• The Journal of Korea Robotics Society
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• v.10 no.2
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• pp.112-118
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• 2015

This paper proposes a pose-graph based SLAM method using an upward-looking camera and artificial landmarks for AGVs in factory environments. The proposed method provides a way to acquire the camera extrinsic matrix and improves the accuracy of feature observation using a low-cost camera. SLAM is conducted by optimizing AGV's explored path using the artificial landmarks installed on the ceiling at various locations. As the AGV explores, the pose nodes are added based on the certain distance from odometry and the landmark nodes are registered when AGV recognizes the fiducial marks. As a result of the proposed scheme, a graph network is created and optimized through a G2O optimization tool so that the accumulated error due to the slip is minimized. The experiment shows that the proposed method is robust for SLAM in real factory environments.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.5
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• pp.17-24
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• 2006

Anti-lock brake system(ABS) are designed to prevent wheel lock on all wheels of the vehicle by sensing wheel angular speed, processing the speed sensor signals in suitable digital electronic control circuits and comanding electrohydraulic actuators to control brake pressure. This study considers a control of ABS using wheel circumferential acceleration thresholds which avoids dangerous wheel locking due to excessive brake pressure during the vehicle braking and discusses the 3-channels, 3-sensors ABS system that employs "independent control" technique for the front wheels and "select low" technique for the rear wheels. The validities of the ABS such as vehicle stability, steerability and stopping distance during braking are assured through the vehicle tests on uniform asphalt straight roads.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.569-581
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• 1996

A microcomputer -based data acquistion system was designed and developed at Michigan State University , USA to conduct field data studies. The system designed for the research carried out used an Apple IIe microcomputer for collecting data on-board the tractor. An AII3 Analog to Digital (A/D_ convertor was chosen to interface each analog signal to the microcomputer. A commercially available Dj TPM II was employed to display information such as an engine speed, ground speed, percent drive wheel slip , distance travelled and area covered per hour. The frequency output from the radar unit was channeled through a frequency to voltage (F/V) convertor , so that AII3 Analog to Digital (A/D) convertor could read it. The fuel consumption was measured using on EMCO pdp-1 fuel flow meter attached to the engine fuel line. The draft of the tillage and other drag equipment was determined using strain gages attached to the drawbar of the tractor. The system was developed to collect the draft and fuel requirements for various farm equipment different kind of soils.

• Journal of Korean Society for Geospatial Information Science
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• v.8 no.2 s.16
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• pp.101-108
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• 2000

Kinematic GPS surveying which can be obtained many three-dimensional topographical informations through a short-time measurement is being utilized mainly in the short base line of a few km and below The coordinate for the long base line depends on Static GPS surveying But it needs long time measurement. Therefore, the method which can decide a position of the long base line for a short time is being needed. To examine a possibility of an efficient use of kinematic GPS surveying of the long base line, this research has analysed an accuracy of the base line by static GPS surveying according to baseline distance, ephmeris, and observation time. As the results of research, I could see that accuracy was very low in case of the occurrence of cycle slip. When we use of precise ephmeris, we obtained 1ppm and less of accuracy with one-minute kinematic GPS surveying within 70km. If a lot of studies about the long baseline kinematic GPS surveying are processed, a topographical information necessary for each kind of construction field including land development could be utilized more efficiently.

• Geomechanics and Engineering
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• v.28 no.6
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• pp.599-611
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• 2022

Tendon reinforced cemented soil is applied extensively in foundation stabilisation and improvement, especially in areas with soft clay. To solve the deterioration problem led by steel corrosion, the glass fiber-reinforced polymer (GFRP) tendon is introduced to substitute the traditional steel tendon. The interface bond strength between the cemented soil matrix and GFRP tendon demonstrates the outstanding mechanical property of this composite. However, the lack of research between the influence factors and bond strength hinders the application. To evaluate these factors, back propagation neural network (BPNN) is applied to predict the relationship between them and bond strength. Since adjusting BPNN parameters is time-consuming and laborious, the particle swarm optimisation (PSO) algorithm is proposed. This study evaluated the influence of water content, cement content, curing time, and slip distance on the bond performance of GFRP tendon-reinforced cemented soils (GTRCS). The results showed that the ultimate and residual bond strengths were both in positive proportion to cement content and negative to water content. The sample cured for 28 days with 30% water content and 50% cement content had the largest ultimate strength (3879.40 kPa). The PSO-BPNN model was tuned with 3 neurons in the input layer, 10 in the hidden layer, and 1 in the output layer. It showed outstanding performance on a large database comprising 405 testing results. Its higher correlation coefficient (0.908) and lower root-mean-square error (239.11 kPa) were obtained compared to multiple linear regression (MLR) and logistic regression (LR). In addition, a sensitivity analysis was applied to acquire the ranking of the input variables. The results illustrated that the cement content performed the strongest influence on bond strength, followed by the water content and slip displacement.

