• 한국지반공학회논문집
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• 제20권2호
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• pp.47-58
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• 2004

강관은 Northridge 지진이 발생했을 당시 산사태가 일어나는 언덕이나 산악지역에 매설되어 있었다. 본 논문은 지리정보체계(GIS) 시스템에서 위치에 따라 강관을 서로 다른 유형별로 분류하고 정의하였다. 이 논문은 지반속도와 강관의 손상관계를 분석하고 Northridge 지진 시 발생한 산사태의 영향을 받았던 지역을 조사하였다. 하나의 주목할 만한 사실은 Northridge 지진 후 강관의 손상률이 다른 종류의 매설관, 특히 캐스트아이런(CI)보다 더 높았다는 것이다. Northridge 지진으로 인한 상대적으로 높은 강관의 손상률은 가장 큰 내부압력을 요하는 곳에서의 설치관례와 부식으로 인한 영향으로 해석될 수 있다.

• 대한임베디드공학회논문지
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• 제16권4호
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• pp.137-143
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• 2021

We propose an adaptive non-singular terminal sliding-mode control for the fast finite-time convergence (FANTSMC) in robot manipulator. The proposed FANTSMC approach is developed to be applied without singularity in robot manipulator, which has a new pole-placement control with the non-singular terminal sliding variable while generating the desirable control torque. Moreover, the switching gain is designed to suppress the time-delayed estimation error appropriately, which aims at providing the high robust tracking performance. Also, the proposed one employs one-sample delayed information to cancel out the system uncertainties and disturbances. For these reasons, it offers strong attraction within the finite time. It is shown that the tracking performance of the proposed FANTSMC approach is guaranteed to be uniformly ultimately bounded through the Lyapunov stability. The effectiveness of the proposed FANTSMC approach is illustrated in simulations, which is compared with that of the up-to-date control approach.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2020년도 봄 학술논문 발표대회
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• pp.206-207
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• 2020

Accurate estimation of concrete strength development at early ages is a critical factor to secure structural stability as well as to speed up the construction process. The temperature generated from the heat of hydration is considered as a key parameter in predicting the early age strength. Conventionally, concrete temperature has been measured by temperature sensors installed inside concrete. However, considering the measurement on building structures with multiple floors, this method requires reinstallation and repositioning of hardware such as sensors, data loggers and routers for data transfer. This makes the temperature monitoring work cumbersome and inefficient. Concrete temperature monitoring by using thermal remote sensing can be an effective alternative to supplement those shortcomings. In this study, image processing was carried out through K-means clustering technique, which is a unsupervised learning method, and the classification results were analyzed accordingly. In the future, research will be conducted on how to automatically recognize concrete among various objects by using deep learning techniques.

• Journal of Advanced Marine Engineering and Technology
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• 제33권2호
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• pp.355-361
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• 2009

Onshore wind farms having several problems, difficult to secure a building site and incur the enmity of the people. Therefore, offshore wind farms are increasingly expected, because there are huge resource and large site in offshore. If huge wind turbines are constructed, the offshore wind power base is concerned about subsidence. In order to confirm the ground stability, estimation of subsidence is necessary. In this paper, the subsidence is predicted by continuity model when the gravity and the mono-pile base are constructed on soft ground. The FLAC 3D, three dimensional FDM program, was adopted to analysis subsidence. Input factors are yielded by geological information at the yeompo quay in ulsan and the results of laboratory experiments. It has been compared that the original ground with improved ground under the gravity base, and constructed mono-pile under the mono-pile base.

• International Journal of Aeronautical and Space Sciences
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• 제18권1호
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• pp.118-128
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• 2017

In this study, we propose a real time inertial navigation system/global positioning system (INS/GPS) integrated smoothing algorithm based on an extended Kalman filter (EKF) and a position damping loop (PDL) for synthetic aperture radar (SAR). Integrated navigation algorithms usually induce discontinuities due to error correction update by the Kalman filter, which are as detrimental to the performance of SAR as the relative position error. The proposed smoothing algorithm suppresses these discontinuities and also reduces the relative position error in real time. An EKF estimates the navigation errors and sensor biases, and all the errors except for the position error are corrected directly and instantly. A PDL activated during SAR operation period imposes damping effects on the position error estimates, where the estimated position error is corrected smoothly and gradually, which contributes to the real time smoothing and small relative position errors. The residual errors are re-estimated by the EKF to maintain the estimation performance and the stability of the overall loop. The performance improvements were confirmed by Monte Carlo simulations. The simulation results showed that the discontinuities were reduced by 99.8% and the relative position error by 48% compared with a conventional EKF without a smoothing loop, thereby satisfying the basic performance requirements for SAR operation. The proposed algorithm may be applicable to low cost SAR systems which use a conventional INS/GPS without changing their hardware configurations.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2008년도 춘계 학술발표회 초청강연 및 논문집
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• pp.1117-1124
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• 2008

