• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.445-452
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• 2012

With the increasing number of high-rise and large-scale buildings, modern buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building's outer-wall glass is proposed; Kalman filter was used for estimating robots' status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.

• Transactions of Materials Processing
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• v.30 no.4
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• pp.186-194
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• 2021

Finite element simulation is a widely applied method for practical purpose in various metal forming process. However, in the simulation of elasto-plastic behavior of porous material or in crystal plasticity coupled multi-scale simulation, it requires much calculation time, which is a limitation in its application in practical situations. A machine learning model that directly outputs the constitutive equation without iterative calculations would greatly reduce the calculation time of the simulation. In this study, we examined the possibility of artificial intelligence based constitutive equation with the input of existing state variables and current velocity filed. To introduce the methodology, we described the process of obtaining the training data, machine learning process and the coupling of machine learning model with commercial software DEFROM^TM, as a preliminary study, via rigid plastic finite element simulation.

• Nuclear Engineering and Technology
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• v.55 no.9
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• pp.3367-3382
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• 2023

Smoothed Particle Hydrodynamics (SPH) is a Lagrangian computational fluid dynamics method that has been widely used in the analysis of physical phenomena characterized by large deformation or multi-phase flow analysis, including free surface. Despite the recent implementation of eddy-viscosity models in SPH methodology, sophisticated turbulent analysis using Lagrangian methodology has been limited due to the lack of computational performance and numerical consistency. In this study, we implement the standard and dynamic Smagorinsky model and dynamic Vreman model as sub-particle scale models based on a weakly compressible SPH solver. The large eddy simulation method is numerically identical to the spatial discretization method of smoothed particle dynamics, enabling the intuitive implementation of the turbulence model. Furthermore, there is no additional filtering process required for physical variables since the sub-grid scale filtering is inherently processed in the kernel interpolation. We simulate lid-driven flow under transition and turbulent conditions as a benchmark. The simulation results show that the dynamic Vreman model produces consistent results with experimental and numerical research regarding Reynolds averaged physical quantities and flow structure. Spectral analysis also confirms that it is possible to analyze turbulent eddies with a smaller length scale using the dynamic Vreman model with the same particle size.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2008.04a
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• pp.356-361
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• 2008

Eigenvalue reduction schemes approximate the lower eigenmodes that represent the global behavior of the structures. In the previous study, we proposed a two-level condensation scheme (TLCS) for the construction of a reduced system. And we have improved previous TLCS with combination of the iterated improved reduced system method (IIRS) to increase accuracy of the higher modes intermediate range. In this study, we apply previous improved TLCS to multi-level sub-structuring scheme. In the first step, the global system is recursively partitioned into a hierarchy of sub-domain. In second step, each uncoupled sub-domain is condensed by the improved TLCS. After assembly process of each reduced sub-eigenvalue problem, eigen-solution is calculated by Lanczos method (ARPACK). Finally, Numerical examples demonstrate performance of proposed method.

• Journal of Korea Society of Digital Industry and Information Management
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• v.13 no.4
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• pp.213-219
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• 2017

Streaming server is that an image produced in real time or a file form of image produced ahead consists of SNS service, and the relay module of streaming server includes output management module that set an output channel more than 2 and control transmission of video content. This thesis intends to suggest how to stream through plural output channel that contains output channel of external streaming server using relay module and do streaming provided to terminal receiving image, and streaming server, streaming system for this. Thus, by extending output channel sending out image to output channel of external streaming server, the scale of streaming server is not limited and the process allotting external streaming server into output channel sending the image becomes simple, so management of output channel becomes efficient even when sending several images.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.815-829
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• 2008

Debris flows are a natural hazard which looks like a combination of flood, land and rock slide. Large rainfall in July 2006 produced several large scale debris flows and many small debris flows that resulted in loss of life and considerable property and railway damage, as was widely reported in the national media. The hazard "debris flow" is still insufficiently researched. Furthermore debris flows are very hard to predict. Flexible Ring net barriers are multi-functional mitigation devices commonly applied to rock fall or floating wood protection in floods, snow avalanches and also mud flows or granular debris flows, if properly dimensioned for the process or processes for which they are intended. Overtopping of the barriers by debris flows and sediment transport is possible, supporting the design concept that a series of barriers may be used to stop volumes of debris larger than are possible using only one barrier. The future for these barrier concepts looks promising because these barriers represent the state of art for such applications and are superior to many other available options.

