• Tunnel and Underground Space
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• v.10 no.4
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• pp.526-532
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• 2000

The uniaxial compressive strength of rock mass is known as the major factor in the assessment of drillability and the optimum excavation design in full-face tunnel excavation by TBM. Referring to worldwide cases, TBM has been applied mostly to the rock mass within the strength range of 80~250 MPa. Recently, a water way tunnel has been constructed as a part of Milyang dam project by TBM within the rock masses where the rock type is mainly granite with some granophyre, hornfels and andesite. Their uniaxial compressive strengths in extended area are estimated higher than 260 MPa. In this paper, the relation between the penetration rate and the rock mass properties is analyzed and TBM application to the very hard rocks is discussed. As a result that three suggestions to predict the TBM net penetration rate are analyzed, NTH method seems a better approach than other methods in the extremely hard rocks. NTH prediction matches with the results of actual values with the variations of 2~20%. Hardness measurement by Schmidt hammer and RMR estimation are carried out along the L = 5.3 km entire TBM tunnel alignment. The net penetration rate measured monthly is shown to be reciprocally proportional to Schmidt rebound hardness and RMR where coefficients of correlation, $R^2$are 0.705 and 0.777 respectively. As a result, they are good quantitative indices for the prediction of TBM net penetration rate in the extremely hard rocks. Magnitude of in-situ stress has a certain effect on TBM performance, and it is required to measure the in-situ stresses in TBM excavation design.

• 대한공업교육학회지
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• v.40 no.1
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• pp.180-200
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• 2015

The problems current robotic technology education class has are the students with different basic background knowledge levels and the class based on the instructional teaching method. This study shows the implementation of the student teams achievement divisions (STAD) learning model into an introductory robotic technology education class to resolve the problems in the current robotic technology class. The STAD learning model focuses on the ability of each team member with different knowledge levels and make team members help each other through class activities such as assignments and a project. All members get rewarded by their performance output as a team in a course grade. The outputs of STAD learning models were measured by paired sample t-test as pre-test and post-test in terms of students's transition on basic knowledge for robotic technology, students' attitudinal transition on teaching robotic technology class, and students' competencies and self-efficacy on related subject areas. The study participants were 22 pre-service technology teachers at a university. The results show that all four measured areas were improved significantly, compared to pre-test with respect to the means scores of each measurement area. The STAD learning model could be an alternate for the current robotic technology class to deliver the better class outcomes for students under the specific circumstances.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.864-867
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• 2003

GPS (Global Positioning System) made by the Department of Defense in U.S.A is positioning system to use satellite and initially it has been used only for the military forces but open to civilian in about 1987. This system has widely been used for not only surveying land, but also car navigation on the street and means to build up the data of the GIS. With GPS, recently our country is accelerating to make imbeded system and also the study on imbeded system is well under way. For example, Car navigation and the construction of the Seokang bridge between Willson Arch at Han river by using DGPS were evaluated as successful model to lead accurate location with the precision of the cm. The examples of the project performance with GPS has gradually been extended to the each department organization of the local and central government. for the example, It is true that BIS(Bus Information System) is widely spreading out. In addition, the study on the Distribution Maintenance System is expected to be well in progress to take advantage of GPS based on the data base of the NGIS(National Geography Institute System) of the NGI(National Geography Institute). This paper shows that we embodied not only the large imbeded system for car and finding the location in Korean Land Corporation but also the protype of the kinematics Wrist Held which is easily portable to pedestrian, climber and marathon runner.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.

• Journal of Korea Water Resources Association
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• v.56 no.3
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• pp.195-210
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• 2023

Additional deposition and erosion in large rivers in South Korea have continued to occur toward morphological stabilization after massive dredging through the four major river restoration project, subsequently requiring precise bathymetry monitoring. Hyperspectral bathymetry method has increasingly been highlighted as an alternative way to estimate bathymetry with high spatial resolution in shallow depth for replacing classical intrusive direct measurement techniques. This study introduced the conventional Optimal Band Ratio Analysis (OBRA) of hyperspectral bathymetry method, and evaluated the performance in a domestic large river in normal turbid and flow condition. Maximum measurable depth was estimated by applying correlation coefficient and root mean square error (RMSE) produced during OBRA with cascadedly applying cut-off depth, where the consequent hyperspectral bathymetry map excluded the region over the derived maximum measurable depth. Also non-linearity was considered in building relation between optimal band and depth. We applied the method to the Nakdong and Hwang River confluence as a large river case and obtained the following features. First, the hyperspectal method showed acceptable performance in morphological mapping for shallow regions, where the maximum measurable depth was 2.5 m and 1.25 m in the Nakdong and Hwang river, respectively. Second, RMSE was more feasible to derive the maximum measurable depth rather than the conventional correlation coefficient whereby considering various scenario of excluding range of in situ depths for OBRA. Third, highly turbid region in Hwang River did not allow hyperspectral bathymetry mapping compared with the case of adjacent Nakdong River, where maximum measurable depth was down to half in Hwang River.