• 로봇학회논문지
• /
• 제17권1호
• /
• pp.25-31
• /
• 2022

Moving among multiple floors is one of the most challenging tasks for indoor autonomous robots. Most of the previous researches for indoor mapping and localization have focused on singular floor environment. In this paper, we present an algorithm that creates a multi-floor map using 3D point cloud. We implement localization within the multi-floor map using a LiDAR and an IMU. Our algorithm builds a multi-floor map by constructing a single-floor map using a LOAM-based algorithm, and stacking them through global registration that aligns the common sections in the map of each floor. The localization in the multi-floor map was performed by adding the height information to the NDT (Normal Distribution Transform)-based registration method. The mean error of the multi-floor map showed 0.29 m and 0.43 m errors in the x, and y-axis, respectively. In addition, the mean error of yaw was 1.00°, and the error rate of height was 0.063. The real-world test for localization was performed on the third floor. It showed the mean square error of 0.116 m, and the average differential time of 0.01 sec. This study will be able to help indoor autonomous robots to operate on multiple floors.

• Structural Engineering and Mechanics
• /
• 제81권4호
• /
• pp.429-441
• /
• 2022

A probabilistic assessment of the seismic-excited buildings with a multiple-tuned-mass-damper (MTMD) system is carried out in the presence of uncertainties of the structural model, MTMD system, and the stochastic model of the seismic excitations. A free search optimization procedure of the individual mass, stiffness and, damping parameters of the MTMD system based on the snap-drift cuckoo search (SDCS) optimization algorithm is proposed for the optimal design of the MTMD system. Considering a 10-story structure in three cases equipped with single tuned mass damper (STMS), 5-TMD and 10-TMD, sensitivity analyses are carried out using Sobol' indices based on the Monte Carlo simulation (MCS) method. Considering different seismic performance levels, the reliability analyses are done using MCS and kriging-based MCS methods. The results show the maximum structural responses are more affected by changes in the PGA and the stiffness coefficients of the structural floors and TMDs. The results indicate the kriging-based MCS method can estimate the accurate amount of failure probability by spending less time than the MCS. The results also show the MTMD gives a significant reduction in the structural failure probability. The effect of the MTMD on the reduction of the failure probability is remarkable in the performance levels of life safety and collapse prevention. The maximum drift of floors may be reduced for the nominal structural system by increasing the TMDs, however, the complexity of the MTMD model and increasing its corresponding uncertainty sources can be caused a slight increase in the failure probability of the structure.

• Computers and Concrete
• /
• 제28권5호
• /
• pp.497-506
• /
• 2021

Steel-concrete composite structures and precast concrete elements have a common prefabrication process and allow fast construction. The use of hollow-core slabs associated with composite floors can be advantageous. However, there are few studies on the subject, impeding the application of such systems. In this paper, a numerical model representing the considered system using the FE (finite element)-based software DIANA is developed. The results of an experimental test were also presented in Souza (2016) and were used to validate the model. Comparisons between the numerical and test results were performed in terms of the load versus displacement, load versus slip, and load versus strain curves, showing satisfactory agreement. In addition, a wide parametric study was performed, evaluating the influence of several parameters on the behaviour of the composite system: The strength of the steel beam, thickness of the web, thickness and width of the bottom flange of the steel beam and concrete cover thickness on top of the beam. The results indicated a great influence of the steel strength and the thickness of the bottom flange of the steel beam on the capacity of the composite floor. The remaining parameters had limited influences on the results.

• 한국안전학회지
• /
• 제38권2호
• /
• pp.112-119
• /
• 2023

This study analyzes the effects of personal lockers, drinking fountains, and all-in-one shutters (hereinafter referred to as "corridor walking obstacles") on evacuation safety to suggest the necessity of operating a more effective educational facility safety certification system. To achieve this purpose, the five-story high school building with the obstacles installed in the corridor has been chosen, and evacuation tests through the Pathfinder Simulation Program have been carried out. When the evacuation exit is designated in the current state, where the students are placed on the 2nd, 3rd, and 4th floors and the corridor walking obstacles are applied as a variable, the required safe egress time (RSET) is 322 seconds. This can lead to dangerous results in the event of a disaster by exceeding the available safe egress time (ASET) standard of 240 seconds by 82 seconds. When students are placed on the 1st, 2nd, and 3rd floors under the same conditions, the RSET is 214.5 seconds, 25.5 seconds lower than the ASET standard, indicating that it is effective in reducing the impact of walking obstacles on evacuation time. The safety management plan for walking obstacles in the corridors is discussed, considering the special characteristics of the school corridors. The results of this study can be used as the necessary data for optimizing evacuation routes in corridors and creating a safe, educational environment.

