• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1445-1456
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• 2018

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

• Smart Structures and Systems
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• v.23 no.5
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• pp.479-493
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• 2019

In this paper, the interaction between notch and micro pore under uniaxial compression has been performed experimentally and numerically. Firstly calibration of PFC2D was performed using Brazilian tensile strength, uniaxial tensile strength and biaxial tensile strength. Secondly uniaxial compression test consisting internal notch and micro pore was performed experimentally and numerically. 9 models consisting notch and micro pore were built, experimentally and numerically. Dimension of these models are 10 cm*1 cm*5 cm. the length of joint is 2 cm. the angularities of joint are $30^{\circ}$, $45^{\circ}$ and $60^{\circ}$. For each joint angularity, micro pore was situated 2 cm above the lower tip of the joint, 2 cm above the middle of the joint and 2 cm above the upper of the joint, separately. Dimension of numerical models are 5.4 cm*10.8 cm. The size of the cracks was 2 cm and its orientation was $30^{\circ}$, $45^{\circ}$ and $60^{\circ}$. Diameter of pore was 1cm which situated at the upper of the notch i.e., 2 cm above the upper notch tip, 2 cm above the middle of the notch and 2 cm above the lower of the notch tip. The results show that failure pattern was affected by notch orientation and pore position while uniaxial compressive strength is affected by failure pattern.

• Ocean Systems Engineering
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• v.10 no.4
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• pp.399-414
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• 2020

A floating bridge is an innovative solution for deep-water and long-distance crossing. This paper presents a curved floating bridge's dynamic behaviors under the wind, wave, and current loads. Since the present curved bridge need not have mooring lines, its deep-water application can be more straightforward than conventional straight floating bridges with mooring lines. We solve the coupled interaction among the bridge girders, pontoons, and columns in the time-domain and to consider various load combinations to evaluate each force's contribution to overall dynamic responses. Discrete pontoons are uniformly spaced, and the pontoon's hydrodynamic coefficients and excitation forces are computed in the frequency domain by using the potential-theory-based 3D diffraction/radiation program. In the successive time-domain simulation, the Cummins equation is used for solving the pontoon's dynamics, and the bridge girders and columns are modeled by the beam theory and finite element formulation. Then, all the components are fully coupled to solve the fully-coupled equation of motion. Subsequently, the wet natural frequencies for various bending modes are identified. Then, the time histories and spectra of the girder's dynamic responses are presented and systematically analyzed. The second-order difference-frequency wave force and slowly-varying wind force may significantly affect the girder's lateral responses through resonance if the bridge's lateral bending stiffness is not sufficient. On the other hand, the first-order wave-frequency forces play a crucial role in the vertical responses.

• Computers and Concrete
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• v.26 no.6
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• pp.565-576
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• 2020

Experimental and discrete element methods were used to investigate the effects of angle of Y shape non-persistent joint on the tensile behaviour of joint's bridge area under brazilian test. concrete samples with diameter of 100 mm and thikness of 40 mm were prepared. Within the specimen, two Y shape non-persistent notches were provided. The large notch lengths were 6 cm, 4 cm and 2 cm. the small notch lengths were 3 cm, 2 cm and 1 cm. The angle of larger notch related to horizontal axis was 0°, 30°, 60°, 90°. Totally, 12 different configuration systems were prepared for Y shape non-persistent joints. Also, 18 models with different Y shape non-persistent notch angle and notch length were prepared in numerical model. The large notch lengths were 6 cm, 4 cm and 2 cm. the small notch lengths were 3 cm, 2 cm and 1 cm. The angle of larger notch related to horizontal axis was 0, 30, 60, 90, 120 and 150. Tensile strength of model materil was 1 MPa. The axial load was applied to the model by rate of 0.02 mm/sec. This testing showed that the failure process was mostly governed by the Y shape non-persistent joint angle and joint length. The tensile strengths of the specimens were related to the fracture pattern and failure mechanism of the discontinuities. It was shown that the tensile behaviour of discontinuities is related to the number of the induced tensile cracks which are increased by increasing the joint length and joint angle. The minimum tensile strength occurs when the angle of larger joint related to horizontal axis was 60°. Also, the maximum compressive strength occurs when the angle of larger joint related to horizontal axis was 90°. The tensile strength was decreased by increasing the notch length. The failure pattern and failure strength are similar in both methods i.e. the experimental testing and the numerical simulation methods.

