• Journal of the Korean Society for Precision Engineering
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• v.13 no.11
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• pp.132-142
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• 1996

This paper presents a technique to model and control a manipulator which has a flexible link and moves in a vertical plane. The flexible link is modeled as an Euler-Bernoulli Beam. Elastic deformation of the flexible link is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. This paper presents a simple technique to improve the correctness of the developed model. The final model including the shortening effect due to elastic deformation correlates very well with experimental results. The free body motion simulation shows that two assumed modes for the representation of the elastic deformation is proper in terms of the model size and correctness. A control algorithm is developed using PID control technique. The proportional, integral and derivative control gains are determined based on dominant pole placement method with a rigid one-link manipulator. A position control simulation shows that the control algorithm can be used to control the position and residual oscillation of the flexible one-link manipulator effectively.

• Journal of Korean Port Research
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• v.6 no.2
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• pp.33-42
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• 1992

In this paper we investigate the motion response of a moored ship in the fluid region sheltered by inclined breakwaters. The matched asymptotic expansion technique is employed to analyze the wave fields scattered by the inclined breakwaters. Fluid domain is subdivided into the ocean, entrance and sheltered regions. Unknown coefficients contained in each region can be determined by matching at the intermediate zone between two neighboring regions. The wave field generated by the ship motion can be analyzed in terms of Green's function method. To obtain the velocity jump across the ship associated with the symmetric motion modes, the sheltered region is further divided into near field of the ship and the rest field. The image method is introduced to consider the effect of the pier near the ship. The integral equation for the velocity jump is derived by the flux matching between the inner region and the outer region of a moored ship. Throughout the numerical calculation it is found that the inclined angle width of entrance of breakwaters as well as the location of moored vessel play an important role in the motion response of a moored ship.

• Journal of applied mathematics & informatics
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• v.41 no.5
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• pp.963-972
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• 2023

In this paper, geometrically convex and s-convex functions in third and fourth sense are merged to form (g, s)-convex function. Characterizations of (g, s)-convex function, algebraic and functional properties are presented. In addition, novel functions based on the integral of (g, s)-convex functions in the third sense are created, and inequality relations for these functions are explored and examined under particular conditions. Further, there are also some relationships between (g, s)-convex function and previously defined functions. The (g, s)-convex function and its derivatives will then be used to extend the well-known H-H and Fejer's type inequalities. In order to obtain the previously mentioned conclusions, several special cases from previous literature for extended H-H and Fejer's inequalities are also investigated. The relation between the average (mean) values and newly created H-H and Fejer's inequalities are also examined.

• Economic and Environmental Geology
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• v.27 no.2
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• pp.191-199
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• 1994

We have developed an algorithm based on the method of integral equations to simulate the magnetotelluric (MT) responses of three-dimensional (3-D) bodies in a layered half-space. The inhomogeneities are divided into a number of cells and are replaced by an equivalent current distribution which is approximated by pulse basis functions. A matrix equation is constructed using the electric Green's tensor function appropriate to a layered earth, and is solved for the vector current in each cell. Subsequently, scattered fields are found by integrating electric and magnetic Green's tensor functions over the scattering current About a 3-D conductive body near the earth's surface, interpretation using 2-D transverse electric modeling schemes can imply highly erratic low resistivities at depth. This is why these routines do not account for the effect of boundary charges. However, centrally located profiles across elongate 3-D prisms may be modeled accurately with a 2-D transverse magnetic algorithm, which implicitly includes boundary charges in its formulation. Multifrequency calculations show that apparent resistivity and impedance phase are really two complementary parameters. Hence, they should be treated simultaneously in broadband MT interpretation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.12
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• pp.5689-5695
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• 2012

In this study, vibration properties of seat and human body are analyzed through test and numerical analysis methods by taking into account the viscoelastic characteristics of polyurethane foam as seat material which is applied for vehicle. These viscoelastic characteristics which show nonlinear and quasi-static behavior are obtained by compression test. In addition, the viscous elastic property of polyurethane foam is modelled mathematically by using convolution integral and nonlinear stiffness model. In order to analyze the performance on ride comfort of seat, vertical vibration model is established by using dynamic model of seat and vertical vibration model of human body at ISO5982, and so the related motion equations are derived. A numerical analysis simulation is applied by using the nonlinear motion equation with Runge-Kutta integral method. The dynamic responses of seat and human body on the input of vibration acceleration measured at the floor of the railway vehicle are examined. The variation of the index value at ride comfort on seat design parameters is analyzed and the methodology on seat design is suggested.

