• Journal of the Korea Society of Computer and Information
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• v.24 no.11
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• pp.29-39
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• 2019

As mobile robot applications increase in real life, the need of low cost autonomous driving are gradually increasing. We propose a novel vision-based real-time lane detection and tracking system that supports autonomous driving of mobile robots in constrained tracks which are designed considering indoor driving conditions of mobile robots. Considering the processing of lanes with various shapes and the pre-adjustment of operation parameters, the system structure with multi-operation modes are designed. In parameter tuning mode, thresholds of the color filter is dynamically adjusted based on the geometric property of the lane thickness. And in the unstable input mode of curved tracks and the stable input mode of straight tracks, lane feature pixels are adaptively extracted based on the geometric and temporal characteristics of the lanes and the lane model is fitted using the least-squared method. The track centerline is calculated using lane models and the motion model is simplified and tracked by a linear Kalman filter. In the driving experiments, it was confirmed that even in low-performance robot configurations, real-time processing produces the accurate autonomous driving in the constrained track.

• Earthquakes and Structures
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• v.17 no.4
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• pp.373-385
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• 2019

In this article, different frequently adopted modeling aspects of linear and nonlinear dynamic soil-structure interaction (SSI) are studied on a pile-supported integral abutment bridge structure using the open-source platform OpenSees (McKenna et al. 2000, Mazzoni et al. 2007, McKenna and Fenves 2008) for a 2D domain. Analyzed approaches are as follows: (i) free field input at the base of fixed base bridge; (ii) SSI input at the base of fixed base bridge; (iii) SSI model with two dimensional quadrilateral soil elements interacting with bridge and incident input motion propagating upwards at model bottom boundary (with and without considering the effect of abutment backfill response); (iv) simplified SSI model by idealizing the interaction between structural and soil elements through nonlinear springs (with and without considering the effect of abutment backfill response). Salient conclusions of this paper include: (i) free-field motions may differ significantly from those computed at the base of the bridge foundations, thus put a significant bias on the inertial component of SSI; (ii) conventional modeling of SSI through series of soil springs and dashpot system seems to stay on the safer side under dynamic conditions when one considers the seismic actions on the structure by considering a fully coupled SSI model; (iii) consideration of abutment-backfill in the SSI model positively affects the general response of the bridge, as a result of large passive resistance that may develop behind the abutments.

• Journal of the Society of Naval Architects of Korea
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• v.32 no.4
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• pp.27-37
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• 1995

A performance index is very important and indispensable to the evaluation of automatic steering system of ships in open sea from the viewpoint of energy saving. In this paper, we derive the performance index of automatic steering system from the concept of energy loss of propulsive power. The index is found to consist of three terms, energy loss due to elongation of sailing distance, energy loss due to steering, and energy loss due to yawing motion. We also provide two kinds of calculation method on the performance index ; frequency response analysis and digital simulation. The numerical calculations are carried out for an ore carrier and a fishing boat by both methods. The frequency response analysis is found to be useful if the system is linear and the disturbance on ship is not large. If the system is nonlinear or the disturbance is excessive, the method of digital simulation has to be applied for the accurate evaluation of the performance index. Further investigations into the effects of nonlinear elements such as weather adjuster, power unit etc. on the performance index, will be dealt with in another paper.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.4
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• pp.651-656
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• 2019

This paper is a study on the structure system and implementation of cantilever actuator for decontamination. There are many kinds of exterior materials that attach to the exterior walls of a building. Glass, in particular, can be contaminated in a short period of time due to external exposure. The pollutants like this damage the appearance of a building. It can also cause health problems for users, and dust attached to solar panels creates problems that greatly reduce the power generation of solar panels. In order to remove such contaminants, professional workers usually remove contaminants attached to the outer walls. However, even with stability, accidents are often caused by a number of unexpected variables that occur in the field. Thus, to overcome these shortcomings, the cantilever actuator structure system was proposed. The system was designed through research. Then, we made a cantilever actuator and checked its operability. Finally, the effectiveness of the cantilever actuator was reviewed.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.29 no.2
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• pp.159-166
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• 2019

