• Journal of Bio-Environment Control
• /
• v.12 no.2
• /
• pp.57-62
• /
• 2003

In this study, a robotic manipulator for harvesting cucumber was developed. The objective of this research was to design and to construct a robotic manipulator specifically tailored to harvest cucumber in the greenhouse. The system was consisted of an integrated end-efffctor, an image processing system and a controlling system. Especially, the image processing system detected the quality of cucumber within each plant in order for the computer to furnish harvest instructions to the manipulator. In all tests of cucumber, the success rate for cucumber harvest was 84％ in the greenhouse. End-effector, image processing system and controlling system showed good performance. Based on the results of this research the following recommendations are made for further study. Besides harvesting cucumbers, the oldest leaves, creepers and the youngest small side leaves need to be removed.

• Journal of the Korean GEO-environmental Society
• /
• v.10 no.6
• /
• pp.117-123
• /
• 2009

The mechanical behavior of a micropile due to horizontal load has not yet clearly identified in Korea. It has generally estimated from that of a traditional pile because there is no standard method even though it has shorter length. To tell the truth, its behavior is very different from a traditional pile's. Specifically, it is general fact that horizontal resistance of earth is one of the main factors to control the mechanical behavior of micropile. To this reason, a laboratory model has been made in this study to estimate the behavior of a micropile which loaded increasingly horizontally. The laboratory model has been designed to estimate both the behavior of load to displacement and skin friction to displacement. And the analysis of the latter was compared with the solution of strain wedge model. In the end, it was proved that the mechanical behavior of a micropile should be estimated from considering the horizontal resistance of earth.

• Journal of the Korean GEO-environmental Society
• /
• v.11 no.3
• /
• pp.43-51
• /
• 2010

In the downstream areas of the Nakdong river, Pusan clays are commonly found and thickness may reach to maximum of 100m. From geological point of view, Pusan clay are characterized as holocene clays, deposited for approximately 20,000 years ago. Recently, there have been many construction projects based on these soft ground areas. It is needed to know clearly soil properties of the areas for design and safety analysis, especially undrained shear strength of soft clays. However, Pusan clay have not been studied systematically because the clay layers are usually very deep, having high sensitivity characteristic. In this study, undisturbed UD samples obtained from the downstream areas of the Nakdong river were researched using laboratory tests (CthUE, CKcUC, CIUC, UU and UC) and in-situ tests (Field Vane, CPTu). The undrained shear strength characteristics of the samples were depicted using stress-strain relationship.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2016.05a
• /
• pp.174-174
• /
• 2016

하천은 침식작용과 퇴적작용에 의해 유사를 하류방향으로 이동시킨다. 하천의 침식작용은 하상을 변화시키고 교량, 보 등의 하천 구조물의 안전성을 저해하여 국민의 재산과 생명에 막대한 피해를 입힌다. 또한 퇴적작용은 상류로부터 이동한 유사를 하도 내에 퇴적시켜 하천의 형상을 변화시키고, 통수면적을 감소시켜 홍수기에 범람 빈도와 규모를 증가시킨다. 이처럼 부유사 자료는 하천 구조물의 설계, 수자원 개발 및 관리를 위한 하천계획의 전반에 있어 매우 중요한 자료이지만, 국내의 경우 유사량 측정방법에 대한 연구가 미비하여 대부분 유사량 채집기를 활용한 직접 측정이 이루어지고 있다. 하지만 유사량 채집기를 활용한 관측은 매우 제한된 지역에서 간헐적으로 실시되고 있어 측정 자료가 부족한 실정이다. 이러한 한계를 극복하고자 간접적인 측정 방식을 개발하였으나 우리나라의 강우 특성상 홍수기를 거치면서 하천의 수리학적 특성이 변화하여 관계식의 신뢰도가 떨어지며 자주 갱신해야 한다는 어려움이 있다. 본 연구에서는 횡방향 유속과 신호대잡음비(Signal to Noise Ratio, SNR)를 측정하는 H-ADCP(SonTek, SL-3000)와 레이저 회절을 이용하여 지점의 입도분포와 부유사 농도를 측정하는 레이저부유사측정기(LISST : Laser In-Situ Scattering and Transmissometry)를 이용하여 자료를 취득하였다. 그리고 취득된 신호대잡음비, 부유사 농도간의 관계분석을 통해 회귀식을 구축한 후, 초음파 산란도로 정의되는 신호대잡음비를 활용하여 실내 실험수로의 부유사량을 산정하였고 실측 부유사량과의 비교를 통해 오차 분석을 실시하였다. 오차 분석 결과 실측 부유사량은 138.15g/s, 추정 부유사량은 165.372g/s로 신호대잡음비를 이용하여 추정한 부유사량이 약 19% 과다산정 하는 것으로 나타났다. 본 연구의 결과는 현재 우리나라에 다수 설치되어 있는 수평초음파도플러유속계(H-ADCP)를 활용한 지속적인 부유사량 관측의 토대를 마련할 것으로 사료된다.

