• Journal of Biosystems Engineering
• /
• v.38 no.1
• /
• pp.1-8
• /
• 2013

Purpose: Path planning and tracking algorithms applicable to various agricultural operations, such as tillage, planting, and spraying, are needed to generate steering angles for auto-guidance tractors to track a point ahead on the path. An optimal coverage path algorithm can enable a vehicle to effectively travel across a field by following a sequence of parallel paths with fixed spacing. This study proposes a path generation and tracking algorithm for an auto-guided Korean tractor with a tillage implement that generates a path with C-type turns and follows the generated path in a paddy field. A mathematical model was developed to generate a waypoint path for a tractor in a field. This waypoint path generation model was based on minimum tractor turning radius, waypoint intervals and LBOs (Limit of Boundary Offsets). At each location, the steering angle was calculated by comparing the waypoint angle and heading angle of the tractor. A path following program was developed with Labview-CVI to automatically read the waypoints and generate steering angles for the tractor to proceed to the next waypoint. A feasibility test of the developed program for real-time path tracking was performed with a mobile platform traveling on flat ground. The test results showed that the developed algorithm generated the desired path and steering angles with acceptable accuracy.

• Steel and Composite Structures
• /
• v.48 no.1
• /
• pp.43-57
• /
• 2023

The impacts of waste tire rubber (WTR) on the bending conduct of reinforced concrete beams (RCBs) are investigated in visualization of experimental tests and 3D finite element model (FEM) using both ANSYS and SAP2000. Several WTR rates are used in total 4 various full scale RCBs to observe the impact of WTR rate on the rupture and bending conduct of RCBs. For this purpose, the volumetric ratios (Vf) of WTR were chosen to change to 0%, 2.5%, 5% and 7.5% in the whole concrete. In relation to experimental test consequences, bending and rupture behaviors of the RCBs are observed. The best performance among the beams was observed in the beams with 2.5% WTR. Furthermore, as stated by test consequences, it is noticed that while WTR rate in the RCBs is improved, max. bending in the RCBs rises. For test consequences, it is clearly recognized as WTR rate in the RCB mixture is improved from 0% to 2.5%, deformation value in the RCB remarkably rises from 3.89 cm to 7.69 cm. This consequence is markedly recognized that WTR rates have a favorable result on deformation values in the RCBs. Furthermore, experimental tests are compared to 3D FEM consequences via using ANSYS software. In the ANSYS, special element types are formed and nonlinear multilinear misses plasticity material model and bilinear misses plasticity material model are chosen for concrete and compression and tension elements. As a consequence, it is noticed that each WTR rates in the RCBs mixture have dissimilar bending and rupture impacts on the RCBs. Then, to observe the impacts of WTR rate on the constructions under near-fault ground motions, a reinforced-concrete building was modelled via using SAP2000 software using 3-D model of the construction to complete nonlinear static analysis. Beam, column, steel haunch elements are modeled as nonlinear frame elements. Consequently, the seismic impacts of WTR rate on the lateral motions of each floor are obviously investigated particularly. Considering reduction in weight of structure and capacity of the members with using waste tire rubber, 2.5% of WTR resulted in the best performance while the construction is subjected to near fault earthquakes. Moreover, it is noticeably recognized that WTR rate has opposing influences on the seismic displacement behavior of the RC constructions.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.39 no.6
• /
• pp.789-799
• /
• 2019

The settlement hardly occurs in structures supported by pile foundation such as abutment, culvert but a cavity is formed in the lower part of a structure. As a result, soil discharged from the lateral ground to the cavity accelerates the settlement of the lateral ground of the structure, resulting in a larger settlement. Therefore, in order to prevent problems caused by cavity under the structure supported by pile foundation, soil Flow Protector (briefly called 'FLP'), which can be easily installed on the side of structure, was developed. In this study, an laboratory model test was carried out to prove the reduction effect of settlement and to estimate the optimal installation length of the FLP. As a result, the installation of the FLP reduced the settlement of the lateral ground and prevented the leakage of lateral ground soil into the cavity. If the stiffness of the FLP is small, the state or active earth pressure is generated in the upper part, which is not favorable for stability. But if the stiffness of the FLP is high enough, the passive earth pressure area is generated in the upper part, which will be advantageous for the stability. Also, the increased installation length of FLP is effective to reduce the settlement. And the ratio of the optimal length of the FLP to the box structure height (H = 250 mm) are flexible FLP 1.38, stiff FLP 0.73.

• Journal of the Korean Geotechnical Society
• /
• v.26 no.6
• /
• pp.5-19
• /
• 2010

The purpose of this study is to figure out the effect of pressurized grouting on the pullout resistance and the group effect of the compression ground anchor by performing pilot-scale chamber tests and field tests. The laboratory tests are carried out for 3-types of soils which are abundant in the Korean peninsular. Experimental results showed that the enlargement of anchor diameters estimated from the cavity expansion theory matches reasonable well with that obtained from experiments. Moreover, the required injection time as a function of the coefficient of permeability of each soil type was proposed. A series of in-situ anchor pullout tests were also performed to experimentally figure out the effect of pressurized grouting on the pullout resistance. Experimental results also showed that the effect of the pressurized grouting is more prominent in a softer ground with smaller SPT-N value in all of the following three aspects: increase in anchor diameter; pullout resistance; and surface roughness. The pressurized grouting effect in comparison with gravitational grouting was found to be almost nil if the SPT-N value is more than 50. Based on experimental results, a new equation to estimate the pullout resistance as a function of the SPT-N value was proposed. And based on in-situ group anchor pullout tests results, a new group effect equation was proposed which might be applicable to decomposed residual soils which are abundant in the Korean peninsular.

