• Journal of Navigation and Port Research
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• v.36 no.5
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• pp.379-385
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• 2012

In this paper, the stability and stabilization problems for marine vessels including surface and underwater vehicles are described. In the marine vessels, there are many and strong nonlinear parameters. These give hard design process and difficulties to us. In this article, at first we make a descriptor system representation as a controlled system to preserve the physical parameters of the system as it is. And we propose a new stability and stabilizability conditions based on the quadratic stabilization approach which gives a solution for the unreasonable problems produced by added mass. That is, the proposed conditions are not interfered with the nonsymmetric matrix constraint. And the stability condition is given by an matrix inequality such that it makes us to obtain a solution easily for something.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.3
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• pp.872-881
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• 1996

The concept of homology design has been devised for the application to large telescope structure by S.v.Hoerner. It is defined that the deformation of a structure shall be called homologous, if a given geometrical relation holds, for a given number of structural points, before, during, and after the deformation. Recently, the need of homology design in the structural design has been increase due to the required precision in the structure. Some researchers have utilized the theory on the structural design with finite element method in the late 1980s In the present investigation, a simple method using geometrical equality constraints is suggested to gain homologous deformation. The previous method is improved in that the decomposition of FEM eqation, which is very expensive, is not necessary. The basic formulations of the homology design with the optimization concept are described and several practical examples are solved to verify the usefulness and validity. Especially, a back-up structure of a satellite antenna is designed by the suggested method. The results are compared with those of existing researches.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.2
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• pp.134-140
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• 1999

The robust generalized H2 filtering problem for a class of discrete time uncertain linear systems satisfying the sum quadratic constraints(SQCs) is considered. The objective of this paper is to develop robust stability condition using SQCs and design a robust generalized Ha filter to take place of the existing robust Kalman filter. The robust generalized H2 filter is designed based on newly derived robust stability condition. The robust generalized Ha filter bounds the energy to peak gain from the energy bounded exogenous disturbances to the estimation errors under the given positive scalar ${\gamma}$. Unlike the robust Lalman filter, it does not require any spectral assumptions about the exogenous disturbances . Therefore the robust generalized H2 filter can be considered as a deterministic formulation of the robust Kalman filter. Moreover, the variance of the estimation error obtained by the proposed filter is lower than that by the existing robust Kalman filter. The robustness of the robust generalized H2 filter against the uncertainty and the exogenous signal is illustrated by a simple numerical example.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.846-852
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• 2013

In this paper, the authors propose a new approach to control problem of the marine vessels which are moored or controlled by actuators. The vessel control problem in the specified area is called a DPS (Dynamic Positioning System). The main objective of this paper is to obtain more useful control design method for DPS. In this problem, a complicate fact is control allocation which is a numerical method for distributing the control signal to the controlled system. For this, many results have been given and verified by other researchers using two individual processes. It means that the controller design and control allocation design process are carried out individually. In this paper, the authors give more sophisticated design solution on this issue. In which the controller design and control allocation problem are unified by a robust controller design problem. In other word, the stability of the closed-loop system, control performance and allocation problem are unified by an LMI (Linear Matrix Inequality) constraint based on $H_2/H_{\infty}$ mixed design framework. The usefulness of proposed approach is verified by simulation with a supply vessel model and found works well.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.4
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• pp.337-344
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• 2014

While implicit integration methods such as Newton's method have excellent stability for the analysis of stiff and constrained mechanical systems, they have the drawback that the evaluation and LU-factorization of the system Jacobian matrix required at every time step are time-consuming. This paper proposes a Jacobian update-free Newton's method in order to overcome these defects. Because the motions of all bodies in a vehicle model are limited with respect to the chassis body, the equations are formulated with respect to the moving chassis-body reference frame instead of the fixed inertial reference frame. This makes the system Jacobian remain nearly constant, and thus allows the Newton's method to be free from the Jacobian update. Consequently, the proposed method significantly decreases the computational cost of the vehicle dynamic simulation. This paper provides detailed generalized formulation procedures for the equations of motion, constraint equations, and generalized forces of the proposed method.

• Structural Engineering and Mechanics
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• v.16 no.2
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• pp.177-193
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• 2003

This paper presents an illustrative example of the advantages offered by inserting added viscous dampers into shear-type structures in accordance with a special scheme based upon the mass proportional damping (MPD) component of the Rayleigh viscous damping matrix. In previous works developed by the authors, it has been widely shown that, within the class of Rayleigh damped systems and under the "equal total cost" constraint, the MPD system provides best overall performance both in terms of minimising top-storey mean square response to a white noise stochastic input and maximising the weighted average of modal damping ratios. A numerical verification of the advantages offered by the application of MPD systems to a realistic structure is presented herein with reference to a 4-storey reinforced-concrete frame. The dynamic response of the frame subjected to both stochastic inputs and several recorded earthquake ground motions is here analysed in detail. The results confirm the good dissipative properties of MPD systems and indicate that this is achieved at the expense of relatively small damping forces.

