• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.33-41
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• 2008

Based on object recognition technology, we present a new global localization method for robot navigation. For doing this, we model any indoor environment using the following visual cues with a stereo camera; view-based image features for object recognition and those 3D positions for object pose estimation. Also, we use the depth information at the horizontal centerline in image where optical axis passes through, which is similar to the data of the 2D laser range finder. Therefore, we can build a hybrid local node for a topological map that is composed of an indoor environment metric map and an object location map. Based on such modeling, we suggest a coarse-to-fine strategy for estimating the global localization of a mobile robot. The coarse pose is obtained by means of object recognition and SVD based least-squares fitting, and then its refined pose is estimated with a particle filtering algorithm. With real experiments, we show that the proposed method can be an effective vision- based global localization algorithm.

• Archives of Craniofacial Surgery
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• v.20 no.4
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• pp.265-269
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• 2019

Congenital hypoplasia of the depressor anguli oris muscle is a rare cause of asymmetrical crying facies in newborns. The clinical manifestations range from mild to severe asymmetry and may persist up to adulthood. In the current case, the patient did not exhibit other congenital anomalies or paralysis of other branches of the facial nerve. This adult patient presented with severe asymmetrical lower lip deformity during full mouth opening since birth. A chromosomal study for the detection of 22q gene deletion yielded negative results. The electromyography findings of the lower lip were insignificant. Depressor labii inferioris muscle resection was not effective, but bidirectional (horizontal and vertical) fascia lata grafting improved the aesthetic appearance of the asymmetrical lower lip. The patient showed improved lower lip symmetry during full mouth opening at 1 year after the surgery. Therefore, the details of this rare case are reported herein.

• Journal of The Korean Society of Agricultural Engineers
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• v.62 no.4
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• pp.45-51
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• 2020

The poisson's ratio was obtained from the effective vertical stress and horizontal stress of consolidation-undrained test. It was analyzed void ratio verse poisson's ratio. At the result, the effective friction angle was increase with relative density increased, was decreased the poisson's ratio. The empirical equation of void ratio and poisson's ratio was showed very high correlation r²=0.846. The empirical equation was showed that the smaller the void ratio in the fine grained soil than granular soil. In the case of 0.85 times the correlation analysis equation of granular and fine grained soil, the experimental results were shown very similarly. In especially, the poisson's ratio prediction results was shown within 5% of the error range, was revalidation 0.85 times the correlation analysis equation using the void ratio. In this study, correlation analysis equation of the granular and fine grained soil was more reliability of the poisson's ratio prediction results apply to the void ratio than dry unit weight.

• Geomechanics and Engineering
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• v.31 no.2
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• pp.223-235
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• 2022

Bearing capacity of shallow foundations is often determined for either dry or saturated soils. In some occasions, foundations may be subjected to external loading which is inclined and/or eccentric. In this study, the ultimate bearing capacity of shallow foundations resting on partially saturated coarse-grained cohesionless and fine-grained cohesive soils subjected to a wide range of combined vertical (V) - horizontal (H) - moment (M) loadings is rigorously evaluated using the well-established limit equilibrium method. The unified effective stress approach as well as the suction stress concept is effectively adopted so as to simulate the behaviour of the underlying unsaturated soil medium. In order to obtain the bearing capacity, four equilibrium equations are solved by adopting Coulomb failure mechanism and Bishop effective stress concept and also considering a linear variation of the induced matric suction beneath the foundation. The general failure loci of the shallow foundations resting on unsaturated soils at different hydraulic conditions are presented in V - H - M spaces. The results indicate that the matric suction has a marked influence on the bearing capacity of shallow foundations. In addition, the effect of induced suction on the ultimate bearing capacity of obliquely-loaded foundations is more pronounced than that of the eccentrically-loaded footings.