• Journal of the Korean GEO-environmental Society
• /
• v.12 no.7
• /
• pp.5-12
• /
• 2011

When choosing the support pattern of tunnel, the characteristics of rock are identified from the result of the surface geologic survey, boring, and geophysical prospecting and laboratory test. And a rock mass rating is classified and excavation method and standard support pattern are designed considering rock classification, domestic and international construction practices, numerical analysis. According to the revised design standard for tunnel, it was recommended to classify the rock mass rating for the design of tunnel into a rating based on RMR. If necessary, it proposed a flexible standard allowed applying more atomized the rock mass rating and Q-System. Also, the resonable verification of the support pattern must be accompanied because the factors affecting the structure and behavior of ground during the construction of tunnel are the main factors of uncertainty factors such as the nature of ground, ground water and the characteristics of structural materials. These days, such verification method is getting more specialized and diversified. In this study, the empirical method, numerical analysis and comparative analysis of in situ measurements were used to prove the reasonableness in the support pattern by RMR and Q-value on the Imha Dam emergency spillway.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.4
• /
• pp.442-448
• /
• 2011

There are many research results about a self-localization technique of mobile robot. In this paper we present a self-localization technique based on the features of ceiling vision using a fisheye lens. The features obtained by SIFT(Scale Invariant Feature Transform) can be used to be matched between the previous image and the current image and then its optimal function is derived. The fisheye lens causes some distortion on its images naturally. So it must be calibrated by some algorithm. We here propose some methods for calibration of distorted images and design of a geometric fitness model. The proposed method is applied to laboratory and aile environment. We show its feasibility at some indoor environment.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.24 no.5
• /
• pp.77-85
• /
• 2010

In this paper, A new integrated energy simulation results of LED lamp are presented to use it effectively in the office buildings. Generally LED lamp has many advantages in comparison with a general lamp such as long life and no pollution problem like the mercury. It also is excellent in color rendering and small consumption electric power. However LED lamp has some disadvantages to compare to general fluorescent lamp. It is small light flux about 50[%] and narrow light distribution than fluorescent lamp. Therefore, to apply LED lamp in an office building, the illuminance distribution with an environment analysis and cooling, heating and light energy has to be analyzed. The purpose of this study is to analyze light environment, light, cooling and heating energy simulation in office building.

• Journal of the Institute of Electronics Engineers of Korea CI
• /
• v.42 no.5
• /
• pp.9-20
• /
• 2005

In this paper, we propose ubiTrack, a system which tracks users' location in indoor environments by employing infrared-based proximity method. Most of recently developed systems have focussed on performance and accuracy. For this reason, they adopted the idea of centralized management, which gathers all information in a main system to monitor users' location. However, these systems raise privacy concerns in ubiquitous computing environments where tons of sensors are seamlessly embedded into environments. In addition, centralized systems also need high computational power to support multiple users. The proposed ubiTrack is designed as a passive mobile architecture to relax privacy problems. Moreover, ubiTrack utilizes appropriate area as a unit to efficiently track users. To achieve this, ubiTrack overlaps each sensing area by utilizing the TDM (Time-Division Multiplexing) method. Additionally, ubiTrack exploits various filtering methods at each receiver and utilization module. The filtering methods minimize unexpected noise effect caused by external shock or intensity weakness of ID signal at the boundary of sensing area. ubiTrack can be applied not only to location-based applications but also to context-aware applications because of its associated module. This module is a part of middleware to support communication between heterogeneous applications or sensors in ubiquitous computing environments.

• Journal of Korean Tunnelling and Underground Space Association
• /
• v.21 no.4
• /
• pp.545-560
• /
• 2019

During EPB TBM tunnelling, an appropriate application of additives such as foam and polymer is an essential factor to secure the stability of TBM as well as tunnelling performance. From the '90s, there have been many studies on the optimal injection of additives worldwidely contrary to the domestic situation. Therefore, in this paper, the foam, which is widely adopted for soil conditioning, was selected as an additive in order to investigate the effect of foam injection on TBM performance through a series of laboratory excavation tests. The excavation experiments were carried out on artificial sandy soil specimens with consideration of the variance of FIR (Foam Injection Ratio), FER (Foam Expansion Ratio) and $C_f$ (Surfactant Concentration), which indicate the amount and quality of the foam. During the tests, torque values were measured, and the workability of conditioned soil was evaluated by comparing the slump values of muck after each experiment. In addition, a weight loss of the replaceable aluminum cutter bits installed on the blade was measured to estimate the degree of abrasion. Finally, the foam injection ratio for the optimal TBM excavation for the typical soil specimen was determined by comparing the measured torque, slump value and abrasion. Note that the foam injection conditions satisfying the appropriate level of machine load, mechanical wear and workability are essential in the EPB TBM operational design.

• Journal of the Korean Recycled Construction Resources Institute
• /
• v.6 no.2
• /
• pp.112-118
• /
• 2011

The recycled asphalt concrete has gotten increasing attention due to the environmental issues. The volume of reclaimed asphalt has increased significantly for last few years because of city remodeling, pavement maintenance, utility excavation, and road widening. Considering the value of reclaimed asphalt, it is rather used for the recycled asphalt concrete than it is used for fill and cover up material instead of soil. This research will be a supplements incomplete issues from existing research results and suggests the quality control guideline for recycled asphalt concrete and upcoming laws. As the first step of research, the trial construction of RAP(Recycled Asphalt Pavement) performed in expressway construction sites. These trial construction sites have been checked every years. And another construction sites studied and selected for more deeper performance check of RAP. For this checks, we used automatic pavement survey equipment and computerized analysis tools. Also, DSR(Dynamic Shear Rheometer) was used for the fatigue life calculation of binder blends(RAP and virgin binder). As a consequence of this research, the application of recycled asphalt provides good enough quality for highway construction. The preceeding literatures reviewed shows that the asphalt rejuvenator are used in many countries but that type of chemical agent are not used in Korea. By using the data of trial construction and mix design in Chongwon-Sangju construction lane, the surface and base courses consisted with the 10% and 30% rap mix asphalt section maintains good performance for up to 7 years. Through the performance check and laboratory tests(DSR), the quality control and mixture's low temperature prevention are the important factor and chemical agent necessary for increasing the fatigue life of RAP binder.