• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.674-680
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• 2007

The probabilistic roadmap (PRM) method, which is a popular path planning scheme, for a manipulator, can find a collision-free path by connecting the start and goal poses through a roadmap constructed by drawing random nodes in the free configuration space. PRM exhibits robust performance for static environments, but its performance is poor for dynamic environments. On the other hand, reinforcement learning, a behavior-based control technique, can deal with uncertainties in the environment. The reinforcement learning agent can establish a policy that maximizes the sum of rewards by selecting the optimal actions in any state through iterative interactions with the environment. In this paper, we propose efficient real-time path planning by combining PRM and reinforcement learning to deal with uncertain dynamic environments and similar environments. A series of experiments demonstrate that the proposed hybrid path planner can generate a collision-free path even for dynamic environments in which objects block the pre-planned global path. It is also shown that the hybrid path planner can adapt to the similar, previously learned environments without significant additional learning.

• Journal of Mechanical Science and Technology
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• v.17 no.4
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• pp.501-510
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• 2003

The spot welded sections of automobiles such as the hat and double hat section members, absorb the most of the energy during the front-end collision. The purpose of this study was to analyze the collapse characteristics of spot welded section members with respect ttl the pitch or spot welds on flanges. through impact experiments and computation for para-closed sections and perfectly closed sections. The hat shaped section members were tested at the impact collapse velocities of 4.72 m/sec, 6.54 m/sec and 7.19 m/sec and double hat shaped section members were tested at the impact collapse velocities of 6.54 m/sec, 7.19 m/sec and 7.27 m/sec. A commercial LS-DYNA3D was used to simulate the collapse behavior of the hat and double hat shaped section members. The validity of the simulation was to be proved by comparing the simulation results and the experimental results.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.6
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• pp.205-212
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• 2003

This paper may provide a basic design data for the safer car seat mechanism and the quality of the material used by finding out the passenger's dynamic behavior when protected by seat belt during collision. A computer simulation with finite element method is used to accomplish this objective. At first, a detailed geometric model of the seat is constructed using CAD program. The formation of a finite element from a geometric data of the seat is carried out using Hyper-Mesh that is the commercial software for mesh generation and post processing. In addition to seat modeling, the finite element model of seat belt and dummy is formed using the same software. Rear impact analysis is accomplished using Pam-Crash with crash pulse. The part of the recliner and right frame is under big stress in rear crash analysis because the acceleration force is exerted on the back of the seat by dummy. The stress condition of the part of the bracket is checked as well because it is considered as an important variable on the seat design. Front impact model which including dummy and seal belt is analyzed. A Part of anchor buckle of seat frame has high stress distribution because of retraction force due to forward motion of dummy at the moment of collision. On the basis of the analysis result, remodeling and reanalysis works had been repeatedly done until a satisfactory result is obtained.

• International Journal of Automotive Technology
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• v.7 no.5
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• pp.555-564
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• 2006

The aim of this paper is to contribute to the efficient design of traffic light poles involved in vehicle frontal collisions by developing a computer-based, finite-element model capable of capturing the impact characteristics. This is achieved by using the available non-linear dynamic analysis software "LS-DYNA3D", which can accurately predict the dynamic response of both the vehicle and the traffic light pole. The fiber reinforced polymer(FRP) as a new pole's material is proposed in this paper to increase energy absorption capabilities in the case of a traffic pole involved in a vehicle head-on collision. Numerical analyses are conducted to evaluate the effects of key parameters on the response of the pole embedded in soil when impacted by vehicles, including: soil type(clay and sand) and pole material type(FRP and steel). It is demonstrated from the numerical analysis that the FRP pole-soil system has favorable advantages over steel poles, where the FRP pole absorbed vehicle impact energy in a smoother behavior, which leads to smoother acceleration pulse and less deformation of the vehicle than those encountered with steel poles. Also, it was observed that clayey soil brings a slightly more resistance than sandy soil which helps reducing pole movement at ground level. Finally, FRP pole system provides more energy absorbing leading to protection during minor impacts and under service loading, and remain flexible enough to avoid influencing vehicle occupants, thus reducing fatalities and injuries resulting from the crash.

• Electrical & Electronic Materials
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• v.10 no.4
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• pp.342-348
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• 1997

In this paper, the behavior of electron swarm parameters and energy distribution function of the discharge under high E/N condition in e$^{-10}$ -CF$_{4}$ gas have been analysed over the E/N range from 1-300(Td) by the MCS and BEq methods using set of electron collision cross section determined by the authors. The swarm parameters and energy distribution function have been calculated for the pulsed Townsend, steady-state Townsend and Time of Flight methods. The results gained that the value of electron swarm parameters such as the electron drift velocity, the electron ionization and attachment coefficients and longitudinal diffusion coefficients in agreement with the experimental and theoretical data for a range of E/N. The electron energy distribution function has been explained and analysed in e$^{-10}$ -CF$_{4}$ at E/N : 5, 10, 100, 200, 300(Td) for a case of the equilibrium region in the mean electron energy and respective set of electron collision cross sections. The validity of the results has been confirmed by TOF and SST methods.

