• Journal of Korean Tunnelling and Underground Space Association
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• v.12 no.1
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• pp.61-73
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• 2010

The cablebolt which secures a workability and stability has been used in foreign countries as one of supporting materials with rebar rockbolt especially in construction of large underground structures. However, only the rebar rockbolt has been applied up to now to all the constructions of underground structures in Korea due to an absence of recognition of cablebolt and large underground structure projects. Consequently, the research for a performance evaluation and verification of cablebolt is very limited and only the proto-type field tests have been conducted. In this study, the cone-shaped button cablebolt is developed by modifying an existing button cablebolt. To evaluate a performance and applicability of cone-shaped button cablebolt, the laboratory pull tests are conducted and bond capacity is analyzed under a various conditions. The rebar rockbolt, plane cablebolt, and bulb cablebolt which has a similar mechanical behavior with cone-shaped button cablebolt, are also tested and their bond capacities are evaluated and compared with cone-shaped button cablebolt under the same condition. The results show that the bond capacity is in the order of (cone-shaped button cablebolt$\approx$bulb cablebolt) > rockbolt > plane cablebolt. It is found that the bond capacity of cone-shaped button cablebolt developed in this study is at least equivalent with an existing high performance cablebolt developed in foreign countries, therefore the cone-shaped button cablebolt could be used as one of supporting materials for underground structures in construction field.

• Animal cells and systems
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• v.7 no.4
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• pp.317-325
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• 2003

Corticostriatal connections of auditory areas within the rostral and caudal portions of the superior temporal gyrus (STG) and in the supratemporal plane(STP) of pigtail macaque (Macacca nemestrina) were studied with particular emphasis on specific projections to the ventral striatum. Retrograde tracers were Injected into five different regions of the ventral striatum such as the ventromedial caudate nucleus, ventral shell, central shell, dorsal core of the nucleus accumbens (NA), and ventrolateral putamen to Identify the cells of origin. There were only few projections from the auditory areas in the STP to the ventral striatum. However, the association (or belt) areas of the STG collectively had widespread corticostriatal projections characterized by differential topographic distributions. The rostral parts of the STG strongly projected to the ventromedial caudate nucleus. The midportion of the STG also projected to the same ventral striatal regions, but the connections were relatively less extensive. Interestingly, the caudal portion of the STG had no connection to all subregions of the ventral striatum. These differential patterns of corticostriatal connectivity suggest that the ventromedial caudate nucleus would be a major auditory convergence area and mainly involved in sound recognition rather than spatial localization of sound sources.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.529-539
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• 1999

This paper suggests a new image analysis method and indoor navigation control algorithm of mobile robots using a mono vision system. In order to reduce the positional uncertainty which is generated as the robot travels around the workspace, we propose a new visual landmark recognition algorithm with 2-D graph world model which describes the workspace as only a rough plane figure. The suggested algorithm is implemented to our mobile robot and experimented in a real corridor using extended Kalman filter. The validity and performance of the proposed algorithm was verified by showing that the trajectory deviation error was maintained under 0.075m and the position estimation error was sustained under 0.05m in the resultant trajectory of the navigation.

• Journal of architectural history
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• v.28 no.6
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• pp.7-18
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• 2019

This study is to find out the design concept of asymmetrical building with 4 purlins mainly in Sungkyunkwan(Confucian Shrines), Changgyeonggung palace and Changdeokgung palace The results are as follows: First, asymmetrical building with 4 purlins has the same height pillars, which was useful to control the side lenght and put a higher pillar without limit. Second, the side length of the asymmetrical building with 4 purlins is between 12 to 14 Ja[尺]. It's relatively longer than the minimum length(12 Ja) of 5 purlins architecture seen in later Joseon dynasty. Third, asymmetrical building with 4 purlins was not an anomalous structure when compared to 3 purlins and 5 purlins. It was actually a traditional style, unlike the current architectural recognition nowadays, which mainly focused on the balanced roof structure. These examples show that the architectures in Early Joseon dynasty were planned and constructed first according to the plane division that fit in a specific use or space.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.10
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• pp.1551-1560
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• 1997

