• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of the Korean Geophysical Society
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• v.9 no.3
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• pp.189-197
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• 2006

The Korea Plateau is a continental fragment rifted and partially segmented from the Korean Peninsulaat the initial stage of the opening of the East Sea (Japan Sea). We interpreted marine seismic profiles from the South Korea Plateau in conjunction with swath bathymetric to investigate processes of con-tjnental rifting and separation of the southwestern Japan Arc. The SouU-i Korea Plateau preserves funda-mental elements of rift architecture comprising a seaward succession of a rift basin and an uplifted rift flank passing into the slope, typical of a passive continental margin. Two distinguished rift basins (Onnuri and Bandal Basins) in the South Korea Plateau are bounded by major synthetic and smaller antithetic faults, creating wide and symmetric profiles. The large-offset border fault zones of these basins have convex dip slopes and demonstrate a zig-zag arrangement along strike. Rifting was primarily controlled by normal faulting resulting from extension orthogonal to the inferred line of breakup along the base ofthe slope rather U-ian strike-slip deformation. Two extension direcdons for rifdng are recog-nized; U-ie Onnuri Basin was rifted in U-ie EW direction; U-ie Bandal Basin in U-ie EW and NW-SE directions, suggesting two rift stages. We interpret that the E-W direction represents initial rifting at the inner margin; while the Japan Basin widened, rifting propagated repeatedly from the Japan Basin to the southeast toward the Korean margin but could not penetrate the strong continental lithosphere of the Korean Shield and changed direction to the south, resulting in E-W extension to create the rift basins at the Korean margin. The Hupo Basin to the south of the Korea Plateau is estimated to have formed in this process. The NW-SE direction probably represents the direction of rifting orthogonal to the inferred line of breakup along the base of the slope of the South Korea Plateau; after breakup the southwestern Japan Arc separated in the SE direction, indicating a response to tensional tectonics associated with the subduction of the Pacific Plate in the NE direction. We suggest that structural evolution of the eastern Korean margin can be explained by the processes occurring at the passive continental margin.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.40 no.1
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• pp.1-11
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• 2020

Medium to large post structures installed along the roadside without proper protection can lead to serious vehicle damage and occupant injury at the impact. In North America and Europe, splitting systems such as slip base or breakaway device are used to reduce impacts. But the system has the risk of secondary accident when the splitted post falls down to the traffic or pedestrian. Sliding Post have been proposed as a way to solve this problem. By studying the crash test results of the 1.3ton and 0.9ton vehicle with 60 km/h and 80 km/h to a Rigidly Fixed Post (RFP) and Sliding Post (SP), danger of the conventional RFP and crashworthiness of the SP have been proven. While collision analysis only from the acceleration measured at the center of the vehicle assumes the motion of the post is the same as that of the vehicle, in this paper, by adding high speed film data to the analysis with vehicle acceleration could have separate the post motion from the vehicle motion. It gives better explanations on the movement of post and vehicle in each distinctive time step and provides basics to the crashworthy post design.

• 한국지구물리탐사학회:학술대회논문집
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• 2009.05a
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• pp.57-65
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• 2009

Selection of good mineralized area is a combination of the integration of all the available geo-scientific (i.e., geological, geochemical, and geophysical) information, extrapolation of likely features from known mineralized terrenes and the ability to be predictive. The time-space relationships of the hydrothermal deposits in the East Asia are closely related to the changing plate motions. Also, two distinctive hydrothermal systems during Mesozoic occurred in Korea: the Jurassic/Early Cretaceous deep-level ones during the Daebo orogeny and the Late Cretaceous/Tertiary shallow geothermal ones during the Bulguksa event. Both the Mesozoic geothermal system and the mineralization document a close spatial and temporal relationship with syn- to post-tectonic magmatism. The Jurassic mineral deposits were formed at the relatively high temperature and deep-crustal level from the mineralizing fluids characterized by the relatively homogeneous and similar ranges of ${\delta}^{18}O$ values, suggesting that ore-forming fluids were principally derived from spatially associated Jurassic granitoid and related pegmatite. Most of the Jurassic auriferous deposits (ca. 165-145 Ma) show fluid characteristics typical of an orogenic-type gold deposits, and were probably generated in a compressional to transpressional regime caused by an orthogonal to oblique convergence of the Izanagi Plate into the East Asian continental margin. On the other hand, Late Cretaceous ferroalloy, base-metal and precious-metal deposits in the Taebaeksan, Okcheon and Gyeongsang basins occurred as vein, replacement, breccia-pipe, porphyry-style and skarn deposits. Diverse mineralization styles represent a spatial and temporal distinction between the proximal environment of sub-volcanic activity and the distal to transitional condition derived from volcanic environments. However, Cu (-Au) or Fe-Mo-W deposits are proximal to a magmatic source, whereas polymetallic or precious-metal deposits are more distal to transitional. Strike-slip faults and caldera-related fractures together with sub-volcanic activity are associated with major faults reactivated by a northward (oblique) to northwestward (orthogonal) convergence, and have played an important role in the formation of the Cretaceous Au-Ag lode deposits (ca. 110-45 Ma) under a continental arc setting. The temporal and spatial distinctions between the two typical Mesozoic deposit styles in Korea reflect a different thermal episodes (i.e., late orogenic and post-orogenic) and ore-forming fluids related to different depths of emplacement of magma (i.e., plutonic and sub-volcanic) due to regional changes in tectonic settings.