• Journal of ILASS-Korea
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• v.13 no.1
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• pp.34-41
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• 2008

Molecular dynamic simulations have been carried out to study the effect of the nano-structure substrate and its temperature on cluster laminating. The interaction between substrate molecules and liquid molecules was modeled in the molecular scale and simulated by the molecular dynamics method in order to understand behaviors of the liquid cluster on nano-structure substrate. In the present model, the Lennard-Jones potential is applied to mono-atomic molecules of argon as liquid and platinum as nano-structure substrate to perform simulations of molecular dynamics. The effect of wettability on a substrate was investigated for the various beta of Lennard-Jones potential. The behavior of the liquid cluster and nano-structure substrate depends on interface wettability and function of molecules force, such as attraction and repulsion, in the collision progress. Furthermore, nano-structure substrate temperature and beta of Lennard-Jones potential have effect on the accumulation ratio. These results of simulation will be the foundation of coating application technology for micro fabrication manufacturing.

• International Journal of Highway Engineering
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• v.16 no.1
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• pp.91-98
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• 2014

PURPOSES : Recently, there are increasing bicycle accidents along with increasing bicycles users. Bicycle accidents occurred frequently by perpendicular collision form at intersection inner. In order to improve safety of bicycle, drivers need to be aware of bicycles on the road and intersection geometric designs need to be designed to reduce risk associated with collisions between bicycles and car. This study aims to review the location of bicycle crossing in the viewpoint of bicycle safety. METHODS : Four types of bicycle crossing by curve radius and driver's check around the behavior are set to simulate the risk of collisions between bicycles and car turning right. Simulation using fortran programming are conducted on total 60 cases. RESULTS : Bicycle crossing located behind of crosswalk is lower the risk of collisions with car in all cases. In addition to the larger curve radius of pavement edge at intersection and the more pay attention to the rear by the turn head to the right is too low the risk of collisions with car. CONCLUSIONS : It is show that the location of bicycle crossing is safer behind than in front of crosswalk in the viewpoint of bicycle safety.

• Journal of agriculture & life science
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• v.44 no.4
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• pp.29-43
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• 2010

The numerical analysis by using CFX 11.0 commercial code was done for proper design of the heat exchanger. The present experimental studies were also conducted to investigate the effects of circulating solid particles on the characteristics of fluid flow, heat transfer and cleaning effect in the fluidized bed vertical shell and tube type heat exchanger with counterflow, at which a variety of solid particles such as glass ($3mm{\Phi}$), aluminum ($2{\sim}3mm{\Phi}$), steel ($2{\sim}2.5mm{\Phi}$), copper ($2.5mm{\Phi}$) and sand ($2{\sim}4mm{\Phi}$) were used in the fluidized bed with a smooth tube. Seven different solid particles have the same volume, and the effects of various parameters such as water flow rates, particle diameter, materials and geometry were investigated. The present experimental and numerical results showed that the flow velocity range for collision of particles to the tube wall was higher with heavier density solid particles, and the increase in heat transfer was in the order of sand, copper, steel, aluminum, and glass. This behavior might be attributed to the parameters such as surface roughness or particle heat capacity.

• Earthquakes and Structures
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• v.16 no.4
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• pp.437-453
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• 2019

This study investigates a new optimal placement method for viscous dampers between structures in order to prevent pounding of adjacent structures with different dynamic characteristics under earthquake effects. A relative displacement spectrum is developed in two single degree of freedom system to reveal the critical period ratios for the most risky scenario of collision using El Centro earthquake record (NS). Three different types of viscous damper design, which are classical, stair and X-diagonal model, are considered to prevent pounding on two adjacent building models. The objective function is minimized under the upper and lower limits of the damping coefficient of the damper and a target modal damping ratio. A new algorithm including time history analyses and numerical optimization methods is proposed to find the optimal dampers placement. The proposed design method is tested on two 12-storey adjacent building models. The effects of the type of damper placement on structural models, the critical period ratios of adjacent structures, the permissible relative displacement limit, the mode behavior and the upper limit of damper are investigated in detail. The results of the analyzes show that the proposed method can be used as an effective means of finding the optimum amount and location of the dampers and eliminating the risk of pounding.

• Computers and Concrete
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• v.22 no.6
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• pp.515-525
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• 2018

This paper presents a numerical study on the performance of reinforced concrete (RC) bridge structures subjected to heavy goods vehicle (HGV) collision. The objectives of this study are to investigate the dynamic response and failure modes of different types of bridges under impact loading as well as to give an insight into the simplified methods for modeling bridge structures. For this purpose, detailed finite-element models of HGV and bridges are established and verified against the full-scale collision experiment and a recent traffic accident. An intensive parametric study with the consideration of vehicle weight, vehicle velocity, structural type, simplified methods for modeling bridges is conducted; then the failure mode, impact force, deformation and internal force distribution of the validated bridge models are discussed. It is observed that the structural type has a significant effect on the force-transferring mechanism, failure mode and dynamic response of bridge structures, thus it should be considered in the anti-impact design of bridge structures. The impact force of HGV is mainly determined by the impact weight, impact velocity and contact interface, rather than the simplification of the superstructure. Furthermore, to reduce the modeling and computing cost, it is suggested to utilize the simplified bridge model considering the inertial effect of the superstructure to evaluate the structural impact behavior within a reasonable precision range.