• 자동차안전학회지
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• 제11권2호
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• pp.11-16
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• 2019

This paper suggests an algorithm for detecting fault of longitudinal controller in autonomous vehicles. Guaranteeing safety in fault situation is essential because electronic devices in vehicle are dependent each other. Several methods like alarm to driver, ceding control to driver, and emergency stop are considered to cope with fault. This research investigates the fault monitoring process in fail-safe system, for controller which is responsible for accelerating and decelerating control in vehicle. Residual is computed using desired acceleration control command and actual acceleration, and detection of its abnormal increase leads to the decision that system has fault. Before computing residual for controller, health monitoring process of acceleration signal is performed using hardware and analytic redundancy. In fault monitoring process for controller, a process model which is fitted using driving data is considered to improve the performance. This algorithm is simulated via MATLAB tool to verify performance.

• Nuclear Engineering and Technology
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• 제54권2호
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• pp.532-545
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• 2022

In-depth convergence analyses for neutronics/thermal-hydraulics (T/H) coupled calculations are performed to investigate the performance of nonlinear methods based on the Fixed-Point Iteration (FPI). A simplified neutronics-T/H coupled system consisting of a single fuel pin is derived to provide a testbed. The xenon equilibrium model is considered to investigate its impact during the nonlinear iteration. A problem set is organized to have a thousand different fuel temperature coefficients (FTC) and moderator temperature coefficients (MTC). The problem set is solved by the Jacobi and Gauss-Seidel (G-S) type FPI. The relaxation scheme and the Anderson acceleration are applied to improve the convergence rate of FPI. The performances of solution schemes are evaluated by comparing the number of iterations and the error reduction behavior. From those numerical investigations, it is demonstrated that the number of FPIs is increased as the feedback is stronger regardless of its sign. In addition, the Jacobi type FPIs generally shows a slower convergence rate than the G-S type FPI. It also turns out that the xenon equilibrium model can cause numerical instability for certain conditions. Lastly, it is figured out that the Anderson acceleration can effectively improve the convergence behaviors of FPI, compared to the conventional relaxation scheme.

• International Journal of Aeronautical and Space Sciences
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• 제18권2호
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• pp.186-196
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• 2017

In order to resolve the trimming difficulty in rotor CFD calculations, a high-efficiency and improved "delta trim method" is established to compute the blade control settings that are necessary to identify the blade motion. In this method, a simplified model which combines the blade element theory and different inflow models is employed to calculate the control settings according to the target aerodynamic forces, then it is coupled into a CFD solver with unsteady Navier-Stokes equations by the delta methodology, which makes the control settings and aerodynamics calculated and updated in the meantime at every trim cycle. Different from the previous work, the current research combines the inflow model based on prescribed wake theory. Using the method established, the control settings and aerodynamic characteristics of Helishape 7A, AH-1G and Caradonna-Tung rotors are calculated. The influence of different inflow models on trimming calculations is analyzed and the computational efficiency of the current "delta trim method" is compared with that of the "CFD-based trim method". Furthermore, for the sake of improving the calculation efficiency, a novel acceleration factor method is introduced to accelerate the trimming process. From the numerical cases, it is demonstrated that the current "delta trim method" has higher computational efficiency than "CFD-based trim method" in both hover and forward flight, and up to 70% of the amount of calculation can be saved by current "delta trim method" which turns out to be satisfactory for engineering applications. In addition, the proposed acceleration factor shows a good ability to accelerate the trim procedure, and the prescribed wake inflow model is always of better stability than other simple inflow models whether the acceleration factor is utilized in trimming calculations.

• 대한기계학회논문집A
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• 제40권9호
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• pp.783-790
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• 2016

IMU기반 자세결정에 있어 추정 정확도의 저하요인 중 주요한 한 가지는 운동체의 가속도이다. 이는 가속도가 크게 발생하는 경우 가속도계 신호는 더이상 수직축 참조벡터가 될 수 없기 때문이다. 이에 대한 대책으로 일부 자세추정 알고리즘에서는 가속도 보상 메카니즘이 적용되어 왔다. 가장 보편적이고 간단한 스위칭 방법부터 적응추정방식, 가속도 모델기반 방식 등이 제안되어 왔으나, 이들 보상 메카니즘에 대한 비교분석은 이루어 지지 않았다. 본 논문은 쿼터니언기반의 Pseudo 칼만필터를 바탕으로 하여 세 가지 가속도 보상 메커니즘의 성능을 비교분석하였다. 가속조건 실험 분석을 통해 다음을 확인할 수 있었다. (1) 가속구간에서의 추정정확도 저하를 방지하기 위해선 가속도 보상 메카니즘이 반드시 필요하다. (2) 단순 스위칭 방법도 상당한 효과를 보였으나, 보다 정교한 적응추정 방식과 가속도 모델방식이 동등수준으로 가장 정확한 결과를 보였다.

