• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.1
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• pp.149-157
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• 2013

This paper describes a global path planning method and path optimization algorithm for autonomous mobile robot based on the virtual elastic force in a grid map environment. A goal of a path planning is information for a robot to go its goal point from start point by a effective way. The AStar algorithm is a well-known method for a grid based path planning. This paper suggest a path optimization method by a virtual elastic force and compare the algorithm with a orignal AStar method. The virtual elastic force makes a shorter and smoother path. It is a profitable algorithm to optimize a path in a grid environment.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.401-407
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• 2012

This paper analyzes performance of major obstacle avoidance methods. For the analysis, numerical performance indexes are proposed: motion distance to goal point, motion time, distance to obstacles, and smoothness of the motion. Especially, the index of smoothness measures efficiency of the motion using the angular acceleration and jerk of the robot heading. Four major obstacle avoidance methods are compared in terms of the performance indexes. The four methods are artificial potential field(APF) method, elastic force(EF) method, APF with virtual distance, and EF with virtual distance. Through simulation, the four methods are compared and features of the methods are explored.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.4
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• pp.295-301
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• 2007

The aeroelastic characteristics of a wing with control surface freeplay are investigated. The transonic small disturbance equation is used for unsteady aerodynamic forces in subsonic/transonic region. The fictitious mass method is introduced to apply a modal approach to nonlinear structural models. Nonlinear aeroelastic time responses are calculated by the coupled time integration method. Using these methods, an efficient aeroelastic analysis is achieved for aerodynamic and structural nonlinearities simultaneously. The effects of the aerodynamic nonlinearity, initial flap amplitude, and freeplay magnitude in aeroelastic characteristics are investigated in this study.

• Journal of the Korean Professional Engineers Association
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• v.20 no.3
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• pp.5-14
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• 1987

연속체의 해석에 있어서, 특별한 경우를 제외하고는, 구조물의 개략적인 거동을 파악해야 될 경우가 종종 있다. 이러한 요구에 부응하기 위해서 강체요소법(Rigid Element Method)이라 불리우는 새로운 해석법이 개발되었다. 강체요소법은 원래 평정연구실에서 벽식프리캐스트 철근콘크리트 구조물의 탄소성해석을 하기 위해서 개발된 해석법에 착안하여, 내수벽과 같은 연속체에 적용함으로서 시작된 수치해석법이다. 그 후 저자들은 도통쉘, 구형쉘 혹은 이들이 조합된 쉘구조물에 적용할 수 있도록 개발 확장하였다. 강체요소법의 기본개념은 연속체의 분해된 각 요소를 강체(rigid body)라고 가정하고, 각 요소들은 요소의 강성으로 치환된 가상스프링으로 서로 연결되어 있다고 가정하여, 이 가상스프링의 거동을 평가함으로서 전체구조물의 거동을 파악하는 해석법이다. 이때 요소의 주변에 취해진 스프링은 해석을 단순화하기 위해서 축력, 면내전단력 및 면외전단력만을 전달한다고 가정하고, 요소의 강체변위(자유도)는 요소내의 임의의 한 점에서 취하며, 이 점에서의 강체변위(rigid displacements)는 요소의 주변에 취해진 스프링을 통하여 다른 요소로 전달된다. 상기와 같은 강체요소법의 개념을 연속체의 탄성 및 탄소성해석에 적용하면, 해석적 개념이 단순할 뿐만 아니라 구조물 전체의 자유도수를 대폭 줄여 컴퓨터 계산시간을 절약할 수 있는 잇점이 있고, 거시적인 모델(macroscopic modeling)과 미시적인 모델 (microscopic modeling)의 중간적인 성격을 가지기 때문에 구조물의 파괴상황에 대해서도 그 개략을 파악할 수 있다. 본 논문에서는 강체요소법을 보다 일반화된 해석법으로 개발, 확장하기 위해서 종전에 단층스프링시스템(single-layer spring system)으로 해석이 어려웠던 문제점들을 보완한 복층프링시스템(double-layer spring system)을 사용함으로서 휨, 비틀림의 효과를 파악할 수 있는 이론적 개념을 적용한 새로운 구요소, 원통요소 및 평면요소를 개발하고, 이러한 강체요소들의 적합매트릭스의 유도 및 해석저긴 방법을 정식화하였다. 또 휨, 비틀림 및 전단력의 효과를 고려한 사각형원통요소 및 능형원 통요소를 이용하여 원통쉘의 탄성 및 탄소성해석할 수 있는 프로그램을 개발하고, 이 프로그램으로 캔틸레버로된 연속형철근콘크리트 원통쉘의 탄성 및 탄소성해석에 적용하여 구조물의 거동에 관한 수치해석의 결과, 즉 내력의 분포, 균열의 진전, 파괴의 상황 및 변형의 상태 등을 파악해 보았다.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.2A
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• pp.81-92
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• 2010

