• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2001.05a
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• pp.103-107
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• 2001

When ship claps against the ocean structure sited at shallow water, the time simulation of motion responses of dolphin-moored ocean structure is presented. The equatien of motion based on Cummin's theory of impulse responses are employed, and solved in time domain by using the Newmark $\beta$ method. The added mass and damping coefficients involved in the equations are obtained from a three-dimensional panel method in the frequency domain. The impact forces due to ship collision are modeled as two method, and those are elastic and non-elastic collisions. The mooring forces for dolphin systems of scean structure are considered as linear spring system.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.157-163
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• 2018

This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.1
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• pp.75-84
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• 2013

In this paper, the guidance law for formation flight and collision avoidance of multiple Unmanned Aerial Vehicle (UAV)s is proposed. To construct the physically comprehensible guidance law for formation flight, the virtual structure approach is used. To develop a guidance law for collision avoidance considering both other UAVs and unknown static obstacles, a geometric approach using information such as a relative position vector is utilized. Through the Lyapunov theorem, the stability of the proposed guidance law is proved. To combine guidance commands, the concept of the elastic weighting factor inspired by the elastic behavior of shape memory polymer, which tends to regain its original shape after deformation, is introduced. By using the concept of elastic weighting factor, multiple UAVs are able to cope actively with the situation of a collision between both UAVs and static obstacles during the formation flight. To verify the performance of the proposed method, numerical simulations are performed.

• Journal of Ocean Engineering and Technology
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• v.15 no.4
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• pp.115-119
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• 2001

The simulation of motion responses of a dolphin-moored ocean structure in shallow water when it cllides with a ship, has been carried out. The equation of motion in the time domain according to Cummin's theory is employed, and solved by making use of the Newmark-${\beta}$ method. The added mass and damping coefficients involved in the equations are abtained from a three-dimensional panel method in the frequency domain. The impact forces due to ship collision are calculated using both the elastic and non-elastic modelings. The mooring forces for dolphin systems of ocean structure are regarded as linear spring forces.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.293-296
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• 2002

This work presents the reconstruction of impact force produced by the collision between two elastic structures. The 2-DOF impactor was designed. The shape control of impact farce using correlations of the dynamic characteristics and impact force history between two elastic structures is accomplished. The effects of the relative motion between impactor and elastic structure on the impact force shape are studied. Reconstruction characteristics of impact force in cantilever beam are reviewed.

• Journal of the Korean Society for Railway
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• v.16 no.3
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• pp.202-206
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• 2013

A submerged floating railway is an innovative tunnel infrastructure passing through the deep sea independent of wave and wind so that high speed trains can run on it. It doesn't depend on water depth and is cost effective due to modular construction on land. The construction period can be reduced drastically. This paper introduces the concept design of a submerged floating railway, and for securing safety, proposes a method to analyze the structural behavior of the body in case of collision with a submarine. The theory of a beam with an elastic foundation was used to calculate the equivalent mass of the body so that the perfect elastic collision could be applied to calculate the collision velocity. The maximum deformation and bending moment was analyzed based on energy conservation. To verify the results, a collision analysis using a finite element analysis code was made. Comparing the results confirmed that this simplified collision analysis method gives enough accurate deformation and bending moment to be used for actual estimation in the initial design stage.

• Proceedings of the Korean Society of Computer Information Conference
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• 2017.01a
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• pp.175-178
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• 2017

본 논문에서는 공을 쳐서 구멍에 넣는 당구 게임을 제작하면서 실제 물리 현상과 같은 충돌 구현을 위해 사용한 여러 가지 상황에서의 원형 물체의 2차원 탄성 충돌 모델 구현 방법에 대하여 연구하였다.

• Journal of Powder Materials
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• v.23 no.1
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• pp.54-60
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• 2016

This study focuses on fabricating silver flake powder by a mechanical milling process and investigating the formation of flake-shaped particles during milling. The silver flake powder is fabricated by varying the mechanical milling parameters such as the amount of powder, ball size, impeller rotation speed, and milling time of the attrition ballmill. The particle size of the silver flake powder decreases with increasing amount of powder; however, it increases with increasing impeller rotation speed. The change in the particle size of the silver flake powder is analyzed based on elastic collision between the balls, taking energy loss of the balls due to the powder into consideration. The change in the particle size of the silver flake powder with mechanical milling parameters is consistent with the change in the diameter of the elastic deformation contact area of the ball, due to the collision between the balls, with milling parameters. The flake-shaped silver particles are formed at the elastic deformation contact area of the ball due to the collision.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.04a
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• pp.193-200
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• 2004

In this study, the impact load on bridge by vessel collision in consideration of fender system is evaluated by numerical method. The bow of object vessel(DWT5000) is standardized, and modeled by shell elements. The main body of objective vessel is modeled by beam elements that present mass distribution and stiffness of vessel. The buoyancy effect of vessel is considered as linear spring. The two types of fender systems, such as steel and rubber are analyzed in this study. In steel fender system, the steel plates that absorb collision energy by its collapse are modeled by shell element with stiffener. The steel is material modeled elastic-plastic material. In the rubber fender system, the rubber material is modeled hyper-elastic material and the main body of fender is modeled by solid elements. The global impact responses of vessel and fender system are evaluated by explicit dynamic scheme. The results show that the magnitude of vessel collision force are depended on the material behavior of fender system. Also the values of collision load are conservative compare to the those of design codes.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.1
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• pp.187-194
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• 2012

This paper compares two collision avoidance algorithms using a simulator. The collision avoidance is vital for autonomous navigation of a mobile robot. Artificial potential field method and elastic force method are major approaches for the collision avoidance. The two algorithms are compared in the respect of the time for motion completion and the length of the motion path. The simulator is developed based on IPC(Inter Process Communication) and a differential drive mobile robot is used for the comparison.