• Steel and Composite Structures
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• 제27권3호
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• pp.327-335
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• 2018

This paper presents structural assessment of a steel railway bridge for current condition using modal parameter to upgrade finite element modeling in order to gather accurate result. An adequate monitoring, such as acceleration, displacement, strain monitoring, is important tool to understand behavior and to assess structural performance of the structure under surround vibration by means of the dynamic analysis. Evaluation of conditions of an existing steel railway bridge consist of 4 decks, three of them are 14 m, one of them is 9.7 m, was performed with a numerical analysis and a series of dynamic tests. Numerical analysis was performed implementing finite element model of the bridge using SAP2000 software. Dynamic tests were performed by collecting acceleration data caused by surrounding vibrations and dynamic analysis is performed by Operational Modal Analysis (OMA) using collected acceleration data. The acceleration response of the steel bridge is assumed to be governing response quantity for structural assessment and provide valuable information about the current statute of the structure. Modal identification determined based on response of the structure play significant role for upgrading finite element model of the structure and helping structural evaluation. Numerical and experimental dynamic properties are compared and finite element model of the bridge is updated by changing of material properties to reduce the differences between the results. In this paper, an existing steel railway bridge with four spans is evaluated by finite element model improved using operational modal analysis. Structural analysis performed for the bridge both for original and calibrated models, and results are compared. It is demonstrated that differences in natural frequencies are reduced between 0.2% to 5% by calibrating finite element modeling and stiffness properties.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.306-309
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• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• 전기학회논문지
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• 제60권12호
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• pp.2346-2351
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• 2011

This paper presents the intelligent external noise analysis method for nonlinear maneuvering target. After recognizing maneuvering pattern of the target by the proposed method, we track the state of the target. The external noise can be divided into mere noise and acceleration using only the measurement. divided noise passes through the filtering step and acceleration is punched into dynamic model to compensate expected states. The acceleration is the most deterministic factor to the maneuvering. By dividing, approximating, and compensating the acceleration, we can reduce the tracking error effectively. We use the fuzzy c-means (FCM) clustering as the method to divide external noise. FCM can separate the acceleration from the noise without criteria. It makes the criteria with the data made by measurement at every sampling time. So it can show the adaptive tracking result. The proposed method proceeds the tracking target simultaneously with the learning process. Thus it can apply to the online system. The proposed method shows the remarkable tracking result on the linear and nonlinear maneuvering. Finally, some examples are provided to show the feasibility of the proposed algorithm.

• Smart Structures and Systems
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• 제14권6호
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• pp.1055-1079
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• 2014

Substructure shake table testing is a class of real-time hybrid simulation (RTHS). It combines shake table tests of substructures with real-time computational simulation of the remaining part of the structure to assess dynamic response of the entire structure. Unlike in the conventional hybrid simulation, substructure shake table testing imposes acceleration compatibilities at substructure boundaries. However, acceleration tracking of shake tables is extremely challenging, and it is not possible to produce perfect acceleration tracking without time delay. If responses of the experimental substructure have high correlation with ground accelerations, response errors are inevitably induced by the erroneous input acceleration. Feeding the erroneous responses into the RTHS procedure will deteriorate the simulation results. This study presents a set of techniques to enable reliable substructure shake table testing. The developed techniques include compensation techniques for errors induced by imperfect input acceleration of shake tables, model-based actuator delay compensation with state observer, and force correction to eliminate process and measurement noises. These techniques are experimentally investigated through RTHS using a uni-axial shake table and three-story steel frame structure at the Johns Hopkins University. The simulation results showed that substructure shake table testing with the developed compensation techniques provides an accurate and reliable means to simulate the dynamic responses of the entire structure under earthquake excitations.

• Wind and Structures
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• 제16권2호
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• pp.157-178
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• 2013

Output-only modal parameter identification is based on the assumption that external forces on a linear structure are white noise. However, harmonic excitations are also often present in real structural vibrations. In particular, it has been realized that the use of forced acceleration responses without knowledge of external forces can pose a problem in the modal parameter identification, because an external force is imparted to its impulse acceleration response function. This paper provides a three-stage identification procedure as a solution to the problem of harmonic and white noise excitations in the acceleration responses of a linear dynamic system. This procedure combines the uses of the mode indicator function, the complex mode indication function, the enhanced frequency response function, an iterative rational fraction polynomial method and mode shape inspection for the correlation-related functions of the force-embedded acceleration responses. The procedure is verified via numerical simulation of a five-floor shear building and a two-dimensional frame and also applied to ambient vibration data of a large-span roof structure. Results show that the modal parameters of these dynamic systems can be satisfactorily identified under the requirement of wide separation between vibration modes and harmonic excitations.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2000년도 봄 학술발표회 논문집
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• pp.255-262
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• 2000

Shaking table tests were peformed to evaluate the subgrade reaction of ground according to the build-up of pore water pressure. Model pile was installed in the sand ground. The acceleration of the model ground, the pore water pressure build-up and displacement of pile were recorded by measuring devices. Subgrade reaction approach based on Winker soil model was applied to obtain the modulus of the horizontal subgrade reaction. The results of analysis show that the reduction factor of the subgrade reaction due to pore pressure increase is about 1 and the horizontal subgrade reaction of liquefied ground is not influenced by the stiffness of pile, a ground acceleration and the intial ground density.