• Transactions of the Korean Society of Mechanical Engineers B
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• v.30 no.12 s.255
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• pp.1218-1227
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• 2006

In this paper a parametric study using an immersed boundary method has been carried out to investigate the effects of stable density stratification on the wakes past two identical three-dimensional hills aligned in tandem. The Reynolds number based on the uniform inlet velocity and twice the hill height was fixed at Re=300 while the Froude number based on the inlet velocity and the hill height was retained at Fr=0.2. Neutral flow without density stratification was also computed for comparison. Under a strong stratification, vertical motion of fluid particles over the three-dimensional hills is suppressed and the wake structures behind the hills become planar. Depending on the distance between the two hills, the flow pattern of each wake is significantly affected by the stratification. There is a critical hill distance at which flow characteristics drastically change. Qualitative and quantitative features of the wake interaction are reported.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.9
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• pp.2016-2022
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• 2010

We propose a new algorithm for reconstructing curves with self-intersections from sample points. In general, the result of curve reconstruction depends on how to select and order the representative points to resemble the shape of sample points. Most of the previous point ordering approaches utilize the Euclidean distance to compute the proximity of sample points without directional information, so they can not solve the non-simple curve reconstruction problem. In this paper, we develop a new distance estimating the adjacency between sample points, which is derived from the standard normal distribution of Brownian motion. Experimental results show that this approach is very effective to non-simple curve reconstruction.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.145-153
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• 2006

An optimal capturing trajectory for a moving object is proposed in this paper based on the observation that a single-curvature path is more accurate than double-or triple-curvature paths. Moving distance, moving time, and trajectory error are major factors considered in deciding an optimal path for capturing the moving object. That is, the moving time and distance are minimized while the trajectory error is maintained as small as possible. The three major factors are compared for the single and the double curvature trajectories to show superiority of the single curvature trajectory. Based upon the single curvature trajectory, a kinematics model of a mobile robot is proposed to follow and capture the moving object, in this paper. A capturing scenario can be summarized as follows: 1. Motion of the moving object has been captured by a CCD camera., 2. Position of the moving object has been estimated using the image frames, and 3. The mobile robot tries to follow the moving object along the single curvature trajectory which matches positions and orientations of the moving object and the mobile robot at the final moment. Effectiveness of the single curvature trajectory modeling and capturing algorithm has been proved, through simulations and real experiments using a 2-DOF wheel-based mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.365-371
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• 2009

A intelligent mobile hexapod robot with various types of sensors and wireless camera is introduced. We show this mobile robot can detect objects well by combining the results of active sensors and image processing algorithm. First, to detect objects, active sensors such as infrared rays sensors and supersonic waves sensors are employed together and calculates the distance in real time between the object and the robot using sensor's output. The difference between the measured value and calculated value is less than 5%. This paper suggests effective visual detecting system for moving objects with specified color and motion information. The proposed method includes the object extraction and definition process which uses color transformation and AWUPC computation to decide the existence of moving object. We add weighing values to each results from sensors and the camera. Final results are combined to only one value which represents the probability of an object in the limited distance. Sensor fusion technique improves the detection rate at least 7% higher than the technique using individual sensor.

• Journal of the Earthquake Engineering Society of Korea
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• v.2 no.3
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• pp.87-98
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• 1998

In this paper, the potential ground motion in terms of the peak ground accelerations(PGAs) due to long-distance Sumatra earthquakes is investigated for Singapore, following the probabilistic seismic hazard assessment a, pp.oach. The case investigated differs from a conventional one, in that few attenuation equations for long-distance major earthquakes are readily available. The attenuation relationships developed for other regions of the world are thus reviewed. It is found that the existing attenuation equations, when extrapolated to distant major earthquakes, tend to underestimate the PGAs. By comparing with the PGAs recorded over long distances at stations of the Japanese Meteorological Agency for major earthquakes in Japan, an attenuation equation is chosen for this study. With the chosen attenuation equation, the probability of PGAs exceeding selected levels for various exposure periods of time is then computed. The results show that at Singapore there is a 10% probability in 50 years for the PGA at rock sites to exceed 1.1% g. In view of the results and the associated uncertainties, a base shear coefficient of 1.5% is being recommended as the tentative seismic loading in Singapore. The tentative seismic loading reflects the design value of the notional horizontal load, equal to 1.5% of the characteristic building weigh as specified in the BS code, which usualy governs the design of most buildings in Singapors.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.215-224
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• 2013