• KIPS Transactions on Computer and Communication Systems
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• v.10 no.2
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• pp.53-58
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• 2021

In this paper, an alternative finite memory structure(FMS) smoothing filter is developed for discrete-time state-space model with a control input. To obtain the FMS smoothing filter, unbiasedness will be required beforehand in addition to a performance criteria of minimum variance. The FMS smoothing filter is obtained by directly solving an optimization problem with the unbiasedness constraint using only finite measurements and inputs on the most recent window. The proposed FMS smoothing filter is shown to have intrinsic good properties such as deadbeat and time-invariance. In addition, the proposed FMS smoothing filter is shown to be equivalent to existing FMS filters according to the delay length between the measurement and the availability of its estimate. Finally, to verify intrinsic robustness of the proposed FMS smoothing filter, computer simulations are performed for a temporary model uncertainty. Simulation results show that the proposed FMS smoothing filter can be better than the standard FMS filter and Kalman filter.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.5
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• pp.1610-1629
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• 2021

Failures frequently occurred in manufacturing machines due to complex and changeable manufacturing environments, increasing the downtime and maintenance costs. This manuscript develops a novel deep learning-based method named Multi-Domain Convolutional Neural Network (MDCNN) to deal with this challenging task with vibration signals. The proposed MDCNN consists of time-domain, frequency-domain, and statistical-domain feature channels. The Time-domain channel is to model the hidden patterns of signals in the time domain. The frequency-domain channel uses Discrete Wavelet Transformation (DWT) to obtain the rich feature representations of signals in the frequency domain. The statistic-domain channel contains six statistical variables, which is to reflect the signals' macro statistical-domain features, respectively. Firstly, in the proposed MDCNN, time-domain and frequency-domain channels are processed by CNN individually with various filters. Secondly, the CNN extracted features from time, and frequency domains are merged as time-frequency features. Lastly, time-frequency domain features are fused with six statistical variables as the comprehensive features for identifying the fault. Thereby, the proposed method could make full use of those three domain-features for fault diagnosis while keeping high distinguishability due to CNN's utilization. The authors designed massive experiments with 10-folder cross-validation technology to validate the proposed method's effectiveness on the CWRU bearing data set. The experimental results are calculated by ten-time averaged accuracy. They have confirmed that the proposed MDCNN could intelligently, accurately, and timely detect the fault under the complex manufacturing environments, whose accuracy is nearly 100%.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.12
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• pp.1700-1709
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• 2019

Recently, many researches have been under way to develop systems (services) to support the safety navigation of ships, and in these studies, common difficulties have been encountered in assessing the usefulness and effectiveness of the developed system. To solve these problems, we propose the DEVS-based ship navigation modeling and simulation technique. Following the preceding study, we analyze the COLREG rules and reflected to officer and helmsman agent models for decision making. Also we propose estimation and interpolation techniques to adopt the motion characteristics of the actual vessel to simulation. In addition, we implement the navigation simulation system to reflect the designed proposed methods, and we present five-scenarios to verify the developed simulation system. And we conduct simulations according to each scenario and the results were reconstructed. The simulation results confirm that the components modelled in each scenario enable to operate according to the navigation relationships.

• Nuclear Engineering and Technology
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• v.54 no.8
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• pp.3059-3072
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• 2022