• Advances in aircraft and spacecraft science
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• v.6 no.5
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• pp.371-389
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• 2019

The implementation of a robust $H_{\infty}$ Control, which is numerically efficient for uncertain nonlinear dynamics, on longitudinal and lateral autopilots is realised for a quarter scale Piper J3-Cub model accepted as an unmanned aerial vehicle (UAV) under the condition of sensor noise and disturbance effects. The stability and control coefficients of the UAV are evaluated through XFLR5 software, which utilises a vortex lattice method at a predefined flight condition. After that, the longitudinal trim point is computed, and the linearization process is performed at this trim point. The "${\mu}$-Synthesis"-based robust $H_{\infty}$ control algorithm for roll, pitch and yaw displacement autopilots are developed for both longitudinal and lateral linearised nonlinear dynamics. Controller performances, closed-loop frequency responses, nominal and perturbed system responses are obtained under the conditions of disturbance and sensor noise. The simulation results indicate that the proposed control scheme achieves robust performance and guarantees stability under exogenous disturbance and measurement noise effects and model uncertainty.

• Journal of Information Processing Systems
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• v.9 no.1
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• pp.89-102
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• 2013

The paper presents a fuzzy based impulse noise filter for both gray scale and color images. The proposed approach is based on the technique of boundary discriminative noise detection. The algorithm is a multi-step process comprising detection, filtering and color correction stages. The detection procedure classifies the pixels as corrupted and uncorrupted by computing decision boundaries, which are fuzzified to improve the outputs obtained. In the case of color images, a correction term is added by examining the interactions between the color components for further improvement. Quantitative and qualitative analysis, performed on standard gray scale and color image, shows improved performance of the proposed technique over existing state-of-the-art algorithms in terms of Peak Signal to Noise Ratio (PSNR) and color difference metrics. The analysis proves the applicability of the proposed algorithm to random valued impulse noise.

• Nuclear Engineering and Technology
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• v.42 no.4
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• pp.365-376
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• 2010

This paper summarizes the results of a Writing Group on the Extension of CFD codes to two-phase flow safety problems, which was created by the Group for Analysis and Management of Accidents of the Nuclear Energy Agency' Committee on the Safety of Nuclear Installations (NEA-CSNI). Two-phase CFD used for safety investigations may predict small scale flow processes, which are not seen by system thermalhydraulic codes. However, the two-phase CFD models are not as mature as those in the single phase CFD and potential users need some guidance for proper application. In this paper, a classification of various modelling approaches is proposed. Then, a general multi-step methodology for using two-phase-CFD is explained, including a preliminary identification of flow processes, a model selection, and a verification and validation process. A list of 26 nuclear reactor safety issues that could benefit from investigations at the CFD scale is identified. Then, a few issues are analyzed in more detail, and a preliminary state-of-the-art is proposed and the remaining gaps in the existing approaches are identified. Finally, guidelines for users are proposed.

• Journal of Sensor Science and Technology
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• v.33 no.2
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• pp.78-85
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• 2024

We proposed a method for visual place recognition that represents images using objects as visual words. Visual words represent the various objects present in urban environments. To detect various objects within the images, we implemented and used a zero-shot detector based on a large-scale image language model. This zero-shot detector enables the detection of various objects in urban environments without additional training. In the process of creating histograms using the proposed method, frequency-based weighting was applied to consider the importance of each object. Through experiments with open datasets, the potential of the proposed method was demonstrated by comparing it with another method, even in situations involving environmental or viewpoint changes.