• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.269-276
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• 2011

This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.

• Smart Structures and Systems
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• 제23권6호
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• pp.683-693
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• 2019

In August 2012, during the passage of the typhoon Haikui (1211), large amplitude vibrations were observed on long hangers of the Xihoumen suspension Bridge, which destroyed a few viscoelastic dampers originally installed to connect a pair of hanger ropes transversely. The purpose of this study is to identify the cause of vibration and to develop countermeasures against vibration. Field measurements have been conducted in order to correlate the wind and vibration characteristics of hangers. Furthermore, a replica aeroelastic model of prototype hangers consisting of four parallel ropes was used to study the aeroelastic behavior of hanger ropes and to examine the effect of the rigid spacers on vibration mitigation. It is shown that the downstream hanger rope experiences the most violent elliptical vibration for certain wind direction, and the vibration is mainly attributed to wake interference of parallel hanger ropes. Based on wind tunnel tests and field validation, it is confirmed that four rigid spacers placed vertically at equal intervals are sufficient to suppress the wake-induced vibrations. Since the deployment of spacers on hangers, server hanger vibrations and clash of hanger ropes are never observed.

• Communications for Statistical Applications and Methods
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• 제28권1호
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• pp.59-79
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• 2021

Value at Risk (VaR) is one of the most common risk management tools in finance. Since a portfolio of several assets, rather than one asset portfolio, is advantageous in the risk diversification for investment, VaR for a portfolio of two or more assets is often used. In such cases, multivariate distributions of asset returns are considered to calculate VaR of the corresponding portfolio. Copulas are one way of generating a multivariate distribution by identifying the dependence structure of asset returns while allowing many different marginal distributions. However, they are used mainly for bivariate distributions and are not widely used in modeling joint distributions for many variables in finance. In this study, we would like to examine the performance of various copulas for high dimensional data and several different dependence structures. This paper compares copulas such as elliptical, vine, and hierarchical copulas in computing the VaR of portfolios to find appropriate copula functions in various dependence structures among asset return distributions. In the simulation studies under various dependence structures and real data analysis, the hierarchical Clayton copula shows the best performance in the VaR calculation using four assets. For marginal distributions of single asset returns, normal inverse Gaussian distribution was used to model asset return distributions, which are generally high-peaked and heavy-tailed.

• Structural Engineering and Mechanics
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• 제85권2호
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• pp.147-161
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• 2023

Based on the ideas of variational differential quadrature (VDQ) and finite element method (FEM), a numerical approach named as VDQFEM is applied herein to study the large deformations of plate-type structures under static loading with arbitrary shape hole made of functionally graded graphene platelet-reinforced composite (FG-GPLRC) in the context of higher-order shear deformation theory (HSDT). The material properties of composite are approximated based upon the modified Halpin-Tsai model and rule of mixture. Furthermore, various FG distribution patterns are considered along the thickness direction of plate for GPLs. Using novel vector/matrix relations, the governing equations are derived through a variational approach. The matricized formulation can be efficiently employed in the coding process of numerical methods. In VDQFEM, the space domain of structure is first transformed into a number of finite elements. Then, the VDQ discretization technique is implemented within each element. As the last step, the assemblage procedure is performed to derive the set of governing equations which is solved via the pseudo arc-length continuation algorithm. Also, since HSDT is used herein, the mixed formulation approach is proposed to accommodate the continuity of first-order derivatives on the common boundaries of elements. Rectangular and circular plates under various boundary conditions with circular/rectangular/elliptical cutout are selected to generate the numerical results. In the numerical examples, the effects of geometrical properties and reinforcement with GPL on the nonlinear maximum deflection-transverse load amplitude curve are studied.

• 한국항만학회지
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• 제8권2호
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• pp.37-56
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• 1994

The effects of wave energy focusing by a submerged berm type of structure is examined. The fundamental idea is based on the phenomenon of refraction by a lens-shaped crescent structure which results in the focusing of wave energy on the center line of the structure. The shape of the submerged structure is a complex curve combining circular with elliptical elements. Based on the design procedure, a special configuration of structure(termed herein as a triple crescent structure) is introduced. Next, some hydraulic model tests are performed to confirm the wave focusing effect in laboratory. In addition, in order to interpret the wave focusing performance behind the structure, a numerical procedure by the hybrid element method is used on the basis of the conventional mild slope equation but modified and extended to allow for steeper bottom slopes and higher curvature. The modified refraction and diffraction provide additional mechanism for wave height amplification and the maximum amplification for triple crescent structure is presented. It also allows for the possibility of wave energy scattering with the change of the incident wave direction. Comparisons with previous theoretical results involving a submerged crescent shape structure are described.

• 한국항만학회지
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• 제6권1호
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• pp.69-91
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• 1992

A new type of horizontal submerged break water or fixed structure to control waves near coastal area is introduced to focus wave energy before or behind it. Intentionally, the water depth near the structure is changed gradually to get a refraction and diffraction effect. The concentration of wave energy due to the structure was analyzed for the selected design of structure. The shape of the submerged structure in consideration is a circular combined with elliptical curve not to cause reflection of waves at the extreme edge of the structure but cause wave scattering. The direction of the structure against the incident wave is changed easily in the model Applying a regular wave train the following were examined. 1) whether a crescent plain submerged structure designed by the wave refraction theory can concentrate wave energy at a focal zone behind and before it without wave breaking phenomenon. 2) Location of maximum wave amplification factor in terms of the incident wave direction, wave period, etc. In any event the study would contribute to control waves near coastal area and to protect a beach from erosion without interruption of ocean view it is an useful study for the concentration of wave energy efficiently with the increase of wave height.

