• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1387-1391
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• 2003

The fundamental aim of this paper is to present a solution algorithm to achieve cooperative contour controlling, under joint acceleration constraint with maximum cooperative speed. Usually, the specifications like maximum velocity of cooperative trajectory are determined by the application itself. In resolving the cooperative trajectory into two complementary trajectories, an optimum task resolving strategy is employed so that the task assignment for each robot is fair under the joint acceleration constraint. The proposed algorithm of being an off-line technique, this could be effectively and conveniently extended to the existing servo control systems irrespective of the computational power of the controller implemented. Further, neither a change in hardware setup nor considerable reconfiguration of the existing system is required in adopting this technique. A simulation study has been carried out to verify that the proposed method can be realized in the generation of complementary trajectories so that they could meet the stipulated constraints in simultaneous maneuvering.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.3
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• pp.603-610
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• 1998

This paper develops a 7 DOF vehicle model to study the effects of the active suspension on ride. The model is used to derive a control law for the active suspension using a full state linear optimal control technique. A wheelbase preview type active suspension is also considered in the control law derivation. The time delay between wheelbases is approximated using Pade approximation technique. The ride model is extended to a 14 DOF handling model. The 14 DOF handling model includes lateral, longitudinal, yaw and four wheel spin motions in addition to the 7 DOF ride model. A control law which is derived considering only ride related parameters is used to study the effects of the active suspension on a vehicle handling. J-turn maneuver simulation results show that the active suspension has a slower response in lateral acceleration and yaw rate, a bigger steady state lateral acceleration and an oversteer tendency. Lane changing maneuver simulation results show that the active suspension has a little bigger lateral acceleration but a much smaller roll angle and roll motion. Braking maneuver simulation results show that the active suspension has a much smaller pitch angle and pitch motion.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.497-504
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• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.

• Nuclear Engineering and Technology
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• v.53 no.1
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• pp.30-43
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• 2021

In the 2D/1D method, a global adjoint CMFD based on the generalized equivalence theory is built to synthesize the 2D radial MOC adjoint and 1D axial NEM adjoint calculation and also to accelerate the iteration convergence of 3D whole-core adjoint transport calculation. Even more important, an advanced yet accurate two-level (TL) CMFD acceleration technique is proposed, in which an equivalent one-group adjoint CMFD is established to accelerate the multi-group adjoint CMFD and then to accelerate the 3D whole-core adjoint transport calculation efficiently. Based on these method, a new code is developed to perform 3D adjoint neutron flux calculation. Then a set of VERA and C5G7 benchmark problems are chosen to verify the capability of the 3D adjoint calculations and the effectiveness of TL CMFD acceleration. The numerical results demonstrate that acceptable accuracy of 2D/1D adjoint calculations and superior acceleration of TL CMFD are achievable.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.5
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• pp.529-536
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• 2019

In this paper, the signals of the sensor for extracting characteristic parameters of the rotor are collected and the performance of the extraction technique is analyzed. To this end, a vibration test league was developed for conducting model tests to analyze the signal characteristics under normal operation. As a result, it is judged that no change in the measured the raw data amplitude will occur in the acceleration sensor with the unbalanced mass measured from the acceleration sensor. Performing FFT showed a significant increase in amplitude of the rotational frequency of 20 Hz as the unbalanced mass increased. The analysis results according to the change in the unequal mass of the speed sensor also showed a significant increase in the 1X Harmonics component, such as the acceleration sensor. There was no change in the amplitude of the acceleration sensor data when the misalignment occurred, and for the Envelope data, the amplitude of 2X (40 Hz) was increased depending on the degree of misalignment. The velocity sensor at change of misalignment also showed similar results to the acceleration sensor, and the peak was reduced at 600 Hz as the load increased in the frequency spectrum.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.477-479
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• 2018

This study was carried out to utilize LSTM(Long Short-Term Memory) technique which is one kind of artificial neural network. Among the 27 types of motion data released by the UTD(University of Texas at Dallas), 3-axis acceleration and angular velocity data were applied to the basic LSTM and Deep Residual Bidir-LSTM techniques to classify the behavior.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2003.10a
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• pp.495-502
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• 2003

This study proposed the Probability Density Function (PDF) interpolation technique to evaluate the seismic fragility curves as a function of the return period. Seismic fragility curves have been developed as a function of seismic intensities such as peak ground acceleration, peak pound velocity, and pseudo-velocity spectrum. The return period of design earthquakes, however, can be more useful among those seismic intensity measurements, because the seismic hazard curves are generally represented with a return period of design earthquakes and the seismic design codes also require to consider the return period of design earthquake spectrum for a specific site. In this respect the PDF interpolation technique is proposed to evaluate the seismic fragility curves as a function of return period. Seismic fragility curves based on the return period are compared with ones based on the peak ground acceleration for the bridge model.

• Smart Structures and Systems
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• v.6 no.9
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• pp.1025-1039
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• 2010

Measuring displacement response for civil structures is very important for assessing their performance, safety and integrity. Recently, video-based techniques that utilize low-cost high-resolution digital cameras have been developed for such an application. These techniques however have relatively low sampling frequency and the results are usually contaminated with noises. In this study, an integrated visual-inertial measurement method that combines a monocular videogrammetric displacement measurement technique and a collocated accelerometer is proposed for displacement and velocity measurement of civil engineering structures. The monocular videogrammetric technique extracts three-dimensional translation and rotation of a planar target from an image sequence recorded by one camera. The obtained displacement is then fused with acceleration measured from a collocated accelerometer using a multi-rate Kalman filter with smoothing technique. This data fusion not only can improve the accuracy and the frequency bandwidth of displacement measurement but also provide estimate for velocity. The proposed measurement technique is illustrated by a shake table test and a pedestrian bridge test. Results show that the fusion of displacement and acceleration can mitigate their respective limitations and produce more accurate displacement and velocity responses with a broader frequency bandwidth.

• Journal of Power System Engineering
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• v.7 no.4
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• pp.67-73
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• 2003

The entry guidance design involves trajectory optimization and generation of a drag acceleration profile as the satisfaction of trajectory conditions during the entry flight. The reference trajectory is parameterized and optimized as piecewise linear functions of the velocity. A regularization technique is employed to achieve desired properties of the optimal drag profile. The regularized problem has smoothness properties and the minimization of performance index then prevents the drag acceleration from varying too fast, thus eliminating discontinuities. This paper shows the trajectory control using the simple control law as well as the information of reference drag acceleration.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.99-102
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• 2003

A new interacting multiple model (IMM) method using genetic algorithm (GA)-based intelligent input estimation(IIE) is proposed to track a maneuvering target. In the proposed method, the acceleration level for each sub-model is determined by IIE-the estimation of the unknown acceleration input by a fuzzy system using the relation between maneuvering filter residual and non-maneuvering one. The GA is utilized to optimize a fuzzy system fur a sub-model within a fixed range of acceleration input. Then, multiple models are composed of these fuzzy systems, which are optimized for different ranges of acceleration input. In computer simulation for an incoming ballistic missile, the tracking performance of the proposed method is compared with those of the input estimation(IE) technique and the adaptive interacting multiple model (AIMM) method.