• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.99-107
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• 2014

In this paper, a landmark based localization system using a Kinect sensor is proposed and evaluated with the implemented system for precise and autonomous navigation of low cost robots. The proposed localization method finds the positions of landmark on the image plane and the depth value using color and depth images. The coordinates transforms are defined using the depth value. Using coordinate transformation, the position in the image plane is transformed to the position in the body frame. The ranges between the landmarks and the Kinect sensor are the norm of the landmark positions in body frame. The Kinect sensor position is computed using the tri-lateral whose inputs are the ranges and the known landmark positions. In addition, a new matching method using the pin hole model is proposed to reduce the mismatch between depth and color images. Furthermore, a height error compensation method using the relationship between the body frame and real world coordinates is proposed to reduce the effect of wrong leveling. The error analysis are also given to find out the effect of focal length, principal point and depth value to the range. The experiments using 2D bar code with the implemented system show that the position with less than 3cm error is obtained in enclosed space($3,500mm{\times}3,000mm{\times}2,500mm$).

• Journal of the Korea Concrete Institute
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• v.26 no.4
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• pp.475-482
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• 2014

This paper presents the experimental results concentrically reinforced concrete tension members and compares cracking behavior of amorphous steel fiber and normal steel fiber reinforced concrete members. Two kind of steel fibers were included as a major experimental parameter together with the six cover thickness to bar diameter ratio ($c/d_b$). The presence of amorphous steel fibers effectively controlled the splitting cracks initation and propagation. In the amorphous steel fiber reinforced specimens, no splitting cracks were observed that becomes higher with cover thickness to bar diameter ratio is 2.0. Crack spacing of the each specimens reinforced with amorphous steel fibers and normal steel fibers becomes larger with the increase in cover thickness, and also measured maximum and average crack spacing are significantly smaller than current design code provision. Based on the measured crack spacings, a relationships for predicting the crack spacing is proposed using the measured average crack spacing in amorphous steel fiber reinforced concrete tension members.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.8
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• pp.891-898
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• 2005

Inertia welding is a solid-state welding process in which butt welds in materials are made in bar and in ring form at the joint race, and energy required lot welding is obtained from a rotating flywheel. The stored energy is converted to frictional heat at the interface under axial load. The quality of the welded joint depends on many parameters, including axial force, initial revolution speed and energy amount of upset. working time, and residual stresses in the joint. Inertia welding was conducted to make the large exhaust valve spindle for low speed marine diesel engine. superalloy Nimonic 80A for valve head of 540mm and high alloy SNCrW for valve stem of 115mm. Due to different material characteristics such as, thermal conductivity and flow stress. on the two sides of the weld interface, modeling is crucial in determining the optimal weld geometry and Parameters. FE simulation was performed by the commercial code DEFORM-2D. A good agreement between the Predicted and actual welded shape is observed. It is expected that modeling will significantly reduce the number of experimental trials needed to determine the weld parameters. especially for welds for which are very expensive materials or large shaft. Many kinds of tests, including macro and microstructure observation, chemical composition tensile , hardness and fatigue test , are conducted to evaluate the qualify of welded joints. Based on the results of the tests it can be concluded that the inertia welding joints of the superalloy exhaust valve spindle are better properties than the material specification of SNCrW.

• Journal of the Korea institute for structural maintenance and inspection
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• v.26 no.5
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• pp.135-142
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• 2022

In this study, lap spliced ultra-high strength reinforced concrete beams were tested and the code criteria for calculating the lap splice length which was affected by the transverse reinforcement and concrete covering performance were reviewed. The main variables for test were set as fiber volume fraction and transverse reinforcing bar arrangement to improve the confining performance of the concrete cover. The change of the confining performance of concrete cover according to the increase in the fiber mixing amount at 1% and 2% volume ratio was examined, and D10 stirrups with a spacing of 100 mm were placed in the lap spliced region. As a result of the test, the specimens confined by the stirrups showed a sudden drop of load bearing capacity with horizontal cracking at the position of tensile longitudinal reinforcement. However, horizontal cracks were not appeared at the location of longitudinal reinforcement for the specimens with steel fiber. And these specimens showed gradual decrease of load bearing capacity after experiencing peak load. In particular, it was found that the strain at the position of the tensile longitudinal reinforcements of the specimens to which the mixing ratio of 2% was applied exceeds the yield strain. As a result of measuring the strain on the concrete surface, it was found that the fiber was more effective in preventing damage to the concrete surface than the stirrups for short lap spliced region.