• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of the Korean Operations Research and Management Science Society
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• v.14 no.1
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• pp.72-79
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• 1989

In this paper we consider the problem of finding an optimal straight line path of moving facility which interacts with a set of existing facilities fixed within a given rectangular area. We present a simple algorithm for rectilinear metric which greatly improves the pervious method and also propose algorithms for Euclidean and squared Euclidean distances.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1457-1463
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• 2018

In recent times, Natural User Interface/Natural User Experience (NUI/NUX) technology has found widespread application across a diverse range of fields and is also utilized for controlling unmanned aerial vehicles (UAVs). Even if the user controls the UAV by utilizing the NUI/NUX technology, it is difficult for the user to easily control the UAV. The user needs an autopilot to easily control the UAV. The user needs a flight path to use the autopilot. The user sets the flight path based on the waypoints. UAVs normally fly straight from one waypoint to another. However, if flight between two waypoints is in a straight line, UAVs may collide with obstacles. In order to solve collision problems, flight records can be utilized to adjust the generated path taking the locations of the obstacles into consideration. This paper proposes a natural path generation method between waypoints based on flight records collected through UAVs flown by users. Bayesian probability is utilized to select paths most similar to the flight records to connect two waypoints. These paths are generated by selection of the center path corresponding to the highest Bayesian probability. While the K-means algorithm-based straight-line method generated paths that led to UAV collisions, the proposed method generates paths that allow UAVs to avoid obstacles.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.04a
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• pp.316-321
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• 1996

The authors has developed the transfer influence coefficient method(TICM) which is an algorithm for the analysis of vibration suitable for a personal computer and applied to many structures such as straight-line beam, plate and shell structures. But TICM can't be applied to the closed loop system and is required extremely much time on the computation of complicate and large structures. Therefore, we now suggest the transfer stiffness coefficient method(TSCM) overcoming these two problems, which consists on the concept of the substructure synthesis method and transfer influence coefficient method. TSCM is formulated for the free vibration analyses of a straight-line distributed beam structure and confirmed by the results of numerical computation to the numerical high accuracy and the high speed.

• International Journal of Highway Engineering
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• v.19 no.3
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• pp.19-30
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• 2017

PURPOSES : This study proposes the road asset valuation approach using alternative depreciation methods. It has become necessary to have asset management system according to the adoption of accrual basis accounting for governmental financial reporting and the amendment of the road act. Therefore, it is very important to analyze the effect of depreciation methods on road asset value as a basic research for road asset management system. METHODS : The Ministry of Strategy and Finance (MOSF) has mainly performed road asset valuation based on Write down Replacement Cost and Straight Line depreciation method. This study suggests some appropriate asset valuation methods for road assets through case analysis using three depreciation methods: Consumption-based depreciation method, Condition-based depreciation method, and Straight Line depreciation method. A road asset valuation data of national highway route 1 (year 2014) is used to analyze the effect of three depreciation methods on the road asset value. Road assets include land and structures (pavement, bridge, and tunnel). This study mainly focuses on structures such as bridges and tunnels, because according to governmental accounting standards, land and road pavement assets do not depreciate. RESULTS : The main results of this study are as follows. Firstly, overall asset value of national highway route 1 was estimated at 6.97 trillion KRW when MOSF's method (straight-line depreciation method) is applied. Secondly, asset value was estimated at 4.85 trillion KRW on application of consumption-based depreciation method. Thirdly, asset value was estimated at 4.37 trillion KRW when condition-based depreciation method is applied. Therefore, either consumption-based or condition-based depreciation methods would be more appropriate than straight-line depreciation method if we can use the condition data of road assets including land that are available in real time. CONCLUSIONS : Since road assets such as pavements, bridges, and tunnels have various patterns of deterioration and condition monitoring period, it is necessary to consider a specific valuation method according to the condition of each road asset. Firstly, even though road pavements do not depreciate, asset valuation through condition-based depreciation method would be more appropriate when requirements for application of non-depreciation approach are not satisfied. Since bridge and tunnel facilities show various patterns of deterioration and condition monitoring period by type and condition level, consumption-based depreciation method based on deterioration model would be appropriate. Therefore, it is necessary to have a reasonable asset management system to apply condition-based depreciation method and a periodic condition investigation to manage road assets well.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.195-199
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• 2005

