• Journal of applied mathematics & informatics
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• v.17 no.1_2_3
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• pp.145-170
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• 2005

This paper presents scheduling models for dispatching vehicles to accomplish a sequence of container jobs at the container terminal, in which the starting times as well as the order of vehicles for carrying out these jobs need to be determined. To deal with this scheduling problem, three mixed 0-1 integer programming models, Model 1, Model 2 and Model 3 are provided. We present interesting techniques to reformulate the two mixed integer programming models, Model 1 and Model 2, as pure 0-1 integer programming problems with simple constraint sets and present a lower bound for the optimal value of Model 1. Model 3 is a complicated mixed integer programming model because it involves a set of non-smooth constraints, but it can be proved that its solutions may be obtained by the so-called greedy algorithm. We present numerical results showing that Model 3 is the best among these three models and the greedy algorithm is capable of solving large scale problems.

• Journal of Ocean Engineering and Technology
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• v.10 no.3
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• pp.153-161
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• 1996

This paper presents a design method of dynamic positioning control system for floating platform with rotatable and retractable thruster using $H_{\infty}$ control technique. The norm band of uncertainty is captured by multiplicative perturbation between nominal model and reduced order model. A controller robust to the uncertainty is designed applying $H_{\infty}$ synthesis. The control law satisfying robust stabillity and nominal performance condition is determined through the mixed sensitivity approach. The evaluation for the resultant controller obtained by $H_{\infty}$ synthesis is done through simulations of the closed loop system. The results of $H_{\infty}$ synthesis are compared to those of the traditional LQ synthesis method.

• Structural Engineering and Mechanics
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• v.62 no.5
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.6
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• pp.628-637
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• 2004

The present study investigates the performance of dynamic mixed model (DMM; Zang et ai.) in a channel with strong wall injection through a Large eddy simulation (LES) technique. The DMM results are compared with those of DNS and the results obtained with popular dynamic Smagorinsky model (DSM). Better agreement is achieved when using the DMM with box filter than DSM and coarse DNS in predicting the first and second order statistics as well as large-scale structures of velocity and temperature fields. Such favorable features of DMM are attributed to the fact that it explicitly calculates the modified Leonard stress term and only models the remaining cross and the SGS Reynolds stress terms and, thus, it reduces the excessive burden put on the model coefficient of DSM. Also it is demonstrated that the DMM can be successfully extended to the prediction of temperature (passive scalar) field where strong streamwise inhomogeneity exists.

• 유체기계공업학회:학술대회논문집
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• 2002.12a
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• pp.47-53
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• 2002

The hydraulic design optimization and performance analysis of mixed-flow pumps for waterjet marine vehicle propulsion has been carried out using mean streamline analysis and three-dimensional computational fluid dynamics (CFD) code. In the present study the conceptual design optimization has been formulated with a non-linear objective function to minimize the fluid dynamic losses and then the commercial CFD code was incorporated to allow for detailed flow dynamic phenomena in the pump system. New designed mixed-flow model pump has been tested in the laboratory. Predicted performance curves by the CFD code agree very well with experimental data for a newly designed mixed-flow pump over the normal operating conditions. The design and prediction methods presented herein can be used efficiently as a unified hydraulic design process of mixed-flow pumps for waterjet marine vehicle propulsion.

• Journal of Information Processing Systems
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• v.18 no.4
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• pp.457-469
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• 2022

Hydraulic concrete buildings in the northwest of China are often subject to the combined effects of low-temperature frost damage, during drying and wetting cycles, and salt erosion, so the study of concrete deterioration prediction is of major importance. The prediction model of the relative dynamic elastic modulus (RDEM) of four different kinds of modified concrete under the special environment in the northwest of China was established using Grey residual Markov theory. Based on the available test data, modified values of the dynamic elastic modulus were obtained based on the Grey GM(1,1) model and the residual GM(1,1) model, combined with the Markov sign correction, and the dynamic elastic modulus of concrete was predicted. The computational analysis showed that the maximum relative error of the corrected dynamic elastic modulus was significantly reduced, from 1.599% to 0.270% for the BS2 group. The analysis error showed that the model was more adjusted to the concrete mixed with fly ash and mineral powder, and its calculation error was significantly lower than that of the rest of the groups. The analysis of the data for each group proved that the model could predict the loss of dynamic elastic modulus of the deterioration of the concrete effectively, as well as the number of cycles when the concrete reached the damaged state.