A Jacobian-Free Newton Krylov Two-Nodal Coarse Mesh Finite Difference algorithm based on Nodal Expansion Method (NEM_TNCMFD_JFNK) is successfully developed and proposed to solve the three-dimensional (3D) and multi-group reactor physics models. In the NEM_TNCMFD_JFNK method, the efficient JFNK method with the Modified Incomplete LU (MILU) preconditioner is integrated and applied into the discrete systems of the NEM-based two-node CMFD method by constructing the residual functions of only the nodal average fluxes and the eigenvalue. All the nonlinear corrective nodal coupling coefficients are updated on the basis of two-nodal NEM formulation including the discontinuity factor in every few newton steps. All the expansion coefficients and interface currents of the two-node NEM need not be chosen as the solution variables to evaluate the residual functions of the NEM_TNCMFD_JFNK method, therefore, the NEM_TNCMFD_JFNK method can greatly reduce the number of solution variables and the computational cost compared with the JFNK based on the conventional NEM. Finally the NEM_TNCMFD_JFNK code is developed and then analyzed by simulating the representative PWR MOX/UO₂ core benchmark, the popular NEACRP 3D core benchmark and the complicated full-core pin-by-pin homogenous core model. Numerical solutions show that the proposed NEM_TNCMFD_JFNK method with the MILU preconditioner has the good numerical accuracy and can obtain higher computational efficiency than the NEM-based two-node CMFD algorithm with the power method in the outer iteration and the Krylov method using the MILU preconditioner in the inner iteration, which indicates the NEM_TNCMFD_JFNK method can serve as a potential and efficient numerical tool for reactor neutron diffusion analysis module in the JFNK-based multiphysics coupling application.

• Nuclear Engineering and Technology
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• v.54 no.1
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• pp.49-60
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• 2022

Motivated by the high-resolution properties of high-order Weighted Essentially Non-Oscillatory (WENO) and flux limiter (FL) for steep-gradient problems and the robust convergence of Jacobian-free Newton-Krylov (JFNK) methods for nonlinear systems, the preconditioned JFNK fully implicit high-order WENO and FL schemes are proposed to solve the transient two-phase two-fluid models. Specially, the second-order fully-implicit BDF2 is used for the temporal operator and then the third-order WENO schemes and various flux limiters can be adopted to discrete the spatial operator. For the sake of the generalization of the finite-difference-based preconditioning acceleration methods and the excellent convergence to solve the complicated and various operational conditions, the random vector instead of the initial condition is skillfully chosen as the solving variables to obtain better sparsity pattern or more positions of non-zero elements in this paper. Finally, the WENO_JFNK and FL_JFNK codes are developed and then the two-phase steep-gradient problem, phase appearance/disappearance problem, U-tube problem and linear advection problem are tested to analyze the convergence, computational cost and efficiency in detailed. Numerical results show that WENO_JFNK and FL_JFNK can significantly reduce numerical diffusion and obtain better solutions than traditional methods. WENO_JFNK gives more stable and accurate solutions than FL_JFNK for the test problems and the proposed finite-difference-based preconditioning acceleration methods based on the random vector can significantly improve the convergence speed and efficiency.

• Smart Structures and Systems
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• v.30 no.1
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• pp.49-62
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• 2022

Experimental and discrete element methods were used to investigate the effects of triple joints lengths and triple joint angle on the failure behavior of rock mass under uniaxial compressive test. Concrete samples with dimension of 20 cm × 20 cm × 5 cm were prepared. Within the specimen, three imbedded joint were provided. The joint lengths were 2 cm, 4cm and 6 cm. In constant joint lengths, the angle between middle joint and other joints were 30°, 60°, 90°, 120° and 150°. Totally 15 different models were tested under compression test. The axial load rate on the model was 0.05 mm/min. Concurrent with experimental tests, the models containing triple joints, length and joint angle are similar to the experiments, were numerical by Particle flow code in two dimensions (PFC2D). Loading rate in numerical modelling was 0.05 mm/min. Tensile strength of material was 1 MPa. The results show that the failure behaviors of rock samples containing triple joints were governed by both of the angle and the length of the triple joints. The uniaxial compressive strengths (UCS) of the specimens were related to the fracture pattern and failure mechanism of the discontinuities. Furthermore, it was shown that the compressive behavior of discontinuities is related to the number of the induced tensile cracks which are increased by decreasing the joint length. Along with the damage failure of the samples, the acoustic emission (AE) activities are excited. There were only a few AE hits in the initial stage of loading, then AE hits rapidly grow before the applied stress reached its peak. In addition, every stress drop was accompanied by a large number of AE hits. Finally, the failure pattern and failure strength are similar in both methods i.e., the experimental testing and the numerical simulation methods.