• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.92-98
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• 2014

This paper proposes a hermite spline based D* algorithm for effective path planning of mobile robot to improve the detecting speed. In conventional path planning research, a robot is supposed to pass through predetermined centers of grid partitions of area. However it doesn't guarantee the optimal path during its navigation. In addition, a robot is hard to avoid obstacles effectively. The proposed algorithm in this paper makes use of stochastic characteristics of nonholonomic mobile robot and estimation of shortest path to curvature movement of the robot. The performance evaluation of the improved spline D* algorithm performed through simulation shows its effectiveness. Moreover, the experiment verifies that a robot can find the shortest path by building the curve paths while it is moving on the path in spline.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.1
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• pp.9-15
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• 2016

Source localization has developed in various fields of signal processing including radar, sonar, and wireless communication, etc. Source localization can be found by estimating the time difference of arrival between the each of sensors. Several methods like the NLS(Nonlinear Least Square) cost function have been proposed in order to improve the performance of time delay estimation. In this paper, we propose a clustering method using the four sensors with the same aperture as previous methods of using the three sensors. Clustering method can be improved the source localization performance by grouping similar estimated values. The performance of source localization using clustering method is evaluated by Monte Carlo simulation.

• Proceedings of the Korea Water Resources Association Conference
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• 2016.05a
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• pp.429-429
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• 2016

하천에 포함되는 각종 시설물을 설계하는데 있어 기준이 되는 하천설계기준에는 대부분 하천의 대표유속을 통해 시설물의 규모와 형태를 결정하는 공식이 제시되어 있다. 이러한 대표유속의 경우 대부분 평균유속을 사용하고 있으며 하천의 형태와 시설 등에 의한 영향으로 국부적으로 유속이 증가하는 경우 유속보정계수를 이용하여 평균유속을 보정하여 사용한다. 이러한 유속보정계수는 만곡, 세굴, 저수로 간섭, 근고공 및 수제공 등에 적용되며 본 연구에서는 하천의 곡률에 의한 유속보정계수를 수치모의를 통해 검증하고자 한다. 하도 중심의 곡률반경의 변화에 따른 평균 유속과 국부유속의 차이를 계산하고 기 제시된 보정계수 산정식과 비교하여 산정식의 활용성에 대한 검증을 수행하였다. 본 연구를 통해 유속보정계수의 중요성과 활용성을 제고하고 하천시설물의 설계 시에 평균유속이 아닌 보정된 대표유속을 활용한다면 하천시설물에 대한 안전성을 향상시킬 수 있을 것으로 예상된다.

• International Journal of Concrete Structures and Materials
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• v.9 no.3
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• pp.369-379
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• 2015

Friction in a post-tensioning system has a significant effect on the distribution of the prestressing force of tendons in prestressed concrete structures. However, attempts to derive friction coefficients using conventional electrical resistance strain gauges do not usually lead to reliable results, mainly due to the damage of sensors and lead wires during the insertion of strands into the sheath and during tensioning. In order to overcome these drawbacks of the existing measurement system, the Smart Strand was developed in this study to accurately measure the strain and prestressing force along the strand. In the Smart Strand, the core wire of a 7-wire strand is replaced with carbon fiber reinforced polymer in which the fiber Bragg grating sensors are embedded. As one of the applications of the Smart Strand, friction coefficients were evaluated using a full-scale test of a 20 m long beam. The test variables were the curvature, diameter, and filling ratio of the sheath. The analysis results showed the average wobble and curvature friction coefficients of 0.0038/m and 0.21/radian, respectively, which correspond to the middle of the range specified in ACI 318-08 in the U.S. and Structural Concrete Design Code in Korea. Also, the accuracy of the coefficients was improved by reducing the effective range specified in these codes by 27-34 %. This study shows the wide range of applicability of the developed Smart Strand system.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.13 no.3
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• pp.155-161
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• 1993

It is usually very expensive and often impractical to extend a load test on a large pile until collapse. Many graphical or mathematical methods have been attempted to estimate the bearing capacity from the results of a vertical load test without having to load the pile to failure. According to Fellenius, the failure value must be based on some mathematical rule and generate a repeatable value that is independent of scale relations and the opinions of the individual interpreter. This study presents the method which may estimate the failure load using the maximum curvature to apply Kondner's theory from the results of a loading test which cannot be extended until the failure load is reached.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.42 no.3
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• pp.661-672
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• 2017

This paper introduces the NLSE(Nonlinear Least Squared Estimator) using curved LOBs(Line Of Bearings) considering the earth curvature based on sphere to avoid the map conversion distortion and minimize the estimation error. This paper suggests a method improving a performance of the NLSE using curved LOBs by using an ellipsoid model. The analysis of the simulation results shows that the NLSE using curved LOBs has better performance than the conventional triangulation method and can improve its performance using a suggested method.