• International Journal of Highway Engineering
• /
• v.5 no.4 s.18
• /
• pp.13-22
• /
• 2003

Several design methods from overseas are employed without considering different conditions such as material properties, climate, and traffic condition in this country. Therefore, there are limitations in application. Therefore, new pavement analysis system which is able to design a pavement efficiently and economically should be set up. In this study, 243 probable sections are classified depending on values of layer thickness and elastic modulus, and the effect of load types for the probable sections are analyzed. The section showing larger load distribution is chosen for analysis. As a result of sensitivity, a layer thickness has more influence on pavement than an elastic modulus does. The stress distribution of FWD test load is larger than that of circular load. This study compares outputs between nonlinear elastic model and linear elastic model. Based on the result, this study finds nonlinear elastic model considering stress condition in the ground is recommended for subbase.

• Tunnel and Underground Space
• /
• v.9 no.2
• /
• pp.114-130
• /
• 1999

It is very important to study on the structural behaviors of structurally damaged tunnel linings. A series of centrifuge model tests were performed in order to investigate different behaviors of tunnel linings. A 1/100-scaled aluminum horseshoe tunnel linings with a radius 5 cm, height 8 cm were buried in a depth with dry Joomunjin standard sand, the relative density of which was 86%. Such sectional forces as bending moments and thrusts along the tunnel circumference were measured by twelve strain gages. Earth pressures in soil mass and on the outside of lining model were estimated by pressure transducers, ground surface settlements at a center and edges by using LVDTs.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.15 no.3
• /
• pp.149-157
• /
• 2020

Regarding previously-developed drone simulators, it was easy to check their flight stability or controlling functions based on the condition that their weight was fixed from the design. However, the drone is largely classified into two types that is the one with the fixed weight whose purpose is recording video with camera and racing and another is whole weight-variable during flight with loading the articles for delivery and spraying pesticide though the weight of airframe is fixed. The purpose of this thesis is to analyze the structure of drone and its flight principle, suggest dynamics-model-based simulator that is capable of simulating weight-variable drone and develop the simulator that can be used for designing main control board, motor and transmission along the application of weight-variable drone. Weight-variable simulator was developed by using various calculation to apply flying method of drone to the simulator. First, ground coordinate system and airframe-fixing coordinate system were established and switching matrix of those two coordinates were made. Then, dynamics model of drone was established using the law of Newton and moment balance principle. Dynamics model was established in Simulink platform and simulation experiment was carried out by changing the weight of drone. In order to evaluate the validity of developed weight-variable simulator, it was compared to the results of clean flight public simulator against existing weight-fixed drone. Lastly, simulation test was performed with the developed weight-variable simulation by changing the weight of drone. It was found out that dynamics model controlled various flying positions of drone well from simulation and the possibility of securing the optimum condition of weight-variable drone that has flying stability and easiness of controlling.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.10
• /
• pp.1299-1306
• /
• 2011

In this study, crack-growth model parameters subjected to variable amplitude loading are estimated in the form of a probability distribution using the method of Bayesian parameter estimation. Huang's model is employed to describe the retardation and acceleration of the crack growth during the loadings. The Markov Chain Monte Carlo (MCMC) method is used to obtain samples of the parameters following the probability distribution. As the conventional MCMC method often fails to converge to the equilibrium distribution because of the increased complexity of the model under variable amplitude loading, an improved MCMC method is introduced to overcome this shortcoming, in which a marginal (PDF) is employed as a proposal density function. The model parameters are estimated on the basis of the data from several test specimens subjected to constant amplitude loading. The prediction is then made under variable amplitude loading for the same specimen, and validated by the ground-truth data using the estimated parameters.

• Journal of Radiation Protection and Research
• /
• v.28 no.1
• /
• pp.1-8
• /
• 2003

The periodic safety review of operational nuclear power plants requires that the plants should keep a well organized environmental monitoring program. The past records of environment monitoring data were analyzed. and the tritium concentrations of the samples in the surface and ground water around Kori site were measured. It was shown that the tritium concentrations around the Kori site were slightly higher than that of natural background. The change of background tritium concentration was estimated through a numerical modeling. Two different versions of 7 compartments model - the world and the northern hemisphere - defined in NCRP-62 were modeled for the global tritium cycling. The numerical solution of the model was obtained using a computer program, AMBER. The four cases of tritium source-terms into the atmosphere were considered. The results showed that the tritium concentration in the surface soil water was higher than that in sea water or surface stream water. Also, it was shown that the tritium produced by the interaction between cosmic rays and the gases were the major source of tritium, and the tritium produced by nuclear weapon test decreased considerably.

• Journal of the Korean Geosynthetics Society
• /
• v.18 no.2
• /
• pp.11-21
• /
• 2019

This paper describes the applicability of FEA(Finite Element Analysis) to the simulation of pile pullout behavior under various soil conditions (relative density and fines content), in order to evaluate reasonably the pullout resistance of pile. That is, the results of previous research (You et al., 2018) were analyzed by FEA under the same conditions. The FEA results showed that axisymmetric analysis using virtual ground was able to evaluate the skin friction of the pile. Also, axisymmetric analysis, which can apply the shear resistance characteristics of the pile-soil interface in various soil conditions, could be used as an analytical method that can simulate a reasonable pile pullout behavior. Therefore, the analytical model proposed in this study was able to simulate appropriately the pullout behavior based on the stress-strain relationship of the pile-soil interface.