This study is devoted to the detection of the 3-dimensional point obstacles on the plane by using accumulated scan line images. The proposed accumulating only one scan line allow to process image at real time. And the change of motion of the feature in image is small because of the short time between image frames, so it does not take much time to track features. To obtain recursive optimal obstacles position and robot motion along to the motion of camera, Kalman filter algorithm is used. After using Kalman filter in case of the fixed environment, 3-dimensional obstacles point map is obtained. The position and motion of moving obstacles can also be obtained by pre-segmentation. Finally, to solve the stereo ambiguity problem from multiple matches, the camera motion is actively used to discard mis-matched features. To get relative distance of obstacles from camera, parallel stereo camera setup is used. In order to evaluate the proposed algorithm, experiments are carried out by a small test vehicle.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.09a
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• pp.660-670
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• 2009

Neighboring construction becomes mainstream of Ground excavation in downtown area. This causes the displacement, deformation, stress condition, etc of the ground surroundings. Therefore Neighboring construction have an effect on Neighboring structure. All these years a lot of Neighboring construction carried out, and the accumulation of technology also get accomplished. But earth retaining structure collapse happens yet. Types of earth retaining structure collapse are 12. 1. Failure of anchor or strut system, 2. Insufficiency of penetration, 3. H-pile Failure on excessive bending moment, 4. Slope sliding failure, 5. Excessive settlement of the back, 6. Deflection of H-pile, 7. Joint failure of coupled H-pile, 8. Rock failure when H-pile penetration is rock mass, 9. Plane arrangement of support systems are mechanically weak, 10. Boiling, 11. Heaving, 12. Over excavation. But field collapses are difficult for classification according to the type, because collapse process are complex with various types. When we consider the 12 collapse field, insufficient recognition of ground condition is 4 case. Thorough construction management prevents from fault construction. For limitations of soil survey, It is difficult to estimate ground condition exactly. Therefore, it should estimate the safety of earth retaining system, plan for necessary reinforcement, according to measurement and observation continuously.

• International Journal of Automotive Technology
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• v.7 no.3
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• pp.361-367
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• 2006

This paper describes a novel stereo vision based localization of free parking site, which recognizes the target position of automatic parking system. Pixel structure classification and feature based stereo matching extract the 3D information of parking site in real time. The pixel structure represents intensity configuration around a pixel and the feature based stereo matching uses step-by-step investigation strategy to reduce computational load. This paper considers only parking site divided by marking, which is generally drawn according to relevant standards. Parking site marking is separated by plane surface constraint and is transformed into bird's eye view, on which template matching is performed to determine the location of parking site. Obstacle depth map, which is generated from the disparity of adjacent vehicles, can be used as the guideline of template matching by limiting search range and orientation. Proposed method using both the obstacle depth map and the bird's eye view of parking site marking increases operation speed and robustness to visual noise by effectively limiting search range.

• Journal of Information Processing Systems
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• v.16 no.3
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• pp.688-698
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• 2020

Point clouds have ability to express the spatial entities, however, the point clouds redundancy always involves some uncertainties in computer recognition and model construction. Therefore, point clouds thinning is an indispensable step in point clouds model reconstruction and other applications. To overcome the shortcomings of complex classification index and long time consuming in existing point clouds thinning algorithms, this paper proposes a point clouds fast thinning algorithm. Specifically, the two-dimensional index is established in plane linear array (x, y) for the scanned point clouds, and the thresholds of adjacent point distance difference and height difference are employed to further delete or retain the selected sample point. Sequentially, the index of sample point is traversed forwardly and backwardly until the process of point clouds thinning is completed. The results suggest that the proposed new algorithm can be applied to different targets when the thresholds are built in advance. Besides, the new method also performs superiority in time consuming, modelling accuracy and feature retention by comparing with octree thinning algorithm.

• Journal of the Korea Society of Computer and Information
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• v.19 no.11
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• pp.53-61
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• 2014

In this paper, we propose a method using an image received by the depth camera in order to separate the wall in a three-dimensional space indoor environment. Results of the paper may be used to provide valuable information on the three-dimensional space. For example, they may be used to recognize the indoor space, to detect adjacent objects, or to project a projector on the wall. The proposed method first detects a normal vector at each point by using the three dimensional coordinates of points. The normal vectors are then clustered into several groups according to similarity. The RANSAC algorithm is applied to separate out planes. The domain knowledge helps to determine the wall among planes in an indoor environment. This paper concludes with experimental results that show performance of the proposed method in various experimental environment.