• Wind and Structures
• /
• 제36권6호
• /
• pp.379-392
• /
• 2023

Structural health monitoring is used to ensure the well-being of civil structures by detecting damage and estimating deterioration. Wind flow applies external loads to high-rise buildings, with the horizontal force component of the wind causing structural displacements in high-rise buildings. This study proposes a deep learning-based predictive model for measuring lateral displacement response in high-rise buildings. The proposed long short-term memory model functions as a sequence generator to generate displacements on building floors depending on the displacement statistics collected on the top floor. The model was trained with wind-induced displacement data for the top floor of a high-rise building as input. The outcomes demonstrate that the model can forecast wind-induced displacement on the remaining floors of a building. Further, displacement was predicted for each floor of the high-rise buildings at wind flow angles of 0° and 45°. The proposed model accurately predicted a high-rise building model's story drift and lateral displacement. The outcomes of this proposed work are anticipated to serve as a guide for assessing the overall lateral displacement of high-rise buildings.

• 한국건축시공학회:학술대회논문집
• /
• 한국건축시공학회 2023년도 가을학술발표대회논문집
• /
• pp.227-228
• /
• 2023

A floating floor generally consists of mortar bed separated from the structural RC slab by a continuous resilient layer. It is known that the floating floors are a type of vibration-isolation system to improve the impact sound insulation performance. However, some researchers have demonstrated that the amplification of vibration response at a specific range of frequencies results in an increase in the impact sound level. This study carried out the forced vibration tests to obtain the frequency response function (FRF) of a floating floor compared with a bare RC slab. Test results shows that the additional peak occur in vibrational spectrum of the floating floor except natural vibration modes of the bare RC slab. This is because the relatively flexible resilient material and mass of the mortar bed offer an additional degree of freedom in the structural system. Therefore, it could be efficient for reduction of floor impact vibration and noise to control the additional mode frequency and response of floating floors.

• 한국산업보건학회지
• /
• 제20권3호
• /
• pp.192-202
• /
• 2010

This study aimed to suggest the severity of indoor air pollutants in screen gold arenas which were not sufficiently investigated in Korea up to now and to help users to enjoy golf in more pleasant indoor environment. The indoor environment survey was conducted with 21 screen gold arenas in Seoul from Oct. 28, 2008 to March 13, 2009. Indoor air quality was measured and analyzed in accordance with the Air Pollution Process Test Method specified bu NIOSH(2005). The screen golf arenas are mostly in the underground floors in this study, 4 on the ground floors(19.0%) and 17 in the underground floors(81.0%). In the air in screen golf arenas, the geometric mean of benzene, toluene, ethylbenzene and xylene were 2.92 ${\mu}g/m^3$, 70.34 ${\mu}g/m^3$, 14.00${\mu}g/m^3$ and 31.43 ${\mu}g/m^3$, respectively, which exceeded the exposure limites. Each arena exceeded the exposure limit for one pollutant each. However, styrene didn't exceed the limit as 8.09 ${\mu}g/m^3$. Furthermore, the geometric mean of formaldehyde was 63.11${\mu}g/m^3$ and 7 arenas exceeded the limit. The geometric mean of volatile organic compounds(VOCs) was 428.41${\mu}g/m^3$ and 10 arenas exceeded the limit. For the density distribution of pollutants by location, benzene, toluene, ethylbenzene, xylene, styrene and formaldehyde showed higher density distribution in underground spaces, for which the statistically significant difference was not found. However, PM10 showed the statistically significant difference (p<0.05). In accordance with the analysis on the correlation between the density of pollutants in the screen golf arenas, Pearson correlation coefficient between ethylbenzene and styrene was 0.980, very significant correlation(p<0.01). The correlation coefficients between the density of toluene, ethylbenzene, xylene and styrene and that of VOCs were 0.543, 0.434, 0.451 and 0.459, respectively, which demonstrated the statistically significant difference (p<0.05).