• Geophysics and Geophysical Exploration
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• v.4 no.2
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• pp.25-33
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• 2001

Loop-loop electromagnetic (EM) survey in frequency domain has been carried out in order to provide basic solution to geotechnical applications. Source and receiver configuration may be horizontal co-planar (HCP) and/or vertical co-planar (VCP). Three quadrature components of mutual impedance ratio for each configuration are used to construct the subsurface image. For the purpose of obtaining the model response and validating the reasonable performance of the inversion, we obtained each responses of two-layered and three-layered earth models and two-dimensional (2-D) isolated anomalous body. The response of 2-D isolated anomalous body has been calculated using extended Born approximation for the solution of 2.5-D integral equation describing EM scattering problem. As a result of the least-squares inversion with variable Lagrangian multiplier, we could construct more resolvable image from HCP data than VCP data. Furthermore, joint inversion of HCP and VCP data made better stability and resolution of the inversion. Resistivity values, however, did not exactly match the true ones. Loop-loop EM field data was obtained with EM34-3XL system manufactured by Geonics Ltd. (Canada). Electrical resistivity survey was conducted on the same line for the comparison in advance. Since the constructed image from loop-loop EM data by 2-D inversion algorithm showed almost similar resistivity distribution to that from electrical resistivity one, we expect the developed 2.5-D loop-loop EM inversion program can be applied for the reconnaissance site survey.

• Journal of the Korean Society for Nondestructive Testing
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• v.24 no.4
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• pp.354-361
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• 2004

This Paper describes a crack scattering model for SH wave based on the boundary integral equation(BIE) method, where the fundamental unknown is crack opening displacement(COD). When a time harmonic plane wave was incident on a 2-D isolated crack (slit) of width 2a, the COD distributions were numerically calculated as a function of ka. The calculated COD agreed well with results obtained with other methods. The far-field scattering amplitude, which completely characterizes the flaw response, was calculated in two ways. The Kirchhoff approximation and the BIE-COD exact formulation were compared in terms of incidence angle and frequency ka in a pulse-echo mode. Maximum response was obtained for both methods at the specular reflection direction. Away from the specular direction, the Kirchhoff approximation becomes less accurate. The time domain crack response was also calculated using a band-limited spectrum of center frequency 10 MHz. At oblique incidence to the crack both methods show the existence of an antisymmetric flash points occurring from the crack edge. The Kirchhoff approximation provides an exact time interval between flash points, although it unrealistically gives the same amplitude.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.29 no.3
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• pp.167-170
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• 2018

The method of moments(MoM) is one of the most popular integral-equation-based full-wave simulation methods, and the multi-level fast multipole method(MLFMM) algorithm can be used for its efficient calculation. When calculating the surface current on the large scatterer in the MoM or MLFMM, iterative methods for the final matrix inversion are used. Among them, BiCGstab(l) has been widely adopted due to its good convergence rate. The number of iterations can be reduced when l becomes larger, but the number of operations per iteration is increased. Herein, we analyze the computational complexity of BiCGstab(l) in the MLFMM method and propose an optimum choice of l.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.36 no.2
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• pp.70-79
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• 2024

In this study, we introduce a linear spectral method capable of simulating wave generation and transformation caused by a moving bottom in a 3-dimensional space. The governing equations are linear dynamic free-surface boundary conditions and linear kinematic free-surface boundary conditions, which are solved in Fourier space. Solved velocity potential and free-surface displacement should satisfy continuity equation and kinematic bottom boundary condition. For numerical analysis, a 4th order Runge-Kutta method was utilized to analyze the time integral. The results obtained in Fourier space can be converted into velocity potential and free-surface displacement in a real space using inverse Fourier transform. Regular waves generated by various types of moving bottoms were simulated with the linear spectral method. Additionally, obliquely generated regular waves using specified bottom movements were simulated. The results obtained from the spectral method were compared to analytical solutions, showing good agreement between the two.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.5
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• pp.601-606
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• 2014

The IPO(Iterative Physical Optics) method repeatedly applies the well-known PO(Physical Optics) approximation to calculate the scattered field by a large object. Thus, the IPO method can consider the multiple scattering in the object, which is ignored for the PO approximation. This kind of iteration can improve the final accuracy of the induced current on the scatterer, which can result in the enhancement of the accuracy of the RCS(Radar Cross Section) of the scatterer. Since the IPO method can not exactly but approximately solve the required integral equation, however, the convergence of the IPO solution can not be guaranteed. Hence, we apply the famous techniques used in the inversion of a matrix to the IPO method, which include Jacobi, Gauss-Seidel, SOR(Successive Over Relaxation) and Richardson methods. The proposed IPO methods can efficiently calculate the RCS of a large scatterer, and are numerically verified.