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엘보 인식에 의한 배관로봇의 실시간 위치 추정 및 후처리 위치 측정 알고리즘
이채혁(Chae Hyeuk Lee),김광호(Gwang Ho Kim),김재준(Jae Jun Kim),김병수(Byung Soo Kim),이순걸(Soon Geul Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
Robots used for pipe inspection have been studied for a long time and many mobile mechanisms have been proposed to achieve inspection tasks within pipelines. Localization is an important factor for an inpipe robot to perform successful autonomous operation. However, sensors such as GPS and beacons cannot be used because of the unique characteristics of inpipe conditions. In this paper, an inpipe localization algorithm based on elbow detection is presented. By processing the projected marker images of laser pointers and the attitude and heading data from an IMU, the odometer module of the robot determines whether the robot is within a straight pipe or an elbow and minimizes the integration error in the orientation. In addition, an off-line positioning algorithm has been performed with forward and backward estimation and Procrustes analysis. The experimental environment has consisted of several straight pipes and elbows, and a map of the pipeline has been constructed as the result.
Lee, Deuck Hang,Park, Min-Kook,Oh, Jae-Yuel,Kim, Kang Su,Im, Ju-Hyeuk,Seo, Soo-Yeon 테크노프레스 2014 Computers and Concrete, An International Journal Vol. No.
Prestressed hollow-core slabs (HCS) are widely used for modern lightweight precast floor structures because they are cost-efficient by reducing materials, and have excellent flexural strength and stiffness by using prestressing tendons, compared to reinforced concrete (RC) floor system. According to the recently revised ACI318-08, the web-shear capacity of HCS members exceeding 315 mm in depth without the minimum shear reinforcement should be reduced by half. It is, however, difficult to provide shear reinforcement in HCS members produced by the extrusion method due to their unique concrete casting methods, and thus, their shear design is significantly affected by the minimum shear reinforcement provision in ACI318-08. In this study, a large number of shear test data on HCS members has been collected and analyzed to examine their web-shear capacity with consideration on the minimum shear reinforcement requirement in ACI318-08. The analysis results indicates that the minimum shear reinforcement requirement for deep HCS members are too severe, and that the web-shear strength equation in ACI318-08 does not provide good estimation of shear strengths for HCS members. Thus, in this paper, a rational web-shear strength equation for HCS members was derived in a simple manner, which provides a consistent margin of safety on shear strength for the HCS members up to 500 mm deep. More shear test data would be required to apply the proposed shear strength equation for the HCS members over 500 mm in depth though.