In design of steel frames, it is generally believed that elastic system buckling analysis cannot predict real behaviors of structures, while inelastic system buckling analysis can give informative buckling behaviors of individual members considering inelastic material behavior. However, the use of Euler buckling equation with these system buckling analyses have the inherent problem that the methods evaluate unexpectedly large effective lengths of members having relatively small axial forces. This paper proposes a new method of obtaining elastic and inelastic effective lengths of all members in steel frames. Considering a fictitious axial force factor for each story of frames, the proposed method determines the effective lengths using the inelastic stiffness reduction factor and the iterative eigenvalue analysis. In order to verify the validity of the proposed method, the effective lengths of example frames by the proposed method were compared to those of previously established methods. As a result, the proposed method gives reasonable effective lengths of all members in steel frames. The effect of inelastic material behavior on the effective lengths of members was also discussed.

• Journal of Korean Society of Steel Construction
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• v.29 no.1
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• pp.13-24
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• 2017

System buckling analysis is usually used to determine the critical buckling load in the buckling design of cable-stayed bridges. However, system buckling analysis may yield unexpectedly large effective lengths of the members subjected to a relatively small axial force. This paper proposes a new method to determine reasonable effective lengths of girder and tower members in steel cable-stayed bridges using fictitious axial forces. An improved inelastic buckling analysis with modified tangent modulus is also presented. The effective lengths of members in example bridges calculated using the proposed method are compared with those obtained using the conventional buckling analysis method. The proposed method provides much more resonable effective lengths of the members. When girder and tower members are built with HSB800 steel instead of conventional steel, the effective lengths of the members under a small axial force slightly decreases in the inelastic buckling analysis without fictitious axial forces, while the proposed method that considers fictitious axial forces provides almost no changes in such lengths.

• Science of Emotion and Sensibility
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• v.5 no.1
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• pp.1-7
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• 2002

This paper studies on the human cognition of object's weight in virtual environment. We design the force input device which consists of a 3D mouse and a simple spring. It provides users with force feedback. The user can measure the weight of an object by the grasping force to move or lift it up in the virtual environment. Three kinds of experiments are performed. The first one is performed to analyze the relationships between the object's weight and its volume. The second one is to find the relationships between the object's weight and the its texture and finally the third one is to find the relationships between the object's weight and the force used to move an object. We conclude from the analysis of the experiment that object's volume or texture are not the critical factor for user to realize its weight. But the grasping force is critical and meaningful in realizing its weight so that the virtual environment with force cue provides users with more immersive environments. And, also the force input device is effective enough for user to feel the weight of the object.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.6A
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• pp.411-418
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• 2012

In this study, behavior of unpatched and patched cylindrical shells with through-wall cracks has been estimated using numerical experiments, and patching effect of them has been investigated according to various patching parameters. To show credibility of numerical models considered, two ways such as h- and p-methods have been adopted. Also, domain integral method and virtual crack extension method have been considered to calculate energy release rates based on linear elastic fracture mechanics. For examples, the unpatched cylindrical shells with circumferential cracks under remote tension have firstly been analyzed to show the validity of finite element modeling with h-method or p-method, and then the results have been compared with literature values published. Next, the sensitive analysis of patch repaired problems in terms of thickness of patch and adhesive, shear modulus of adhesive, composite material type of patch, crack length, etc. has been carried out.

• Computational Structural Engineering
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• v.6 no.4
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• pp.57-66
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• 1993

The p-version crack model based on integrals of Legendre polynomial and virtual crack extension method is proposed with its potential for application to stress intensity factor computations in linear elastic fracture mechanics. The main advantage of this model is that the data preparation effort is minimal because only a small number of elements are used and high accuracy and the rapid convergence can be achieved in the vicinity of crack tip. There are two important findings from this study. Firstly, the limit value, the strain energy of the exact solution, can be estimated with successive three p-version approximations by ascertaining that the approximations enter the asymptotic range. Secondly, the rate of convergence of p-version model is almost twice that of h-version model on the basis of uniform or quasiuniform mesh refinement for the cracked panel problem subjected to tension.

• Computational Structural Engineering
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• v.11 no.1
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• pp.191-204
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• 1998

The general formulation for free vibration and stability analysis of unsymmetric thin-wared space frames is presented in case where the shear deformation effects are neglected. The kinetic and total potential energies are derived by applying the extended virtual work principle, introducing displacement parameters defined at the arbitrarily chosen axis and including warping deformation and second order terms of finite semitangential rotations. In formulating the finite element procedure, cubic Hermitian polynomials are utilized as shape functions of the two node space frame element. Mass, elastic stiffness, and geometric stiffness matrices for the unsymmetric thin-walled section are evaluated, and load-correction stiffness matrices for off-axis distributed loadings are considered. In order to illustrate the accuracy and practical usefulness of this formulation, finite element solutions for the free vibration and stability problems of thin-walled beam-columns and space frames are presented and compared with available solutions.