• Journal of the Earthquake Engineering Society of Korea
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• v.1 no.1
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• pp.31-39
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• 1997

This paper is on the vibration control of access floor on the frames of reinforced structure. In this study, the horizontal anti-vibration system using precise spring damper was developed and modeling and vibration analysis of the RC structure was performed for the control of horizontal vibration coused by machinery and worker's moving. Experiment was done in three cases, no damper at the RC structures, dampers connecting pedestal to pedestal and pedestal to the structure, for the investigation of the effect of the system on disigned RC structure. For each experiment, the occeleration responses on slab and access floor after giving impact wave and external vibration were measured. It was shown that the magnitude of resonance response of the system with dampers are smaller than without damper and the resonance peak also partly moved to low-frequency range. Furthermore. It was shown that the acceleration components of the system with domoers decreased greatly in high-frequency range and the system was very much effective especially for external vibration. In order to verify the anti-vibration effect of the developed system, the vibration analysis was also done for the system by using the finite element modelling. The analysis results was in good agreement with experimental results. Thus, It is concluded that this study is useful for the design of precise anti-vibration system and micro-vibration control of concrete structures.

• Geomechanics and Engineering
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• v.37 no.3
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• pp.293-306
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• 2024

Influenced by the alternating effects of dynamic and static pressure during the mining process of close range coal seams, the surrounding rock support of cross mining roadway is difficult and the deformation mechanism is complex, which has become an important problem affecting the safe and efficient production of coal mines. The paper takes the inclined longwall mining of the 10304 working face of Zhongheng coal mine as the engineering background, analyzes the key strata fracture mechanism of the large inclined right-angle trapezoidal mining field, explores the stress distribution characteristics and transmission law of the surrounding rock of the roadway affected by the mining of the inclined coal seam, and proposes a segmented and hierarchical support method for the cross mining roadway affected by the mining of the close range coal seam group. The research results indicate that based on the derived expressions for shear and tensile fracture of key strata, the ultimate pushing distance and ultimate suspended area of a right angle trapezoidal mining area can be calculated and obtained. Within the cross mining section, along the horizontal direction of the coal wall of the working face, the peak shear stress is located near the middle of the boundary. The cracks on the floor of the cross mining roadway gradually develop in an elliptical funnel shape from the shallow to the deep. The dual coupling support system composed of active anchor rod support and passive U-shaped steel shed support proposed in this article achieves effective control of the stability of cross mining roadways, which achieves effective control of floor by coupling active support and preventive passive support to improve the strength of the surrounding rock itself. The research results are of great significance for guiding the layout, support control, and safe mining of cross mining roadways, and to some extent, can further enrich and improve the relevant theories of roof movement and control.

• Journal of the Korean GEO-environmental Society
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• v.17 no.7
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• pp.15-25
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• 2016

In the present work, a number of advanced three-dimensional (3D) parametric finite element numerical analyses have been conducted to study the behaviour of single piles and pile groups in consolidating ground from coupled consolidation analyses. Single piles, $4{\times}4$ and $6{\times}6$ piles inside groups with a spacing of 2.5D were considered, where D is the pile diameter. It has been found that dragload and downdrag on the piles developed rather quickly at the early stage of consolidation. However, when the degree of consolidation was more than 50~75%, only little increases of dragload and downdrag were induced on the pile. Negative Skin Friction (NSF) on the pile in the fill layer was mobilised quickly and remained constant throughout further consolidation. The development of NSF is influenced both by the relative shear displacements at the pile-soil interface and the vertical effective soil stresses during consolidation. The former governed the early stage of consolidation and the latter affected the later stage of consolidation. The vertical effective soil stresses adjacent to the piles were reduced due to the shear stress transfer at the pile-soil interface, in particular for piles inside the pile groups. The range of NSF influence zone concerning the reductions of the effective vertical soil stresses was about 20D measured from the piles in the horizontal direction. On the contrary, the effective horizontal soil stresses acting on the piles were similar to those at the far field.