• Journal of the Korean Ceramic Society
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• v.26 no.2
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• pp.210-220
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• 1989

The properties of the powder of Al2O3-15v/o ZrO2(＋3m/o Y2O3) system prepared by co-precipitation method at the pH values of 7, 9, 10 and 11 were investigated. Al2(SO4)3.18H2O, ZrOCl2.8H2O and YCl3.6H2O were used as starting materials and NH4OH as a precipitation agent. Zirconium hydroxide decreased the specific surface area of aluminum hydroxide of AlOOH type, while increased the specific surface area of aluminum hydroxide of Al(OH)3 type, and formed co-network structure of Al-O-Zr type with the aluminum hydroxides. The rate of transition to $\alpha$-Al2O3 from co-precipitated materials occurred in the order of 7≒10, 9 and 11 of pH values. Al2O3 and ZrO2 interacted to bring about coupled grain growth, and the growth of ZrO2 crystallite size rapidly occurred within $\theta$-Al2O3 matrix. Segregation did not occur in the system Al2O3-15v/o ZrO2(＋3m/o Y2O3) and Y2O3 acted as a stabilizer to ZrO2. The lattice strain of tetragonal ZrO2 was increased by the constraint effect of Al2O3 matrix.

• IE interfaces
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• v.12 no.1
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• pp.10-18
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• 1999

Job shop manufacturing environments are using the concept of cellular manufacturing systems(CMS) which has several advantages in reducing production lead times, setup times, work-in-process, etc. Utilizing the similarities between cell-machine, part-machine, and the shape/size of parts, CMS can group machines and parts resulting in improved efficiency of this system. However, when grouping machines and parts in machine cells, there inevitably occurs exceptional elements(EEs), which can not operate in the same machine cell. Minimizing these EEs in CMS is a critical point that improving production efficiency. Constraints in machine duplication cost, machining process technology, machining capability, and factory space limitations are main problems that prevent achiving the goal of maintaining an ideal CMS environment. This paper presents an algorithm that minimizes EEs under the constraints of machine duplication cost and factory space limitation. Developing exceptional operation similarity(EOS) by cell-machine incidence matrix and part-machine incidence matrix, it brings the machine cells that operate the parts or not. A mathematical model to minimize machine duplication is developed by EOS, followed by a heuristic algorithm in order to reflect dynamic situation resulting from minimizing exceptional elements process and the mathematical model. A numerical example is provided to illustrate the algorithm.

• Geophysics and Geophysical Exploration
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• v.21 no.1
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• pp.15-25
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• 2018

Seismic inversion is a high-resolution tool to delineate the subsurface structures which may contain oil or gas. On the other hand, marine controlled-source electromagnetic (mCSEM) inversion can be a direct tool to indicate hydrocarbon. Thus, the joint inversion using both EM and seismic data together not only reduces the uncertainties but also takes advantage of both data simultaneously. In this paper, we have developed a simultaneous joint inversion approach for the direct estimation of reservoir petrophysical parameters, by linking electromagnetic and seismic data through rock physics model. A cross-gradient constraint is used to enhance the resolution of the inversion image and the maximum likelihood principle is applied to the relative weighting factor which controls the balance between two disparate data. By applying the developed algorithm to the synthetic model simulating the simplified gas field, we could confirm that the high-resolution images of petrophysical parameters can be obtained. However, from the other test using the synthetic model simulating an anticline reservoir, we noticed that the joint inversion produced different images depending on the model constraint used. Therefore, we modified the algorithm which has different model weighting matrix depending on the type of model parameters. Smoothness constraint and Marquardt-Levenberg constraint were applied to the water-saturation and porosity, respectively. When the improved algorithm is applied to the anticline model again, reliable porosity and water-saturation of reservoir were obtained. The inversion results indicate that the developed joint inversion algorithm can be contributed to the calculation of the accurate oil and gas reserves directly.

• 유체기계공업학회:학술대회논문집
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• 2006.08a
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• pp.349-352
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• 2006

The conventional segregated finite element formulation produces a small and simple matrix at each step than in an integrated formulation. And the memory and cost requirements of computations are significantly reduced because the pressure equation for the mass conservation of the Navier-Stokes equations is constructed only once if the mesh is fixed. However, segregated finite element formulation solves Poisson equation of elliptic type so that it always needs a pressure boundary condition along a boundary even when physical information on pressure is not provided. On the other hand, the conventional integrated finite element formulation in which the governing equations are simultaneously treated has an advantage over a segregated formulation in the sense that it can give a more robust convergence behavior because all variables are implicitly combined. Further it needs a very small number of iterations to achieve convergence. However, the saddle-paint-type matrix (SPTM) in the integrated formulation is assembled and preconditioned every time step, so that it needs a large memory and computing time. Therefore, we newly proposed the P2PI semi-segregation formulation. In order to utilize the fact that the pressure equation is assembled and preconditioned only once in the segregated finite element formulation, a fixed symmetric SPTM has been obtained for the continuity constraint of the present semi-segregation finite element formulation. The momentum equation in the semi-segregation finite element formulation will be separated from the continuity equation so that the saddle-point-type matrix is assembled and preconditioned only once during the whole computation as long as the mesh does not change. For a comparison of the CPU time, accuracy and condition number between the two methods, they have been applied to the well-known benchmark problem. It is shown that the newly proposed semi-segregation finite element formulation performs better than the conventional integrated finite element formulation in terms of the computation time.