• Journal of the Korean Orthopaedic Association
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• v.55 no.1
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• pp.71-77
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• 2020

Purpose: To determine if sparing the interspinous and supraspinous ligaments during posterior decompression for lumbar spinal stenosis is significant in preventing postoperative spinal instability. Materials and Methods: A total of 83 patients who underwent posterior decompression for lumbar spinal stenosis between March 2014 and March 2017 with a minimum one-year follow-up period, were studied retrospectively. The subjects were divided into two groups according to the type of surgery. Fifty-six patients who underwent posterior decompression by the port-hole technique were grouped as A, while 27 patients who underwent posterior decompression by a subtotal laminectomy grouped as B. To evaluate the clinical results, the Oswestry disability index (ODI), visual analogue scale (VAS) for both back pain (VAS-B) and radiating pain (VAS-R), and the walking distance of neurogenic intermittent claudication (NIC) were checked pre- and postoperatively, while simple radiographs of the lateral and flexion-extension view in the standing position were taken preoperatively and then every six months after to measure anteroposterior slippage (slip percentage), the difference in anteroposterior slippage between flexion and extension (dynamic slip percentage), angular displacement, and the difference in angular displacement between flexion and extension (dynamic angular displacement) to evaluate the radiological results. Results: The ODI (from 28.1 to 12.8 in group A, from 27.3 to 12.3 in group B), VAS-B (from 7.0 to 2.6 in group A, from 7.7 to 3.2 in group B), VAS-R (from 8.5 to 2.8 in group A, from 8.7 to 2.9 in group B), and walking distance of NIC (from 118.4 m to 1,496.2 m in group A, from 127.6 m to 1,481.6 m in group B) were improved in both groups. On the other hand, while the other radiologic results showed no differences, the dynamic angular displacement between both groups showed a significant difference postoperatively (group A from 6.2° to 6.7°, group B from 6.5° to 8.4°, p-value=0.019). Conclusion: Removal of the posterior ligaments, including the interspinous and supraspinous ligaments, during posterior decompression of lumbar spinal stenosis can cause a postoperative increase in dynamic angular displacement, which can be prevented by the port-hole technique, which spares these posterior ligaments.

• Journal of the Earthquake Engineering Society of Korea
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• v.10 no.3 s.49
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• pp.101-111
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• 2006

This paper proposes a method for modeling new fault ground motion due to moderate size earthquakes in Stable Continental Regions (SCRs) for the first time. The near fault ground motion is characterized by a single long period velocity pulse of large amplitude. In order to model the velocity pulse, its period and peak amplitude need be determined in terms of earthquake magnitude and distance from the causative fault. Because there have been observed very few new fault ground motions, it is difficult to derive the model directly from the recorded data in SCRs. Instead an indirect approach is adopted in this work. The two parameters, the period and peak amplitude of the velocity pulse, are known to be functions of the rise time and the slip velocity. For Western United States (WUS) that belongs active tectonic regions, there art empirical formulas for these functions. The relations of rise time and slip velocity on the magnitude in SCRs are derived by comparing related data between Western United States and Central-Eastern United States that belongs to SCRs. From these relations, the functions of these pulse parameters for NFGM in SCRs can be expressed in terms of earthquake magnitude and distance. A time history of near fault ground motion of moderate magnitude earthquake in stable continental regions is synthesized by superposing the velocity pulse on the for field ground motion that is generated by stochastic method. As an demonstrative application, the response of a single degree of freedom elasto-plastic system is studied.

