• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method 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 along a straight line or comer. 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 controls. 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 comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• 한국경영과학회지
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• 제14권1호
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• pp.72-79
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• 1989

In this paper we consider the problem of finding an optimal straight line path of moving facility which interacts with a set of existing facilities fixed within a given rectangular area. We present a simple algorithm for rectilinear metric which greatly improves the pervious method and also propose algorithms for Euclidean and squared Euclidean distances.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method 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 along a straight line or corner. 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 controls. 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 comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• Journal of Information Processing Systems
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• 제14권6호
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• pp.1457-1463
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• 2018

In recent times, Natural User Interface/Natural User Experience (NUI/NUX) technology has found widespread application across a diverse range of fields and is also utilized for controlling unmanned aerial vehicles (UAVs). Even if the user controls the UAV by utilizing the NUI/NUX technology, it is difficult for the user to easily control the UAV. The user needs an autopilot to easily control the UAV. The user needs a flight path to use the autopilot. The user sets the flight path based on the waypoints. UAVs normally fly straight from one waypoint to another. However, if flight between two waypoints is in a straight line, UAVs may collide with obstacles. In order to solve collision problems, flight records can be utilized to adjust the generated path taking the locations of the obstacles into consideration. This paper proposes a natural path generation method between waypoints based on flight records collected through UAVs flown by users. Bayesian probability is utilized to select paths most similar to the flight records to connect two waypoints. These paths are generated by selection of the center path corresponding to the highest Bayesian probability. While the K-means algorithm-based straight-line method generated paths that led to UAV collisions, the proposed method generates paths that allow UAVs to avoid obstacles.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1996년도 춘계학술대회논문집; 부산수산대학교, 10 May 1996
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• pp.316-321
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• 1996

The authors has developed the transfer influence coefficient method(TICM) which is an algorithm for the analysis of vibration suitable for a personal computer and applied to many structures such as straight-line beam, plate and shell structures. But TICM can't be applied to the closed loop system and is required extremely much time on the computation of complicate and large structures. Therefore, we now suggest the transfer stiffness coefficient method(TSCM) overcoming these two problems, which consists on the concept of the substructure synthesis method and transfer influence coefficient method. TSCM is formulated for the free vibration analyses of a straight-line distributed beam structure and confirmed by the results of numerical computation to the numerical high accuracy and the high speed.

• 한국도로학회논문집
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• 제19권3호
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• pp.19-30
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• 2017

PURPOSES : This study proposes the road asset valuation approach using alternative depreciation methods. It has become necessary to have asset management system according to the adoption of accrual basis accounting for governmental financial reporting and the amendment of the road act. Therefore, it is very important to analyze the effect of depreciation methods on road asset value as a basic research for road asset management system. METHODS : The Ministry of Strategy and Finance (MOSF) has mainly performed road asset valuation based on Write down Replacement Cost and Straight Line depreciation method. This study suggests some appropriate asset valuation methods for road assets through case analysis using three depreciation methods: Consumption-based depreciation method, Condition-based depreciation method, and Straight Line depreciation method. A road asset valuation data of national highway route 1 (year 2014) is used to analyze the effect of three depreciation methods on the road asset value. Road assets include land and structures (pavement, bridge, and tunnel). This study mainly focuses on structures such as bridges and tunnels, because according to governmental accounting standards, land and road pavement assets do not depreciate. RESULTS : The main results of this study are as follows. Firstly, overall asset value of national highway route 1 was estimated at 6.97 trillion KRW when MOSF's method (straight-line depreciation method) is applied. Secondly, asset value was estimated at 4.85 trillion KRW on application of consumption-based depreciation method. Thirdly, asset value was estimated at 4.37 trillion KRW when condition-based depreciation method is applied. Therefore, either consumption-based or condition-based depreciation methods would be more appropriate than straight-line depreciation method if we can use the condition data of road assets including land that are available in real time. CONCLUSIONS : Since road assets such as pavements, bridges, and tunnels have various patterns of deterioration and condition monitoring period, it is necessary to consider a specific valuation method according to the condition of each road asset. Firstly, even though road pavements do not depreciate, asset valuation through condition-based depreciation method would be more appropriate when requirements for application of non-depreciation approach are not satisfied. Since bridge and tunnel facilities show various patterns of deterioration and condition monitoring period by type and condition level, consumption-based depreciation method based on deterioration model would be appropriate. Therefore, it is necessary to have a reasonable asset management system to apply condition-based depreciation method and a periodic condition investigation to manage road assets well.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 추계종합학술대회
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• pp.195-199
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• 2005

