This paper deals with the strongest static arches with the solid regular polygon cross-section. Both span length and volume of arch are always held constant regardless the shape functions of cross-sectional depth of regular polygon. The normal stresses acting on such arches are calculated when both static vertical and horizontal point loads are subjected. By using the calculating results of stresses, the optimal shapes of strongest static arches are obtained, under which the maximum normal stress become to be minimum. For determining the redundant of such indeterminate arches, the least work theorem is adopted. As the numerical results, the configurations, i.e. section ratios, of the strongest static arches are reported in tables and figures. The results of this study can be utilized in the field of the minimum weight design of the arch structures.

• Ecology and Resilient Infrastructure
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• v.10 no.4
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• pp.208-216
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• 2023

The purpose of this study is to present the most appropriate hardware and software configurations to produce a practical SIV (surface image velocimeter). To make a practical SIV, we constructed the system with a CCTV, a water stage gauge, and an analysis software installed on an Android board. The camera captures continuously images for 30 seconds with 2 minute intervals. And the 11-parameter projection method was used in the software that analyzes the captured images to reconstruct the exact measurement points according to the changing water stage. In addition, a spatio-temporal image construction method was developed so that the directions of the images could be arranged in the main flow direction at each measurement point. The surface image velocimeter composed of the proposed method was produced and installed at the Insu Stream, Seoul for a test site. And a result of measurement during a heavy rainfall event showed that the proposed system can measure flow discharge in proper, rapid and continuous manner.