• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.476-482
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• 2010

In this paper, we propose a robust path tracking control method for autonomous underwater vehicle with variable speed. The proposed path tracking controller consists of a kinematic controller and a dynamic controller. First, the kinematic controller computes the surge speed and yaw rate to follow the reference path with variable speed. Then the dynamic controller controls the thrust force and yaw torque to move the AUV actually. In the dynamic control, we assume that the sway speed is a disturbance. In addition the dynamic controller is designed based on sliding mode conrol. We also demonstrate the stability of the proposed control method by Lyapunov stability theory. Finally, simulation results illustrate the performance of the proposed control method.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.8 no.5
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• pp.495-503
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• 1997

In this paper, the E-polarized electromagnetic scattering problems by a resistive strip grating with tapered resistivity on 3 dielectric layers are analyzed to find out the effects for the tapered resistivity of resistive strip and the relative permittivity and thickness of 3 die- lectric layers by applying the Fourier-Galerkin moment methods. The induced surface current density is expanded in a series of Jacobi-polynomial ${P^{(\chi,\beta)}}_p$(.) of the order $\alpha$= 0 and $\beta$=1 as a kind of orthogonal polyomians, and the tapered resistivity assumes to vary linearly from 0 at one edge to finite resistivity at the other edge. The normalized reflected and transmitted powers are obtained by varying the tapered resistivity and the relative permittivity and thickness of dielectric layers. The sharp variation points are observed when the higher order modes are transferred between propagating and evanescent modes, and in general the local minimum positions occur at less grating period for the more relative permittivity of dielectric layers. It should be noted that the patterns of the normalized reflected and transmitted powers for the tapered resistivity are very much different from those of the uniform resistivity and perfectly conducting cases. The proposed method of this paper cna solve the scattering problems for the tapered resistive, uniform resistive, and PEC strip cases.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.34 no.2
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• pp.71-75
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• 2021

Despite the development of computational resources, the need to analyze models is increasing. The size of model has been increased to analyze the entire structure more accurately and precisely. As the analysis model becomes larger and more complex, the computation time increases exponentially. Various industries use many structures that have repeated patterns. We focus on these structures with repeated patterns and propose a dynamic analysis method to efficiently calculate these repeated structures. To devise an efficient method for repeated structures, the substructuring scheme and the degree of freedom-based reduction method are used in this study. We modify the existing reduction method in consideration of the characteristics of the repeating structure. In the proposed method, the entire structure was expressed as a combination of substructures, where each substructure was represented as an unit cell of repeated structures. The substructures were condensed and assembled using the substructuring scheme and the modified condensation method. Finally, numerical examples were demonstrated to verify the efficiency and accuracy of proposed method.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.19 no.3 s.73
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• pp.259-269
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• 2006

In this paper, the stress intensity factor, energy release rate and crack opening displacement are computed using the finite element method for axisymmetric viscoelastic cylinders with the penny-shaped and circumferential cracks. The triangular elements with quarter point nodes are used to describe the stress singularity around the crack edge. The analytical solutions are also derived by using the elastic-viscoelastic correspondence principle and compared with the numerical results to show the validity and accuracy of the presented method. Viscoelastic materials are assumed to behave elastically in dilatation and like a three-parameter standard linear solid.

• Journal of Ocean Engineering and Technology
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• v.26 no.4
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• pp.42-49
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• 2012

A numerical method is presented for an out-of-plane structural intensity analysis of rectangular thick plates with arbitrary elastic edge constraints. The method adapts an assumed mode method based on Timoshenko beam functions to obtain the velocities and internal forces needed for a structural intensity analysis. To verify the presented method, the structural intensity of a square thick plate under harmonic force excitation, for which four edges are simply supported, is analyzed, and the result is compared with existing solutions using the assumed mode method based on trigonometric functions. In addition, numerical analyses are carried out for a rectangular-shaped thick plate under harmonic force excitations, of which three edges are simply supported and one edge utilizes an arbitrary elastic edge constraint. These numerical examples show the good accuracy and applicability of the presented method for rectangular thick plates with arbitrary edge constraints.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.11 no.3
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• pp.1-10
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• 1991

The paper is concerned with the analysis of laminated composite shell structures using an improved degenerated shell element. In the formulation of the element stiffness, the combined use of three different techniques was made. They are; 1) an enhanced interpolation of transverse shear strains in the natural coordinate system to overcome the shear locking problem; 2) the reduced integration technique in in-plane strains to avoid the membrane locking behavior; and 3) selective addition of the nonconforming displacement modes to improve the element performances. This element is free of serious shear/membrane locking problems and undesirable compatible/commutable spurious kinematic deformation modes. An incremental total Lagrangian formulation is presented which allows the calculation of arbitrarily large displacements. The resulting non-linear equilibrium equations are solved by the Newton-Raphson method. The versatility and accuracy of this improved degenerated shell element are demonstrated by solving several numerical examples.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.318-322
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• 1996

This paper presents a technique to control a robot which has a flexible manipulator moving in a vertical plane. The flexible manipulator is modeled as an Euler-Bernoulli beam. Elastic deformation is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID control technique. The proportional, integral and derivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and having a short settling time. The effectiveness of the developed control scheme is showed experimentally. In the position control experiment, three different end masses are used. The experimental results shows little overshoot, no steady state error, and less than 2.5 second settling time in case of having an end mass which is equivalent to 45% of the total system weight. Also the residual vibration of the end point is effectively controlled.

• Journal of the Society of Naval Architects of Korea
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• v.32 no.2
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• pp.84-92
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• 1995

To understand how low-frequency sound waves propagate axially in drilling boreholes, the propagation modes and speeds including the effect of interaction among layers are obtained by analyzing an infinitely-long, uniform, and cylindrically multi-layered waveguide which is consisted of fluid layers and solid layers. Assuming low frequency(wave length considered is very long compared to the borehole diameter), axisymmetry, non-viscosity, and etc., analytical solutions are obtained. Also, sound reflection due to the changes in the cross section is analyzed. Results for typical drilling boreholes show the usefulness of the method developed in this research, and are compared with FEM results showing good agreements.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.2
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• pp.131-138
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• 2009

Analytical modal verification is considered as the process to provide an acceptable description of the subject structure's behaviour. In general, results of original analytical model are different with actual structure results to uncertainty like non-linearity of material, boundary and modified shape, etc. In this paper, the dynamic model of glider's wing is correlated with static deformation and vibration test results by goal-attainment method, multi-objects optimization technique. The structural responses are predicted by using finite element method and optimization is carried out by using the SQP(sequential quadratic programming) method which is widely used in the constrained nonlinear optimization problem. The MAC(Modal Assurance Criterion) is used to modify the mode shapes and quantify the similarity.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.11
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• pp.34-41
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• 1997

This paper presents a technique to control a very flexible robot moving in a vertical plane. The flexible robot is modeled as an Euler-Bernoulli beam. Elastic deformation is approximated using the assmed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID cnotrol tech- nique. The proportional, integral and deivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and no steady state error, and short settling time. The effectiveness of the developed control scheme is showed in the hub angular diaplacement control experiment. Three different end masses are uned in the experiment. The experimental results show that developed control algorithm is very effective showing little overshoot, no steady state error, and less than 2.5 second settl- ing time in case of having an end mass which is equivalent to 45% of the manipulator mass. Also the experimental results show that the residual vibration fo the end point is effectively controlled.