Objectives: The purpose of this study was to evaluate the personal exposure to $PM_{10}$ by body parts for the development of dust monitoring wearable device for swine farmers. Methods: Tasks were classified by using motion pictures taken by action cameras attached to swine farmers. Concentrations of $PM_{10}$ were measured by attaching direct-reading instruments at the head, neck and waist of worker. Differences of $PM_{10}$ exposure between body parts were analyzed with linear regression. Results: We identified three tasks(vaccination, moving pigs, and manure treatment). $PM_{10}$ concentration during vaccination was the highest among the tasks, and the body part showing the highest concentration of $PM_{10}$ was the waist regardless of task. In all tasks, the closer distance between the body parts, the higher were the R-squared values(vaccination 0.4221, moving pigs 0.6990, and manure treatment 0.2164). Conclusions: We presumed that $PM_{10}$ concentrations were affected by the parts of the body in which they were measured. In order to develop swine farmer's wearable device for monitoring dust concentration in air, the determination of the positions of monitoring sensor to ensure accurate measurement is essential. Considering the results of this study, wearable sensor should be positioned at the waist.

• Smart Structures and Systems
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• v.24 no.3
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• pp.303-317
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• 2019

Magneto-rheological fluid (MRF) rotatory dampers are normally used for controlling the constant rotation of machines and engines. In this research, such a device is proposed to act as variable stiffness device to alleviate the rotational oscillation existing in the many engineering applications, such as motor. Under such thought, the main purpose of this work is to characterize the nonlinear torque-angular displacement/angular velocity responses of an MRF based variable stiffness device in oscillatory motion. A rotational hysteresis model, consisting of a rotatory spring, a rotatory viscous damping element and an error function-based hysteresis element, is proposed, which is capable of describing the unique dynamical characteristics of this smart device. To estimate the optimal model parameters, a modified whale optimization algorithm (MWOA) is employed on the captured experimental data of torque, angular displacement and angular velocity under various excitation conditions. In MWOA, a nonlinear algorithm parameter updating mechanism is adopted to replace the traditional linear one, enhancing the global search ability initially and the local search ability at the later stage of the algorithm evolution. Additionally, the immune operation is introduced in the whale individual selection, improving the identification accuracy of solution. Finally, the dynamic testing results are used to validate the performance of the proposed model and the effectiveness of the proposed optimization algorithm.

• Progress in Medical Physics
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• v.32 no.2
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• pp.40-49
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• 2021

Purpose: This study aimed to develop a surface-guided radiosurgery system customized for a neurosurgery clinic that could be used as an auxiliary system for improving the accuracy, monitoring the movements of patients while performing hypofractionated radiosurgery, and minimizing the geometric misses. Methods: RGB-D cameras were installed in the treatment room and a monitoring system was constructed to perform a three-dimensional (3D) scan of the body surface of the patient and to express it as a point cloud. This could be used to confirm the exact position of the body of the patient and monitor their movements during radiosurgery. The image from the system was matched with the computed tomography (CT) image, and the positional accuracy was compared and analyzed in relation to the existing system to evaluate the accuracy of the setup. Results: The user interface was configured to register the patient and display the setup image to position the setup location by matching the 3D points on the body of the patient with the CT image. The error rate for the position difference was within 1-mm distance (min, -0.21 mm; max, 0.63 mm). Compared with the existing system, the differences were found to be as follows: x=0.08 mm, y=0.13 mm, and z=0.26 mm. Conclusions: We developed a surface-guided repositioning and monitoring system that can be customized and applied in a radiation surgery environment with an existing linear accelerator. It was confirmed that this system could be easily applied for accurate patient repositioning and inter-treatment motion monitoring.