• 전산구조공학
• /
• 제6권3호
• /
• pp.67-80
• /
• 1993

본 연구에서는 지진에 대한 고층건물의 응답특성, 그리고 지진응답에 미치는 중력하중의 영향과 중력하중의 영향이 내진설계에 미치는 중요성을 산정하였다. 이를 위해서 예제 구조물에 대한 정적해석 및 지진하중에 대한 동적해석을 하였다. 지진에 대한 고층건물의 지진응답 특성을 파악하기 위하여 비탄성 변형의 건물 높이에 따른 분포를 알아보았다. 지진이 발생하면 휨모멘트 요구도가 건물의 상부층보다 하부층에서 상대적으로 더 많이 증가해서 설계모멘트와의 차이가 건물의 하부층으로 갈수록 더 커진다. 그 결과 현재 쓰이는 내진설계방법에 따라 설계된 예제 건물들은 지진에 대하여 비탄성 응답이 건물의 각 층마다 서로 다르게 발생하는데 주로 건물의 하부층에서 큰 비탄성 응답이 발생한다. 또한 설계시에 고려된 중력하중 때문에 구조적 손상이 건물의 꼭대기 층에서 아래로 갈수록 크게 증가한다. 구조물의 지진응답에 관하여 중력하중은 보의 항복시간을 앞당기며, 보의 양단의 소성힌지에 각기 다른 비탄성 거동을 유발시킨다. 그러나 중력하중에 의한 초기 휨모멘트의 영향은 보가 비탄성 거동을 계속함에 따라 재분배되어 보의 양단에서 그 영향이 감소되며 비탄성 변형이 계속되면 크게 감소한다. 중력하중에 의한 초기 휨모멘트의 영향이 감소는 고층건물의 내진설계에 있어서 중력하중의 영향이 주는 의미는 기둥과 보의 휨강도를 결정할 때 현재의 방법보다 중력하중의 영향을 줄이고 지진하중의 영향을 증가시켜야 한다는 것이다.

• 한국콘텐츠학회논문지
• /
• 제20권6호
• /
• pp.26-37
• /
• 2020

본 연구는 공동주택에서 발생하는 층간소음과 흡연문제를 중심으로 법과 제도, 법원판결 주요사례를 통해 그 실태를 살펴보고, 이에 대한 인식을 빅데이터로 분석하여 공동주택예절을 실천하기 위한 반성적 재고를 시도하였다. 연구결과는 다음과 같다. 첫째, 층간소음, 층간흡연 문제 등을 예방하고 해결하기 위한 법과 제도가 마련되어 있음을 확인하였다. 둘째, 지자체와 공동주택에서는 다양한 활동을 통해 문제해결을 모색하고 있지만, 그럼에도 불구하고 위에서 언급한 문제들은 계속 증가하고 있음을 알 수 있었다. 셋째 빅데이터 분석결과에서는 층간소음과 흡연에 대한 인식이 각각 4개로 군집화되었다. 넷째, 이들 문제해결을 위한 공동주택예절은 인식개선과 실천성을 전제해야 함을 알 수 있었다. 우리는 그 문제해결을 위해 세 가지 범주를 제안하였다. 첫째, 생활환경 변화에 맞는 적합한 예절실천이 필요하다. 그러므로 지속적인 연구와 예절 책들이 집필되어야 함을 제안한다. 둘째, 상호존중과 배려정신이 필요하다고 생각하고, 공동주택 주민들의 자치적인 관심과 노력을 제안한다. 셋째, 공동주택예절교육이 아파트나 다양한 교육현장에서 이루어져 생활문화로 확산하기를 기대한다.

• 한국건축시공학회지
• /
• 제9권5호
• /
• pp.145-153
• /
• 2009

이 연구의 목적은 신체적 약자와 건강한 사람의 경사로 바닥에 대한 미끄럼 평가척도의 변동 경향을 비교 분석하는 것이다. 이 연구를 통해서 반신마비 장애인과 건강한 사람에 대한 중심동요 비교 실험을 통하여 신체적 약자의 중심동요 특성을 항상 재현하는 장애 고령화 체험장비가 개발하였다. 그리고 신체적 약자(건강한 사람이 장애 고령화 체험장비 착용)와 건강한 사람을 대상으로 한 관능검사결과로부터 수평바닥 및 경사로 바닥에 대한 미끄럼 평가척도를 구성하였다. 미끄럼 평가척도와 미끄럼저항계수(C.S.R')의 관계를 분석한 결과로부터 경사로의 기울기나 미끄럼저항 차이에 따른 미끄럼 평가척도의 변동 경향은 남성과 여성이 서로 유사하다는 사실을 명확히 규명하였다. 경사로 바닥에 대한 미끄럼의 평가는 건강한 사람은 C.S.R'가 0.30 이상이면 안전하다고 평가하지만, 신체적 약자는 C.S.R'가 $0.45{\sim}0.50$ 이상인 경우에도 위험하다고 평가하였다. 이러한 평가의 차이는 주로 건강한 사람과 신체적 약자의 보행 메커니즘이 다르기 때문인 것으로 생각된다.