In This paper, load-settlement curves that obtained from 11 sites were analyzed. At all tests, the load is applied until apparent failure is observed. The validity of the ultimate and yield load estimation method and load calculated from the settlement criterion was investigated through comparison with the measured data. The result indicated that B. Hansen 80% criterion and Stability Plot in ultimate loading decision law almost have been regared as same by comparing measured date and ultimate bearing capacity decided in depending yield loading decision law from 13% to 46% difference have taeyaeen came out when measured data and Davisson was compared, and S-log t from 5% to 41% log P-log S from 14% to 50% difference have been came out. When Settlement standard and measured data was compared difference had been came out about 3% in total settlement 0.1D criterion and from 12% to 35% difference had been came out in net settlement.

• 한국터널지하공간학회 논문집
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• 제9권2호
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• pp.99-107
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• 2007

지보재의 파괴가 고려된 터널의 안전율을 산정하는 방법으로 숏크리트 내에 발생하는 응력이 허용응력을 초과하면 숏크리트가 파괴된다고 가정하고 전단강도 감소기법을 이용하여 지반과 숏크리트의 파괴를 고려한 안전율을 구하는 방법이 유광호 등(2000)에 의해 제시되 바 있고, 유광호 등(2005)과 한동식 등(2006)에 의해 꾸준히 수정 보완되었다. 본 논문에서는 터널의 안전율을 산정함에 있어 시공단계를 고려할 수 있도록 기존 routine을 수정 보완하였다. 또한, 전단강도 감소기법을 사용하여 연속체요소와 보요소로 숏크리트를 모델링하고, 허용응력설계법에 근거하여 파괴를 판단함으로서 터널의 안전율을 정량적으로 산정하는 기존 연구와의 비교를 통해 적정 숏크리트의 모델링 방법을 제시하고자 한다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.80-85
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• 2008

In general, deflection limit criteria of bridge design specifications have been considered based on static serviceability and structural stability. Dynamic serviceability induced from bridge vibration actually has not been included in the criteria. Thus, it is necessary for comfort limit to be considered in order to check dynamic serviceability on bridge vibration. In this study, the comfort limit of bridge structures based on the RMQ and VDV considering the signal fluctuation effectively and the time duration exposed has been constructed. The comfort limit developed in time domain was verified by using vibration signals directly measured from the existing bridges. Comparing the developed comfort limit with the conventional ones defined in frequency domain, it is shown that the comfort limit developed in time domain would be more feasible for evaluating quantitatively the serviceability due to bridge vibration. Using the Bridge-train interaction analysis program, dynamic response of the bridge by the stiffness change were obtained for several railway bridges. And, a stiffness limit satisfying the bridge vibration serviceability was estimated by compared with comport limit. From the results, a new deflection limit on bridge structures satisfying the vibration serviceability could be proposed by comparing with the conventional deflection limit criteria.

• 디지털콘텐츠학회 논문지
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• 제5권4호
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• pp.295-299
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• 2004

본 논문에서는 IEEE802.15.3(HDR-WPAN) 시스템에서 LMS 알고리즘과 RLS 알고리즘의 성능을 비교 분석하였다. LMS 알고리즘은 구현하기가 쉽고 계산량이 적은 장점이 있는 반면, 수렴 속도가 느리며, RLS 알고리즘은 계산량이 많으나, 수렴속도가 빠른 장점을 가지고 있다. HDR-WPAM 시스템을 기반으로 같은 환경 하에서 LMS 알고리즘을 사용했을 경우 250 샘플 이후에 채널에 적응된 등화가 이루어졌고 RLS 알고리즘을 사용했을 경우 50 샘플 이후에 등화가 이루어 졌다. 이를 통해, HDR-WPAN 시스템에서 보다 안정적이며, 빠른 등화 처리를 위해서는 LMS 알고리즘보다 RLS 알고리즘을 통한 적응 등화 구현이 효과적임을 시뮬레이션을 통해 확인하였다.

• 로봇학회논문지
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• 제19권2호
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.