• Computers and Concrete
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• v.34 no.3
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• pp.329-346
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• 2024

In this study, it is aimed to investigate the vertical seismic performance of reinforced concrete (R/C) frame buildings in two different building stocks, one of which consists of those designed as per the previous Turkish Seismic Code (TSC-2007) that does not consider the vertical earthquake load, and the other of which consists of those designed as per the new Turkish Seismic Code (TSCB-2018) that considers the vertical earthquake load. For this aim, three R/C buildings with heights of 15 m, 24 m and 33 m are designed separately as per TSC-2007 and TSCB-2018 based on some limitations in terms of seismic zone, soil class and structural behavior factor (Rx/Ry) etc. The vertical earthquake motion effects are identified according to the linear time-history analyses (LTHA) that are performed separately for only horizontal (H) and combined horizontal+vertical (H+V) earthquake motions. LTHA is performed to predict how vertical earthquake motion affects the response of the designed buildings by comparing the linear response parameters of the base shear force, the base overturning, the base axial force, top-story vertical displacement. Nonlinear time-history analysis (NLTHA) is generally required for energy dissipative buildings, not required for design of buildings. In this study, the earthquake records are scaled to force the buildings in the linear range. Since nonlinear behavior is not expected from the buildings herein, the nonlinear time-history analysis (NLTHA) is not considered. Eleven earthquake acceleration records are considered by scaling them to the design spectrum given in TSCB-2018. The base shear force is obtained not to be affected from the combined H+V earthquake load for the buildings. The base overturning moment outcomes underline that the rigidity of the frame system in terms of the dimensions of the columns can be a critical parameter for the influence of the vertical earthquake motion on the buildings. In addition, the building stock from TSC-2007 is estimated to show better vertical earthquake performance than that of TSCB-2018. The vertical earthquake motion is found out to be highly effective on the base axial force of 33 m building rather than 15 m and 24 m buildings. Thus, the building height is a particularly important parameter for the base axial force. The percentage changes in the top-story vertical displacement of the buildings designed for both codes show an increase parallel to that in the base axial force results. To extrapolate more general results, it is clear to state that many buildings should be analyzed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.769-772
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• 2005

Five DOF motion errors of a hydrostatic bearing table driven by the coreless type linear motor were compensated utilizing the active controlled capillaries in this study. Horizontal linear motion and yaw error were simultaneously compensated using two active controlled capillaries and vertical linear motion, pitch and yaw error were also simultaneously compensated using three active controlled capillaries. By the compensation, horizontal linear motion accuracy and yaw were improved from 0.16 ${\mu}m$ and 1.96 arcsec to 0.02 ${\mu}m$ and 0.03 arcsec. Vertical linear motion accuracy, pitch and roll were also largely improved from 0.18 ${\mu}m$, 2.26 arcsec and 0.14 arcsec upto 0.03 ${\mu}m$, 0.07 arcsec and 0.02 arcsec. The compensated motion errors were within the range of measuring repeatability which was ${\pm}0.02\;{\mu}m$ in the linear motion and ${\pm}0.05$ arcsec in the angular motion. From these results, it is found that the motion error compensation method utilizing the active controlled capillaries are very effective to improve the five motion accuracies of the hydrostatic bearing tables.

• The Journal of the Korea Contents Association
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• v.8 no.11
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• pp.1-9
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• 2008

Thanks to the multimedia technology development, it is possible to show image representations in high quality and to process images in various ways. Anisotropic diffusion as an effective diffusion filtering among many image preprocessing methods and postprocessing methods is used in reduction of speckle noises of ultrasound images, image restoration, edge detection, and image segmentation. However, the conventional anisotropic diffusion based on a cross-kernel causes the following problems. The problem is the concentration of edges in the vertical or horizontal directions. In this paper, a new anisotropic diffusion transform based on directions of gradient is proposed. The proposed method uses the eight directional square-kernel which is an expanded form of the cross-kernel. The proposed method is to select directions of small gradient based on square-kernel. Therefore, the range of proposed diffusion is selected adaptively according to the number of the directions of gradient. Experimental results show that the proposed method can decrease the concentration of edges in the vertical or horizontal directions, remove impulse noise. The image in high quality can be obtained as a result of the proposed method.