• Water Engineering Research
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• v.3 no.3
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• pp.155-162
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• 2002

This study presents the theoretical approach for volume concentration, velocity profile, and granular discharge on the fluid-granule mixed flow downstream of the scour hole at the outlet of the hydraulic structure. Concept of dilatant model was applied for the stress-strain relationships of fluid-granule mixed flow since the flow downstream of the scour hole corresponds to debris flow, where momentum transfers through particle collisions. Mathematical formulations were derived using momentum equation and stress-strain relation of the fluid-granule mixture. Velocity profile under the assumption of uniform concentration over flowing layer showed the downward convex type. Deposition angle of downstream hump was found to be a function of an upstream slope angle, a dynamic friction angle and a volume concentration irrespective of flow itself, Granular discharge and the overflow depth were obtained with given values of inflow rates. Experimental results showed relatively good agreements with theoretical ones.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.24 no.11
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• pp.1523-1534
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• 2000

The performance of a number of existing dynamic subgrid-scale(SGS) models is evaluated in large-eddy simulations(LES) of two prototype transitional and turbulent shear flows, a planar jet and a channel flow. The dynamic SGS models applied include the dynamic Smagorinsky model(DSM);Germano et al. 1991, Lully 1992), the dynamic tow-component model(DTM; Akhavan et al. 2000), the dynamic mixed model(DMM;Zang et al, 1993). and the dynamic two-parameter model(DTPM; Salvetti & Banerjee 1995). The results are compared with those for DNS for their evaluation. The LES results demonstrate the superior performance of DTM with use of a sharp cutoff filter and DMM with use of a box filter, as compared to their respect counterpart DSM, in predicting the mean statistics, spectra and large-scale structure of the flow, Such features of DTM and DMM derive from the construction of the models in which tow separate terms are included to represent the SGS interactions; a Smagorinsky edd-viscosity term to account for the non-local interactions, and a local-interaction term to account for the nonlinear dynamics between the resolved and subgrid scales in the vicinity of the LES cutoff. As well, overall the SGS models using a sharp cutoff filter are more successful than those using a box filter in capturing the statistics and structure of the flow. Finally, DTPM is found to be compatible or inferior to DMM.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.437-442
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• 1996

The paper presents a design method of dynamic positioning control system for floating platform with rotatable and retractable thruster using $H_{\infty}$control technique. The norm band of uncertaintyis captured by multiplicative perturbation between nominalmodel and reduced order model. A controller robust to theuncertainty is designed applying $H_{\infty}$synthesis. The control law satisfying robust stability and nominal performance condition is determined through the mixed sensitivity approach. The evaluation for the resultant controller obtained by $H_{\infty}$synthesis is done through simulations of the closed loop system. The results of $H_{\infty}$synthesis are compared to those of the traditional LQ synthesis method. method.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.1
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• pp.16-22
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• 2001

In this study for reduction degree of freedom of dynamic model, a mixed method to combined finite element method and transfer matrix method is presented. This offers the advantages of an automatic reduction in the size of the eigenvalues problem and of a straightforward means of dynamic substructuring. The analytical procedure in this method for dynamic analysis of 3-dimensional cantilevered box beam are described. the result of numerical example is shown to demonstate the efficiency and accuracy of this method. The result form this example agree well those obtained by ANSYS, By using this technique, the number of nodes required in the regular finite element method is reduced and therefore a smaller com-puter can be used.