• Geomechanics and Engineering
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• 제19권5호
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• pp.447-462
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• 2019

The vacuum preloading method has been used in many countries for ground improvement and land reclamation works. A sand cushion is required as a horizontal drainage channel for conventional vacuum preloading. In terms of the dredged-fill foundation soil, the treatment effect of the conventional vacuum preloading method is poor, particularly in Tianjin, China, where a shortage of sand exists. To solve this problem, straight-line vacuum preloading without sand is widely adopted in engineering practice to improve the foundation soil. Based on the engineering properties of dredged fill in Lingang City, Tianjin, this paper presents field instrumentation in five sections and analyzes the effect of a prefabricated vertical drain (PVD) layout and a vacuum pumping method on the soft soil ground treatment. Through the arrangement of pore water pressure gauges, settlement marks and vane shear tests, the settlement, pore water pressure and subsoil bearing capacity are analyzed to evaluate the effect of the ground treatment. This study demonstrates that straight-line vacuum preloading without sand can be suitable for areas with a high water content. Furthermore, the consolidation settlement and consolidation degree system is developed based on the grey model to predict the consolidation settlement and consolidation degree under vacuum preloading; the validity of the system is also verified.

• 로봇학회논문지
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• 제1권2호
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• pp.125-134
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• 2006

The problem of establishing the servo system to reach the desired location keeping all features in the field of view and following a straight line is considered. In addition, robustness of camera calibration parameters is considered in this paper. The proposed approach is based on switching from position-based visual servoing (PBVS) to image-based visual servoing (IBVS) and allows the camera path to follow a straight line. To achieve the objective, a pose estimation method is required; the camera's target pose is estimated from the obtained images without the knowledge of the object. A switched control law moves the camera equipped to a robot end-effector near the desired location following a straight line in Cartesian space and then positions it to the desired pose with robustness to camera calibration error. Finally simulation results show the feasibility of the proposed visual servoing technique.

• KEPCO Journal on Electric Power and Energy
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• 제7권1호
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• pp.85-91
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• 2021

With the social atmosphere of respect for human life and the increasing interest in safety of field workers, research and development is underway in various ways to transform direct live method into indirect live method in the field of distribution. As part of this measure, it was necessary to convert electric pole and complex facilities work from machining power distribution to indirect live operation, and install a straight connecting sleeve that connects cut wires for by-pass method, but it failed to meet the tensile strength standard when constructing a sleeve constructed by direct method. In this paper, the design factors were derived based on the case of overseas similar sleeves and the tensile strength evaluation of each variable was performed, based on the analysis of these test results, the method for securing tensile strength of straight-line access sleeves for indirect running was presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 추계학술대회 논문집 학회본부
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• pp.405-408
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• 1991

In this paper, the algorithm of Resolved Motion Rate Control(RMRC) is applied to the robot manipulator to implement a desired straight trajectory in the cartesian space, PI controller is also used to control the velocity and position which are produced by RMRC algorithm. And Bounded Deviation Method is used to determine the intermediate knot points which satisfy a given tolerence limit, between the straight line segment.

• 한국수학사학회지
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• 제30권2호
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• pp.101-119
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• 2017

This paper is a follow up study of [2]. In this paper we analyse the contents of middle school mathematics textbooks published in the 1st National Curriculum Period centered on the concept 'straight line' and discuss how they are different from contemporary mathematics textbooks in view of connectedness of contents, mathematical terms, textbook as a learning material vs. teaching material, relationship between contents of national curriculum and textbooks, and some topics related to direct proportion, function, method of equivalence as a method for solving simultaneous linear equations and so on. The results of our analysis and discussion suggest implications for reforming mathematics curriculum and developing mathematics textbooks.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2011년도 추계학술대회
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• pp.918-920
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• 2011

본 논문에서는 이진화 결과 임펄스 노이즈 형태가 나타나는 영상에서 직선 성분을 검출할 때 사용되는 에지 패턴 분리 방법을 제안한다. 임펄스 노이즈가 발생하면 직선형태의 에지 패턴이 왜곡되어 복잡한 형태의 에지 형태가 된다. 왜곡된 상태에서 직선 검출 알고리즘을 적용하면 노이즈로 왜곡된 직선을 검출하지 못하기 때문에 전체 영상의 에지 성분을 방향성을 이용하여 분리하여야 한다. 본 논문에서는 4 방향에 대해서 에지 성분을 분리하였고, 분리한 각 영상에 대해서 겹쳐진 직선 패턴을 분리하여 직선을 검출하였다. 실험 결과는 제안하는 방법이 간단하면서도 정확하게 직선을 검출함을 보여준다.

• Nuclear Engineering and Technology
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• 제48권3호
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• pp.733-743
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• 2016

The purpose of this study is to present a rational depreciation method for a pyroprocess cost calculation. Toward this end, the so-called advanced decelerated depreciation method (ADDM) was developed that complements the limitations of the existing depreciation methods such as the straight-line method and fixed percentage of declining-balance method. ADDM was used to show the trend of the direct material cost and direct labor cost compared to the straight-line or fixed percentage of the declining-balance methods that are often used today. As a result, it was demonstrated that the depreciation cost of the ADDM, which assumed a pyroprocess facility's life period to be 40 years with a deceleration rate of 5%, takes up 4.14% and 27.74% of the pyroprocess unit cost ($781/kg heavy metal) in the $1^{st}$ and final years, respectively. In other words, it was found that the ADDM can cost the pyroprocess facility's capital investment rationally every year. Finally, ADDM's validity was verified by confirming that the sum of the depreciation cost by year, and the sum of the purchasing cost of the building and equipment, are the same.

• 한국정밀공학회지
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• 제11권6호
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• pp.57-64
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• 1994

This paper proposes a fuzzy tuning PID controller for straight line type inverted pendulum. The conventional PID controller which is used widely in industrial field has fatal drawback on determining control gains for practical system. The proposed controller tunes the gains automatically based on fuzzy urle derived from the experience of expert operator. The results of simulation and experiment show the efficiency of the proposed control method comparing with conventional PID control method in terms of rising time, overshoot, and overall errors.

• Journal of Mechanical Science and Technology
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• 제16권1호
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• pp.83-93
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• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of Electrical Engineering and Technology
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• 제13권6호
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• pp.2530-2544
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• 2018

In this paper, we propose an enhanced LiDAR-camera calibration method that extracts the marker plane from 3D point cloud information. In previous work, we estimated the straight line of each board to obtain the vertex. However, the errors in the point information in relation to the z axis were not considered. These errors are caused by the effects of user selection on the board border. Because of the nature of LiDAR, the point information is separated in the horizontal direction, causing the approximated model of the straight line to be erroneous. In the proposed work, we obtain each vertex by estimating a rectangle from a plane rather than obtaining a point from each straight line in order to obtain a vertex more precisely than the previous study. The advantage of using planes is that it is easier to select the area, and the most point information on the board is available. We demonstrated through experiments that the proposed method could be used to obtain more accurate results compared to the performance of the previous method.