• Geomechanics and Engineering
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• v.20 no.3
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• pp.267-273
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• 2020

Solutions of the water pressure and groundwater inflow distribution along the tunnel perimeter in a half-infinite aquifer were investigated considering the conditions of the constant head and constant water pressure. It is assumed that the circular tunnel is buried in a fully saturated, homogeneous, isotropic and half-infinite space. Coordinate transformation technique was adopted, the problem of solving the control equations of water pressure in the Cartesian coordinate was transformed to that in the bipolar coordinate system, which can significantly simplify the derivation procedure of the water pressure and inflow distribution. The validation results show the accuracy and advantage of the proposed approach.

• Journal of Advanced Marine Engineering and Technology
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• v.22 no.4
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• pp.436-444
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• 1998

Applicability of the RNG k-$\varepsilon$ model to the analysis of unsteady axisymmetric turbulent flow of a reciprocating engine including port/valve assembly is studied numerically. The governing equations based on non-orthogonal including port/valve assembly is studied numerically. The governing equations based on a non-orthogonal coordinate formulation with Cartesian velocity components are used and discretised by the finite volume method with non-staggered variable arrangements. The predicted results using the RNG k-$\varepsilon$ model of the unsteady axisymmetric turbulent flow within a cylinder of reciprocating model engine including port/valve assembly are compared to these from the modified k-$\varepsilon$ model and experimental data. Using the RNG k-$\varepsilon$ model seems the have some potential for the simulations of the unsteady turbulent flow within a port/valve-cylinder assembly over the modified k-$\varepsilon$model.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.6
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• pp.31-37
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• 2002

This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.

• Proceedings of the KSME Conference
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• 2008.11b
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• pp.2477-2482
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• 2008

Effect of computational domain size in simulating of periodic obstacle flow has been investigated for the flow past tube banks. Reynolds number, defined by freestream velocity (U) and cylinder diameter (d), was fixed as 200, and center-to-center distance (P) as 1.5d. In-line square array was considered. Drag coefficient, lift coefficient and Strouhal number were calculated depending on domain size. Circular cylinders were implemented on a Cartesian grid system by using an immersed boundary method. Boundary condition is periodic in both streamwise and lateral directions. Previous studies in literature often use a square domain with a side length of P, which contains only one cylinder. However, this study reveals that size is improper. Especially, RMS values of flow-induced forces are most sensitive to the domain size.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.5
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• pp.428-434
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• 2014

Measurement of the absolute displacement of the moving machinery components in three-dimensions (3D) is of critical functional importance. This paper describes the system that measures motion associated with six degrees-of-freedom in 3D. Wire-sensors are used to estimate the positions of an object in a 3D Cartesian coordinate system, based on the values of their initial position and the measured values. For inducing the transfer function, which represents the motion of an object, the number of the minimum measurement points is determined. Also, the experimental measuring device is configured to visualize the behavior of a rectangular object in real-time. The software for measuring the six types of motions is directly programmed using a commercial software.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.20-25
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• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1256-1260
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• 2006

This paper presents an enhanced ${\alpha}-{\beta}$ tracking filter whose ${\alpha}-{\beta}$ gains are updated by an approximation method at every scan to account for the transition of measurement dependent observation error variance in two-dimensional Cartesian coordinates. The approximate ${\alpha}-{\beta}$ gains are calculated from the amount of the change in the tracking index and the partial derivatives of the ${\alpha}-{\beta}$ gains with respect to a nominal tracking index. It is shown via simulation that the proposed tracker provides improved performance compared to the conventional ${\alpha}-{\beta}$ tracking filter.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.329-336
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• 2007

This paper considers a fault accommodation problem for inertial navigation systems (INS) that have redundant inertial sensors such as gyroscopes and accelerometers. It is wellknown that the more sensors are used, the smaller the navigation error of INS is, which means that the error covariance of the position estimate becomes less. Thus, when it is decided that double faults occur in the inertial sensors due to fault detection and isolation (FDI), it is necessary to decide whether the faulty sensors should be excluded or not. A new accommodation rule for double faults is proposed based on the error covariance of triad-solution of redundant inertial sensors, which is related to the navigation accuracy of INS. The proposed accommodation rule provides decision rules to determine which sensors should be excluded among faulty sensors. Monte Carlo simulation is performed for dodecahedron configuration, in which case the proposed accommodation rule can be drawn in the decision space of the two-dimensional Cartesian coordinate system.

• Journal of the Korean Institute of Telematics and Electronics
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• v.25 no.12
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• pp.1601-1609
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• 1988

In the control of the robotic manipulators, the variable structure control method for the set point Regualation has an advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulatores are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.3
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• pp.46-58
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• 1998

Multi-disk data allocation problem examined in this paper is to find a method to distribute a Binary Cartesian Product File on multiple disks to maximize parallel disk I/O accesses for partial match retrieval. This problem is known to be NP-hard, and heuristkc approaches have been applied to obtain sub-optimal solutions. Recently, efficient methods have been proposed with a restriction that the number of disks in which files are stored should be power of 2. In this paper, we propose a new disk Allocation method based on Genetic Algorithm(GA) to remove the restriction on the number of disks to be applied. Using the schema theory, we prove that our method can find a near-optimal solutionwith high probability. We compare the quality of solution derived by our method with General Disk Modulo, Binary Disk Modulo, and Error Correcting Code methods through the simulation. The simulation results show that proposed GA is superior to GDM method in all cases and provides comparable performance to the BDM method which has a restriction on the number of disks.