• Economic and Environmental Geology
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• v.26 no.3
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• pp.403-420
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• 1993

The Cretaceous Kyongsang Basin is known to be composed of several tectonic blocks (or subbasins) with each distinct stratigraphic succession. The study area represents a major part of one of these blocks, i. e. the $\check{U}is\check{o}ng$ block. The area is charaterized by a suite of WNW-trending sinistral strike-slip faults as well as a number of ring faults. A total of 292 independently oriented core samples were drilled from 23 sites, covering virtually all the formations of the Cretaceous $Ky\check{o}ngsang$ Supergroup. Alternating field and thermal demagnetization experiments were conducted to reveal the primary magnetization. Due to the homoclinal nature of the strata in the area, it was not possible to make use of the conventional fold test It is, however, believed that the primary remanent components have been obtained from the majority of the formations, considering the similarity of the palaeomagnetic pole positions with those of contemporary strata of other blocks and the existence of antiparallel reversed remanence. It was found neither any significant difference in magnetic declination on each side of the strike-slip faults nor systematic change of magnetic declination with distance from the fault-line. This does not support such a block rotation hypothesis associated with the strike-slip faulting in the area as alleged by some authors. The samples from the outcrops on or near the fault-lines were severely overprinted by the recent magnetic fields regardless of age and lithology. Epithermal Au-Ag-Cu-Pb-Zn mineralizations are known along some fault lines in the area. It is interpreted that these two facts are closely related with fluid circulations along the fracture zones caused by fault activities. In regard to the age of the strata as deduced from the magnetostratigraphic consideration, the $Ch\check{o}mgok$ formation and the lower strata should be older than Barremian or 124 Ma. The age of volcanics of the $Yuch^{\prime}\check{o}n$ Group sampled in this study should be younger than Campanian or 83 Ma.

• Journal of Korean Neurosurgical Society
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• v.47 no.5
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• pp.338-344
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• 2010

Objective : This study assessed the safety and efficacy of one level unilateral laminotomy bilateral decompression (ULBD) with the placement of a device for intervertebral assisted motion (DIAM) compared with one level ULBD only in elderly patients with degenerative lumbar spinal stenosis (DLSS). Methods : A non randomized prospective analysis was performed on 16 patients who underwent one level ULBD with DIAM (Group A) and 20 patients with one level ULBD only (Group B) between February 2007 and March 2008. Radiographic imaging, visual analog scale (VAS) and MacNab outcome scale were obtained before and after surgery at a mean interval of 21 months (range 17-27 months). Results : The disc height, interpedicular distance, slip distance and segmental lordotic angle were similar between two groups. In the group A, there was no significant difference between the pre- and post-operative imaging in terms of the sagittal balance and disc height. Both groups showed significant improvement in the clinical outcomes. In addition, there was significantly less low-back pain in the group A than in the group B at the last follow up, while the clinical improvement of the leg pain and MacNab outcome scale showed no significant difference in the two groups. There were no major complications or DIAM associated complications. Conclusion : ULBD with DIAM is a safe and efficacious treatment for selective elderly patients with DLSS, particularly for relieving low back pain comparing to ULBD. ULBD with DIAM did not alter the disc height or sagittal alignment at the mean 21 months follow-up interval.

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.327-330
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• 2006

This paper represents the numerical analysis on effects of radius ratio in a concentric annulus with a rotating inner cylinder. The numerical model consisted of two cylinder which inner cylinder is rotating and outer cylinder is fix, and the axial direction is used the cyclic condition because of the length for axial direction is assumed infinite. The diameter of inner cylinder is assumed 86.8mm, the numerical parameters are angular velocity and radius ratio. Also, the whole walls of numerical model have no-slip and the working fluid is used water at $20^{\circ}C$. The numerical analysis is assumed the transient state to observe the flow variations by time and the 3-D cylindrical coordinate system. The calculation grid adopted a non-constant grid for dense arrangement near the wall side of cylinder, the standard $k-{\omega}$ high Reynolds number model to consider the effect of turbulence flow and wall, the fully implicit method for time term and the quick scheme for momentum equation. The numerical method is compared with the experimental results by Wereley and Lueptow, and the results are very good agreement. As the results, TVF isn't appeared when Re is small because of the initial flow instability is disappear by effect of the centrifugal force and viscosity. The vortex size is from 0.8 to 1.1 for TVF at various $\eta$, and the traveling distance for wavy vortex have the critical traveling distance for each case.