현재 조선 산업의 대형 블록제작 용접공정에서 용접용 캐리지(Carriage)를 이용한 반자동 용접 방법이 많이 사용되고 있다. 여기서의 캐리지는 수평 필렛 용접에서 용접 토치를 이송해 주는 장치이지만, 로봇 용접방법처럼 용접선을 추적하는 기능이 없어 곡선용접에는 사용이 불가능하며, 단순히 직선용접에만 사용할 수 있다. 또, 용접선을 추적하는 기능이 없기 때문에 직선용접에서도 용접오류가 자주 발생하여 이를 수정하는데 많은 시간과 비용이 소요되고 있다. 이에 본 논문에서는 현재 사용하고 있는 캐리지에 스트레인 게이지를 이용한 용접선 추적 센서와 80C196KC 마이크로컨트롤러를 추가 설치하여 직선 및 곡선용접에서 용접선을 자동으로 추적할 수 있는 시스템을 개발하여 사선 모형 및 컨테이너 박스 모형 용접선을 제작하여 추적현상에 대해 고찰하여 보았다.

• 한국재난정보학회 논문집
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• 제19권2호
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• pp.439-450
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• 2023

연구목적: 국내에서 소방점검을 시행시 바닥면적 400m2 미만일 경우 공기유입구와 배출구간의 직선거리 5m이상 하라는 소방법규에 위반되는 대상물들이 있으며 이러한 이유를 분석하고 관련 소방법규의 필요성을 뒷받침 하기 위해 모형실험연구를 시행한 논문이다. 연구방법: 국내소방 대상물을 조사확인 하였고, 국내 및 해외논문 및 정책, 법규를 문헌고찰 하였으며, 400m² 미만의 거실에서 공기 유입구와 배출구간의 직선거리 5m 이하와 5m이상인 공간을 선정하여 모형실험 을 통해 분석하였다. 연구결과: 국내 소방법규(NFPC-화재안전성능기준)를 고찰 하였을 때 바닥면적 400m² 미만일 경우 공기유입구와 배출구 간의 5m 이상으로 이격 거리가 규정되어있지 만 실제 조사해 본 결과 이격 거리를 지키지 못하는 소방대상물이 있는 것으로 확인되었다. 또한 5m 이상의 직선거리에 대한 해외 소 방법규에 대한 논문 고찰을 해봤을 때 공기유입구와 배출구간의 직선거리에 대한 규정이 없는 것으로 나타났지만, 모형실험 한 결과 공기유입 구와 배출구간의 직선거리가 5m이상 일 때가 5m미만 일 때보다 배출속도가 우수한 것으로 나타났다. 결론: 본 연구에서는 공기유입구와 배출구간의 직선거리에 대한 제연설비 성능비교로 해외 소방법규 를 조사하였을 때 직선거리에 대한 강제규정이 없지만 국내 소방법규(NFPC_화재안전성능 기준)에 서는 5m이상을 해야 한다는 법규를 뒷받침하는 근거를 마련하는 논문이다. 앞으로 설계 단계에서 이를 반영하여 소방 감리의 책임과 부담을 줄여줄 수 있는 토대가 마련되길 바란다.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송공학회 2009년도 IWAIT
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• pp.732-736
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• 2009

In this paper we focus on EPI (Epipolar-Plane Image), the horizontal cross section of Ray-Space, and we propose a novel method that chooses objects we want and edits scenes by using multi-view images. On the EPI acquired by camera arrays uniformly distributed along a line, all the objects are represented as straight lines, and the slope of straight lines are decided by the distance between objects and camera plane. Detecting a straight line of a specific slope and removing it mean that an object in a specific depth has been detected and removed. So we propose a scheme to make a layer of a specific slope compete with other layers instead of extracting layers sequentially from front to back. This enables an effective removal of obstacles, object manipulation and a clearer 3D scene with what we want to see will be made.

• 대한물리치료과학회지
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• 제24권1호
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• pp.49-58
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• 2017

Purpose: To determine the effect of Functional movement screen(FMS) of Healthy subjects. Method: 18 subjects were randomly assigned toFunctional movement screen test. To measure functional movement screen(deep squat, hurdle step, in line lunge, shoulder mobility reaching, active straight leg raise, trunk stability push up, rotary stability). Result: FMS scores were deep squat 2.61score, right hurdle step 2.67 score, lift hurdle step 2.83 score, in line lunge 2.83 score, right shoulder mobility 2.67 score, left shoulder mobility 2.61 score, right active straight-leg raise 3.00 score, left active straight-leg raise 3.00 score, trunk stability push up 2.33 score, rotary stability 1.94 score. Conclusion: FMS can improve functional movement in healthy adults.