• Journal of the Korean Geosynthetics Society
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• v.9 no.3
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• pp.87-93
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• 2010

The change of water level in reservoirs is an important factor causing failure of bank slopes, i.e. landslide. The water level of Three Gorges reservoir in China fluctuate between 145 m and 175 m, as a matter of flood control. During its normal operational state, the rate of water level fluctuation is supposed to range from 0.67 m/d to 3.0 m/d. Majiagou slope is located on the left bank of Zhaxi River, 2.1 km up from the outlet. Zhaxi River is a tributary of the Yangtze River within the Three Gorges area, of which the water level changes with the reservoir. At the back of Majiagou slope, a 20 m long and 3~10 cm wide fissure developed just after the reservoir water level rose from 95 m to 135 m in 2003. This big fissure was a full suggestion of potential failure of this slope. In this study, the pore water pressure files obtained from seepage analysis were used to evaluate the change in factor of safety (FS) with reservoir water level. Slope stability analyses then were carried out, with fully specified slip surface and limit equilibrium method. In the limit equilibrium analysis, the contribution of negative pore water pressure to shear strength was considered by the use of Fredlund's shear strength equation for unsaturated soils. On the base of the analyses, the change of FS with reservoir water level was interpreted in detail. It was found that FS against bank slopes decreases with the rise of the reservoir water level and increases with the drawdown of the reservoir water level. The most dangerous state was when the reservoir water level stays at the highest for a long time.

• International Journal of Highway Engineering
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• v.9 no.3
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• pp.39-50
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• 2007

Barrier VII program is normally used for the design of flexible barrier, but if modelled properly it can be used for the analysis of vehicle impact to small sign posts. In this paper sign post is shown to be modelled as flexible barrier by combining beam and column elements at each beam node. Simulations with the Barrier VII program have been made for 7 impact cases composed of sign posts of circular and H section with rigidly connected support and breakaway support system. The impact speed used for the simulation ranged from 30km/h to 110km/h. The study shows that in the vehicle impacts to a circular sign post with high speed, the large deflection and high inertia force causes the sign plate to hit the windshield leading to a hazard to the occupants. It is also shown that impact to H section post results in small deflection of the post and abrupt velocity change and high deceleration of the impact vehicle causing severe damage to both the vehicle and occupants. Simulation study also shows that breakaway support system eliminates the potential danger of the vehicle impact to the rigidly connected small sign posts by reducing deflection of the post, abrupt change in velocity and deceleration level.

• Economic and Environmental Geology
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• v.39 no.3 s.178
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• pp.235-253
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• 2006

We interpreted marine seismic profiles in conjunction with swath bathymetric and magnetic data to investigate rifting to breakup processes at the Korean margin leading to the separation of the Japan Arc. The Korean margin is rimmed by fundamental elements of rift architecture comprizing a seaward succession of a rift basin and an uplifted rift flank passing into the slope, typical of a passive continental margin. In the northern part, rifting occurred in the Korea Plateau, a continental fragment extended and partially segmented from the Korean Peninsula, that provided a relatively broader zone of extension resulting in a number of rifts. Two distinguished rift basins (Onnuri and Bandal Basins) in the Korea Plateau we bounded by major synthetic and smaller antithetic faults, creating wide and symmetric profiles. The large-offset border fault zones of these basins have convex dip slopes and demonstrate a zig-zag arrangement along strike. In contrast, the southern margin is engraved along its length with a single narrow rift basin (Hupo Basin) that is an elongated asymmetric half-graben. Rifting at the Korean margin was primarily controlled by normal faulting resulting from extension in the west and southeast directions orthogonal to the inferred line of breakup along the base of the slope rather than strike-slip deformation. Although rifting involved no significant volcanism, the inception of sea floor spreading documents a pronounced volcanic phase which seems to reflect slab-induced asthenospheric upwelling as well as rift-induced convection particularly in the narrow southern margin. We suggest that structural and igneous evolution of the Korean margin can be explained by the processes occurring at the passive continental margin with magmatism intensified by asthenospheric upwelling in a back-arc setting.