This paper proposes a robust lane detection algorithm for bumpy or slope changing roads by estimating extrinsic camera parameters, which represent the pose of the camera mounted on the car. The proposed algorithm assumes that two lanes are parallel with the predefined width. The lane detection and the extrinsic camera parameter estimation are performed simultaneously by utilizing B-snake in motion compensated and merged feature map with consecutive sequences. The experimental results show the robustness of the proposed algorithm in various road environments. Furthermore, the accuracy of extrinsic camera parameter estimation is evaluated by calculating the distance to a preceding car with the estimated parameters and comparing to the radar-measured distance.

• Journal of Navigation and Port Research
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• v.44 no.2
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• pp.136-143
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• 2020

Maritime autonomous surface ships (MASS) has been developed over the years. But, there are many unresolved problems. To overcome these problems, this study proposes connected ship navigation system. The system comprises a slave ship and a master ship that leads the slave ship. To implement this system, communication network, route planning algorithms, and controllers are designed. The communication network is built using the transmission control protocol/Internet protocol (TCP/IP) socket communication method to exchange data between ships. The route planning algorithms calculate the course and distance of the slave ship using the middle latitude sailing method. Nomoto model is used as the mathematical model of the slave ship maneuvering motion. Then, the autoregressive with exogenous variables (ARX) model is used to estimate the parameters of Nomoto model. Based on the above model, the automatic steering controller is designed using a proportional-derivative (PD) control. Also, the speed controller is designed for the slave ship to maintain constant distance from the master ship. Sea experiments are conducted to verify the proposed system with two remodeled boats.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.2
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• pp.141-147
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• 2015

In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.

• Journal of the Earthquake Engineering Society of Korea
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• v.21 no.1
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• pp.31-39
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• 2017

In this study, to estimate the combination of earthquake magnitude ($M_w$) and distance (R) corresponding to the design spectrum defined in Korean Building Code (KBC) 2016, the response spectra predicted from the attenuation relationships with the variation of $M_w$ (5.0~7.0) and R (10~30km) are compared with the design spectrum in KBC 2016. Four attenuation relationships, which were developed based on local site characteristics and seismological parameters in Southern Korea and Eastern North America (ENA), are used. As a result, the scenario ground motions represented by the combinations of $M_w$ and R corresponding to the design spectrum for Seoul defined in KBC 2016 are estimated as (1) when R =10 km, $M_w=6.2{\sim}6.7$; (2) when R = 15 km, $M_w=6.5{\sim}6.9$; and (3) when R = 20 km, $M_w=6.7{\sim}7.1$.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.341-346
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• 2002

When a construction company builds a high structure. many piles should be driven into the ground by a hammer whose weight is 7,000 kg in order to make the ground under the structure safe and strong. So. it is essential to determine whether a pile is penetrated into the ground enough to support the weight of the structure since ground characteristics at different locations are different each other. This paper proposes a visual measurement system for pile rebound and penetration movement including vibration using a high-speed line-scan camera and a specially designed mark to recognize two-dimensional motion parameters of the mark using only a line-scan camera. A mark stacking white and black right-angled triangles is used for the measurement, and movement information for vertical distance, horizontal distance and rotational angle is determined simultaneously. Especially- by adopting a line-scan CCD camera whose line rate is 20 ㎑. the measurement performance of dynamic characteristics of the pile at impact instant is improved dramatically.