Semi automatic welding method to use carriage for welding at large size block manufacture welding process of present shipbuilding industry is used much. Carriage is device that transfer welding torch in horizontal fillet weld here, but because it is no function that chase welding like robot welding method, use can be impossible in curved line welding, and simply use in straight line welding. Also, because it is no function that chase welding, though welding mistake corrects this happening often in straight line welding, much times and expense are cost. Added welding chase sensor and 80C196KC microcontroller that use strain gauge to carriage that is using present in paper that see hereupon and manufacture a private line model and container box model welding because developing system that can chase welding automatically straight line and curved line welding establishing and investigate about chase phenomenon.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.732-736
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• 2009

In this paper we focus on EPI (Epipolar-Plane Image), the horizontal cross section of Ray-Space, and we propose a novel method that chooses objects we want and edits scenes by using multi-view images. On the EPI acquired by camera arrays uniformly distributed along a line, all the objects are represented as straight lines, and the slope of straight lines are decided by the distance between objects and camera plane. Detecting a straight line of a specific slope and removing it mean that an object in a specific depth has been detected and removed. So we propose a scheme to make a layer of a specific slope compete with other layers instead of extracting layers sequentially from front to back. This enables an effective removal of obstacles, object manipulation and a clearer 3D scene with what we want to see will be made.

• Journal of Korean Physical Therapy Science
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• v.24 no.1
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• pp.49-58
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• 2017

Purpose: To determine the effect of Functional movement screen(FMS) of Healthy subjects. Method: 18 subjects were randomly assigned toFunctional movement screen test. To measure functional movement screen(deep squat, hurdle step, in line lunge, shoulder mobility reaching, active straight leg raise, trunk stability push up, rotary stability). Result: FMS scores were deep squat 2.61score, right hurdle step 2.67 score, lift hurdle step 2.83 score, in line lunge 2.83 score, right shoulder mobility 2.67 score, left shoulder mobility 2.61 score, right active straight-leg raise 3.00 score, left active straight-leg raise 3.00 score, trunk stability push up 2.33 score, rotary stability 1.94 score. Conclusion: FMS can improve functional movement in healthy adults.

• Journal of the Society of Disaster Information
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• v.19 no.2
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• pp.439-450
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• 2023

Purpose: When conducting fire inspections in Korea, there are objects that violate the fire protection regulations that require a straight line distance of more than 5m between the air inlet and the discharge section if the floor area is less than 400m2, and this paper analyzes the reasons and conducts a model experimental study to support the need for related fire protection regulations. Method: Domestic firefighting objects were investigated and confirmed, domestic and foreign papers, policies, and laws and regulations were examined, and spaces with a straight line distance of less than 5m and more than 5m between the air inlet and discharge section were selected and analyzed through model experiments in a living room of less than 400m² . Result: When examining the domestic fire protection regulations (NFPCNational Fire Perpormance Code), the separation distance between the air inlet and the outlet is more than 5m when the floor area is less than 400m² , but as a result of the actual investigation, it was confirmed that there are firefighting objects that cannot keep the separation distance. In addition, when a paper review of overseas fire protection regulations for a straight line distance of more than 5m showed that there was no regulation on the straight line distance between the air inlet and the discharge section, the model experiment showed that the discharge speed was better when the straight line distance between the air inlet and the discharge section was more than 5m than when it was less than 5m. Conclusions: In this study, when examining overseas fire laws and regulations by comparing the performance of the fire protection ratio for the straight line distance between the air inlet and the exhaust section, there is no mandatory regulation for the straight line distance, but the domestic fire protection regulations (NFPCNational Fire Perpormance Code) require more than 5m. It is hoped that this will be reflected in the design stage in the future, and a foundation will be laid to reduce the responsibility and burden of fire superintendents.