• Steel and Composite Structures
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• v.39 no.1
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• pp.95-107
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• 2021

In this work, the dynamic response of functionally graded beams on variable elastic foundations is studied using a novel higher-order shear deformation theory (HSDT). Unlike the conventional HSDT, the present one has a new displacement field which introduces undetermined integral variables. The FG beams were assumed to be supported on Winkler-Pasternak type foundations in which the Winkler modulus is supposed to be variable in the length of the beam. The variable rigidity of the elastic foundation is assumed to be linear, parabolic and sinusoidal along the length of the beam. The material properties of the FG porous beam vary according to a power law distribution in terms of the volume fraction of the constituents. The equations of motion are determined using the virtual working principle. For the analytical solution, Navier method is used to solve the governing equations for simply supported porous FG beams. Numerical results of the present theory for the free vibration of FG beams resting on elastic foundations are presented and compared to existing solutions in the literature. A parametric study will be detailed to investigate the effects of several parameters such as gradient index, thickness ratio, porosity factor and foundation parameters on the frequency response of porous FG beams.

• Ocean Systems Engineering
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• v.11 no.1
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• pp.17-42
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• 2021

Articulated loading platforms (ALPs) belongs to a class of offshore structures known as compliant. ALP motions have time periods falling in the wind excitation frequency range due to their compliant behaviour. This paper deals with the dynamic behavior of a double hinged ALP subjected to low-frequency wind forces with random waves. Nonlinear effects due to variable submergence, fluctuating buoyancy, variable added mass, and hydrodynamic forces are considered in the analysis. The random sea state is characterized by the Pierson-Moskowitz (P-M) spectrum. The wave forces on the submerged elements of the platform's shaft are calculated using Morison's Equation with Airy's linear wave theory ignoring diffraction effects. The fluctuating wind load has been estimated using Ochi and Shin wind velocity spectrum for offshore structures. The nonlinear dynamic equation of motion is solved in the time domain by the Wilson-θ method. The wind-structure interactions, along with the effect of various other parameters on the platform response, are investigated. The effect of offset of aerodynamic center (A.C.) with the center of gravity (C.G.) of platform superstructure has also been investigated. The outcome of the analyses indicates that low-frequency wind forces affect the response of ALP to a large extent, which otherwise is not enhanced in the presence of only waves. The mean wind modifies the mean position of the platform surge response to the positive side, causing an offset. Various power spectral densities (PSDs) under high and moderate sea states show that apart from the significant peak occurring at the two natural frequencies, other prominent peaks also appear at very low frequencies showing the influence of wind on the response.

• Journal of Ocean Engineering and Technology
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• v.35 no.4
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• pp.266-272
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• 2021

Mooring systems are among the most important elements employed to control the motion of floating offshore structures on the sea. Considering the use of polymer material, a new method is proposed to address the creep characteristics rather than the method of using a tension load cell for measuring the tension of the mooring line. This study uses a synthetic mooring rope made from a polymer material, which usually consists of three parts: center, eye, and splice, and which makes a joint for two successive ropes. We integrate the optical sensor into the synthetic mooring ropes to measure the rope tension. The different structure of the mooring line in the longitudinal direction can be used to measure the loads with the entire mooring configuration in series, which can be defined as SMART (Smart Mooring and Riser Truncation) mooring. To determine the characteristics of the basic SMART mooring, a SMART mooring with a diameter of 3 mm made of three different polymer materials is observed to change the wavelength that responds as the length changes. By performing the longitudinal tension experiment using three different SMART moorings, it was confirmed that there were linear wavelength changes in the response characteristics of the 3-mm-diameter SMART moorings. A 54-mm-diameter SMART mooring is produced to measure the response of longitudinal tension on the center, eye, and splice of the mooring, and a longitudinal tension of 100 t in step-by-step applied for the Maintained Test and Fatigue Cycle Test is conducted. By performing a longitudinal tension experiment, wavelength changes were detected in the center, eye, and splice position of the SMART moorings. The results obtained from each part of the installed sensors indicated a different strain measurement depending on the position of the SMART moorings. The variation of the strain measurement with the position was more than twice the result of the difference measurement, while the applied external load increased step-by-step. It appears that there is a correlation with an externally generated longitudinal tensional force depending on the cross-sectional area of each part of the SMART mooring.