• Journal of Astronomy and Space Sciences
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• 제29권1호
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• pp.51-55
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• 2012

A few high-mass X-ray binaries-consisting of an OB star plus compact companion-have been observed by Fermi and ground-based Cerenkov telescopes like High Energy Stereoscopic System (HESS) to be sources of very high energy (VHE; up to 30 TeV) ${\gamma}$-rays. This paper focuses on the prominent ${\gamma}$-ray source, LS 5039, which consists of a massive O6.5V star in a 3.9-day-period, mildly elliptical ($e{\approx}0.24$) orbit with its companion, assumed here to be an unmagnetized compact object (e.g., black hole). Using three dimensional smoothed particle hydrodynamics simulations of the Bondi-Hoyle accretion of the O-star wind onto the companion, we find that the orbital phase variation of the accretion follows very closely the simple Bondi-Hoyle-Lyttleton (BHL) rate for the local radius and wind speed. Moreover, a simple model, wherein intrinsic emission of ${\gamma}$-rays is assumed to track this accretion rate, reproduces quite well Fermi observations of the phase variation of ${\gamma}$-rays in the energy range 0.1-10 GeV. However for the VHE (0.1-30 TeV) radiation observed by the HESS Cerenkov telescope, it is important to account also for photon-photon interactions between the ${\gamma}$-rays and the stellar optical/UV radiation, which effectively attenuates much of the strong emission near periastron. When this is included, we find that this simple BHL accretion model also quite naturally fits the HESS light curve, thus making it a strong alternative to the pulsar-wind-shock models commonly invoked to explain such VHE ${\gamma}$-ray emission in massive-star binaries.

• Tribology and Lubricants
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• 제32권3호
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• pp.101-105
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• 2016

Trap effect of groove is evaluated in a lubricating system using computational fluid dynamics (CFD) analysis. The simulation is based on the standard k-ε turbulence model and the discrete phase model (DPM) using a commercial CFD code FLUENT. The simulation results are also capable of showing the particle trajectories in flow field. Computational domain is meshed using the GAMBIT pre-processor. The various grooves are applied in order to improve lubrication characteristics such as reduction of friction loss, increase in load carrying capacity, and trapping of the wear particles. Trap effect of groove is investigated with variations in cross-sectional shape and Reynolds number in this research. Various cross-sectional shapes of groove (rectangular, triangle, U shaped, trapezoid, elliptical shapes) are considered to evaluate the trap effect in simplified two-dimensional sliding bearing. The particles are assumed to steel, and defined a single particle injection condition in various positions. The “reflect” boundary condition for discrete phase is applied to the wall boundary, and the “escape” boundary condition to “pressure inlet” and “pressure outlet” conditions. The streamlines are compared with particles trajectories in the groove. From the results of numerical analysis in the study, it is found that the cross-sectional shapes favorable to the creation of vortex and small eddy current are effective in terms of particle trapping effect. Moreover, it is found that the Reynolds number has a strong influence on the pattern of vortex or small eddy current in the groove, and that the pattern of the vortex or small eddy current affects the trap effect of the groove.

• 한국산학기술학회논문지
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• 제22권3호
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• pp.439-445
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• 2021

영상 센서 및 소형 디스플레이의 발달로 가능해진 저가의 고속 카메라는 영상처리 및 패턴인식 분야에서 유용하게 활용될 수 있다. 본 논문에서는 약간의 시차를 두고 연속적으로 입력되는 고속의 영상으로부터 불규칙적인 조명을 보정한 다음, 조명이 보정된 영상으로부터 사람의 관심 영역인 노출된 피부 색상 영역을 획득하는 알고리즘을 소개한다. 본 연구에서는 먼저 받아들인 고속의 영상으로부터 비 균일하게 발생된 조명적인 효과를 프레임 블렌딩 기법을 사용하여 보정한다. 그런 다음, 사전에 반복적인 학습으로 생성된 타원형의 피부 색상 분포 모델을 적용하여 입력된 고속의 컬러 영상으로부터 관심 영역을 강인하게 획득한다. 실험 결과에서는 본 논문에서 제시된 접근 방법이 입력되는 컬러 영상으로부터 조명을 보정한 다음 관심 영역을 정확하게 획득한다는 것을 보여준다. 본 연구에서 제안된 알고리즘은 얼굴 인식 및 추적, 조명 보정 및 제거, 동영상 색인 및 검색 등과 같은 영상 인식과 연관된 다양한 종류의 실제적인 응용 프로그램에서 매우 유용하게 이용될 것으로 추측된다.

• 항공우주시스템공학회지
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• 제18권3호
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• pp.17-26
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• 2024

항공기 엔진은 비행 중 고온, 고압과 터빈 축의 회전으로 인한 응력이 발생한다. 이러한 하중으로 인해 구조 내/외부에 미세한 균열이 발생할 수 있다. 이는 구조적 결함으로 이어져 부품의 수명에 악영향을 줄 수 있다. 이러한 현상을 사전에 방지하고자 균열에 대한 유한요소해석이 진행된다. 하지만 이 과정은 반복적인 균열 모델링이 이루어져 많은 시간과 노력을 수반한다. 그러므로 본 논문에서는 유한요소모델 기반의 균열 모델링 기법을 개발하였다. 균열 모델링에는 점 간의 연결에 제한을 가지고 공간을 삼각 분할하는 Constrained Delaunay Triangulation(CDT)을 사용하였다. 반타원 균열을 가지는 평판과 원통형 용기에 대한 응력확대계수 비교를 통해 기법을 검증하였으며, 균열 해석에 유용함을 보였다.