• Structural Engineering and Mechanics
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• v.73 no.5
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• pp.529-542
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• 2020

As limited well-documented experimental data are available for assessing the attributes of different deformation components of flanged walls, few appropriate models have been established for predicting the inelastic responses of flanged walls, especially those of asymmetrical flanged walls. This study presents the experimental results for three large-scale T-shaped reinforced concrete walls and examines the variations in the flexural, shear, and sliding components of deformation with the total deformation over the entire loading process. Based on the observed deformation behavior, a simple model based on moment-curvature analysis is established to estimate flexural deformations, in which the changes in plastic hinge length are considered and the deformations due to strain penetration are modeled individually. Based on the similar gross shapes of the curvature and shear strain distributions over the wall height, a proportional relationship is established between shear displacement and flexural rotation. By integrating the deformations due to flexure, shear, and strain penetration, a new load-deformation analytical model is proposed for flexure-dominant flanged walls. The proposed model provides engineers with a simple, accurate modeling tool appropriate for routine design work that can be applied to flexural walls with arbitrary sections and is capable of determining displacements at any position over the wall height. By further simplifying the analytical model, a simple procedure for estimating the ultimate displacement capacity of flanged walls is proposed, which will be valuable for performance-based seismic designs and seismic capacity evaluations.

• Journal of the Korean Society for Railway
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• v.20 no.2
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• pp.275-287
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• 2017

During the feasibility study of new rail lines, maintenance cost of railway infrastructure has mostly been estimated based on the track length and on simplified parameters; however, the estimation reliability can be improved by employing the correction factor from UIC 715, as well as the line classification in UIC 714. The correlations between maintenance cost and various parameters such as weighted track length based on line classification, radius of curvature, gradient and worn -out rate have been analyzed according to the case studies. Prediction of the maintenance cost has been carried out using the cost data, which were representative of the whole cost data; as a result, it was demonstrated that a cost model based on the line classification and the correction factor was more reliable than the existing models. Furthermore, possibilities of using data from both the track measurement vehicle and from the maintenance information system, which are under development, have been investigated and, based on this investigation, a combined cost model using line classification, radius of curvature, gradient and worn-out rate, among other factors, will be proposed in the near future.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.5A
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• pp.487-494
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• 2009

Friction coefficients of the prestressing tendon are the basic information required to control the prestressing force introduced to PSC structure during jacking. However, the friction coefficients show considerable differences depending on the specifications, causing much confusion to designers. In this study, the ranges of the friction coefficients presented in domestic and foreign specifications are compared together to clarify the differences. Then, a procedure is proposed that can be used to estimate the wobble and curvature friction coefficients from field data such as elongation and prestressing force and from theory related to the friction. The procedure is applied to various tendon profiles of several PSC bridges constructed by ILM, FCM and MSS. The resulting values are compared with those presented in some specifications and assumed in jacking and a reasonable range of the friction coefficient is discussed. Lift-off tests are also performed in some bridges to further verify the results. The resulting wobble friction coefficients are not as small as those presented in AASHTO specifications but range from the lower limit to mid point of domestic specifications, while the curvature friction coefficients approach or slightly exceed the upper limit.

• Environmental and Resource Economics Review
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• v.22 no.3
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• pp.499-520
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• 2013

This study proposes an iterative approach to the estimation of the marginal abatement costs of undesirable outputs by computing the slope of the efficient production possibilities frontier on the basis of the efficient projection points generated by the directional output distance function approach due to Fare et al. (2005) based on duality theory. In case of the latter methodology, the estimated marginal abatement costs differ significantly depending on the choice of the directional output vector. In addition, depending on the curvature of the underlying PPF the efficient projection points may be located at a significant distance away from their actually observed counterparts. While it would be more logical to estimate marginal abatement costs as a PPF slope at a point corresponding to the actually observed emissions level, the methodology based on duality theory is likely to produce unstable results due to the problems associated with applying the theorem of implicit function differentiation. Since our methodology is not based on duality theory, our results are immune to both of these problems. We apply our methodology to a sample of Western European countries for the period of 1995-2011 to illustrate our approach.