• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.357-360
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• 1997

Abstract: In teleoperation field robotic system such as hydraulically actuated robotic excavator, the maneuverability and convenience is the most important part in the operation of robotic excavator. Particularly the force information is important in dealing with digging and leveling operation in the teleoperated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper presents a new force reflecting joystick in a velocity-force type bilateral teleoperation system. The master system is electrical joystick and the slave system IS hydraulically actuated cylinder with linear position sensor. Particularly Pneumatic motor is used newly in the master joystick for force reflection and the information of the pressure of salve cylinder is measured and utilized as the force feedback signal. Also force-reflection gain greatly affects the excavation performance of a hydraulically actuated robotic system and it is very difficult to determine it appropriately since slave excavator contacts with various environments such as from soft soil to rock. To overcome this, this paper proposes a force-reflection gain selecting algorithm based on artificial neural network and fuzzy logic.

• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.386-391
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• 2015

The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle’s driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.

• Journal of Drive and Control
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• v.21 no.2
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• pp.44-52
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• 2024

In this study, we predicted PTO power requirements based on torque predicted by the discrete element method and the multi-body dynamics coupling method. Six different scenarios were simulated to predict PTO power requirements in different soil conditions. The first scenario was a tillage operation on cohesionless soil, and the field was modeled using the Hertz-Mindlin contact model. In the second through sixth scenarios, tillage operations were performed on viscous soils, and the field was represented by the Hertz-Mindlin + JKR model for cohesion. To check the influence of surface energy, a parameter to reproduce cohesion, on the power requirement, a simple regression analysis was performed. The significance and appropriateness of the regression model were checked and found to be acceptable. The study findings are expected to be used in design optimization studies of agricultural machinery by predicting power requirements using the discrete element method and the multi-body dynamics coupling method and analyzing the effect of soil cohesion on the power requirement.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.132.5-132
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• 2001

In teleoperation field robotic system such as hydraulically actuated robotic excavator, the maneuverability and convenience is the most important part in the operation of robotic excavator. Particularly the force information is important in dealing with digging and leveling operation in the teleoperated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper presents a new force reflecting joystick in a velocity-force type bilateral teleoperation system. The master system is electrical joystick and the slave system is hydraulically actuated cylinder with linear position sensor. Particularly Pneumatic motor is used newly in the master joystick for force reflection and the information of the pressure of salve cylinder is measured and utilized as the force feedback signal. Also force-reflection gain greatly affects the ...

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.65.6-65
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• 2002

In teleoperation robotic system such as hydraulically actuated robotic excavator for dangerous area, the maneuverability and convenience is the most important part. Particularly the force information is important in dealing with digging and leveling operation in the tole-operated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper proposes a new force reflecting joystick using pneumatic motor and a new algorithm for selecting force-reflecting gain in a velocity-force type bi lateral teleoperation system. The master system is electrical joystick with the same structure of that of real excavator. Particularly Pneumatic motor is used newly in...

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1209-1211
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• 2003

The wavelet and semivariogram analysis method are used to identify the city landscape and farmland landscape pattern on the 1m resolution IKONOS images. The results prove that wavelet method is a potential way for landscape pattern analysis. Compared to semivariogram analysis, Wavelet analysis can not only detect the overall spatial pattern, but also find multi-scale and direction structures. In this experiment, the wavelet analysis results indicate: (1) the city landscape image is mainly composed of three level structures whose spatial pattern characters appear at 2m, 16m, 128m and 256m accordingly; (2) the farmland landscape is mainly two scale spatial patterns appearing at the 2m, 128m and 256m. IKONOS Remote sensing, with the high spatial and spectral information, is a powerful tool that can use in many ecological systems research and sustainable management.

• Structural Engineering and Mechanics
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• v.52 no.6
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• pp.1069-1084
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• 2014

The long-term performance of plates resting on viscoelastic foundations is a major concern in the analysis of soil-structure interaction. As a powerful mathematical tool, fractional calculus may address these plate-on-foundation problems. In this paper, a fractionalized Zener model is proposed to study the time-dependent behavior of a uniformly loaded rectangular thin foundation plate. By use of the viscoelastic-elastic correspondence principle and the Laplace transforms, the analytical solutions were obtained in terms of the Mittag-Leffler function. Through the analysis of a numerical example, the calculated plate deflection, bending moment and foundation reaction were compared to those from ideal elastic and standard viscoelastic models. It is found that the upper and lower bound solutions of the plate response estimated by the proposed model can be determined using the elastic model. Based on a parametric study, the impacts of model parameters on the long-term performance of a foundation plate were systematically investigated. The results show that the two spring stiffnesses govern the upper and lower bound solutions of the plate response. By varying the values of the fractional differential order and the coefficient of viscosity, the time-dependent behavior of a foundation plate can be accurately captured. The fractional differential order seems to be dependent on the mechanical properties of the ground soil. A sandy foundation will have a small fractional differential order while in order to simulate the creeping of clay foundation, a larger fractional differential order value is needed. The fractionalized Zener model is capable of accounting for the primary and secondary consolidation processes of the foundation soil and can be used to predict the plate performance over many decades of time.

• The Journal of the Acoustical Society of Korea
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• v.35 no.6
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• pp.480-490
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• 2016

As wind turbines become larger and lighter, they are likely to respond sensitively by dynamic loads applied on them. Since the responses at resonances are particularly interested, it is required to be able to predict natural frequencies of wind turbines reliably at early design stage. To achieve this, the foundation-soil analysis is needed to be carried out and a finite element approach is adopted in general. However, the finite element approach would not be appropriate in early design stage because it demands heavy efforts in pile-soil modelling and computing facilities. On the contrary, theoretical approaches adopting linear approximations for soils are relatively simple and easy to handle. Therefore, they would be a useful tool in predicting a pile-soil interaction, particularly in early design stage. In this study an analysis for a pile inserted in soil is performed. The pile and soil are modelled as a beam and continuum medium, respectively, within an elastic range. In this analysis, influence factors at the pile head for lateral loads are predicted by means of this continuum approach for various length-diameter ratios of the pile. The influence factors predicted are validated with those reported in literature, proposed from a finite element analysis.

• Korean Journal of Soil Science and Fertilizer
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• v.43 no.2
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• pp.242-251
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• 2010

In comparison with other terrestrial ecosystems, rice paddies are unique because they provide the primary food source for over 50% of the world's population, and act as major sources of global methane. The present paper summerizes a long-term field study that combine carbon isotopes, and canopy-scale flux measurements in an irrigated rice paddy, in conjugation with continuous monitoring of environmental, and vegetational factors. Both $CO_2$, and methane fluxes were largely influenced by soil temperature, and moisture conditions, especially across drainage events. Soil-entrapped $CO_2$, and methane showed a gradually increasing trend throughout growing season, but rapidly decreased upon flood water drainage. These variations in flux were well correlated with changes in concentration, and isotope ratio of soil $CO_2$, and methane, and of atmospheric $CO_2$, and methane within, and above the canopy. The isotopic signature of the gas exchange process varied markedly in response to change in contribution of soil respiration, belowground storage, fraction of $CO_2$ recycled, magnitude, and direction of $CO_2$ exchange, transport mechanism, and fraction of methane oxidized. Our results clearly demonstrate that stable isotope analysis can be a useful tool to study underlying mechanisms of gas exchange processes under natural conditions.

• 한국방재학회:학술대회논문집
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• 2011.02a
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• pp.172-172
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• 2011

The interaction between land surface and atmosphere is essentially affected by hydrometeorological variables including soil moisture. Accurate estimation of soil moisture at spatial and temporal scales is crucial to better understand its roles to the weather systems. The KLDAS(Korea Land Data Assimilation System) is a regional, specifically Korea peninsula land surface information systems. As other prior land data assimilation systems, this can provide initial soil field information which can be used in atmospheric simulations. For this study, as an enabling high-resolution tool, weather research and forecasting(WRF-ARW) model is applied to produce precipitation data using GFS(Global Forecast System) with GFS embedded and KLDAS soil moisture information as initialization data. WRF-ARW generates precipitation data for a specific region using different parameters in physics options. The produced precipitation data will be employed for simulations of Hydrological Models such as HEC(Hydrologic Engineering Center) - HMS(Hydrologic Modeling System) as predefined input data for selected regional water responses. The purpose of this study is to show the impact of a hydrometeorological variable such as soil moisture in KLDAS on hydrological consequences in Korea peninsula. The study region, Chongmi River Basin, is located in the center of Korea Peninsular. This has 60.8Km river length and 17.01% slope. This region mostly consists of farming field however the chosen study area placed in mountainous area. The length of river basin perimeter is 185Km and the average width of river is 9.53 meter with 676 meter highest elevation in this region. We have four different observation locations : Sulsung, Taepyung, Samjook, and Sangkeug observatoriesn, This watershed is selected as a tentative research location and continuously studied for getting hydrological effects from land surface information. Simulations for a real regional storm case(June 17~ June 25, 2006) are executed. WRF-ARW for this case study used WSM6 as a micro physics, Kain-Fritcsch Scheme for cumulus scheme, and YSU scheme for planetary boundary layer. The results of WRF simulations generate excellent precipitation data in terms of peak precipitation and date, and the pattern of daily precipitation for four locations. For Sankeug observatory, WRF overestimated precipitation approximately 100 mm/day on July 17, 2006. Taepyung and Samjook display that WRF produced either with KLDAS or with GFS embedded initial soil moisture data higher precipitation amounts compared to observation. Results and discussions in detail on accuracy of prediction using formerly mentioned manners are going to be presented in 2011 Annual Conference of the Korean Society of Hazard Mitigation.