• Geomechanics and Engineering
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• 제5권5호
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• pp.485-497
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• 2013

The factor of safety is the most common measure of the safety margin for slopes. When the traditionally defined factor is used in kinematic approach of limit analysis, calculations can become elaborate, and iterative methods have to be used. To avoid this inconvenience, the safety factor was defined in terms of the work rates that are part of the work balance equation used in limit analysis. It was demonstrated for two simple slopes that the safety factors calculated according to the new definition fall close to those calculated using the traditional definition. Statistical analysis was carried out to find out whether, given normal distribution of the strength parameters, the distribution of the safety factor can be approximated with a well-defined probability density function. Knowing this function would make it convenient to calculate the probability of failure. The results indicated that the normal distribution could be used for low internal friction angle (up to about $16^{\circ}$) and the Johnson distribution could be used for larger angles ${\phi}$. The data limited to two simple slopes, however, does not allow assuming these distributions a priori for other slopes.

• 제어로봇시스템학회논문지
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• 제16권12호
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• pp.1233-1240
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• 2010

In the flat panel display and semiconductor industries, the visual alignment system is considered as a core technology which determines the productivity of a manufacturing line. It consists of the vision system to extract the centroids of alignment marks and the stage control system to compensate the alignment error. In this paper, we develop a Kalman filter algorithm to estimate the alignment mark postures and propose a coarse-fine alignment control method which utilizes both original fine images and reduced coarse ones in the visual feedback. The error compensation trajectory for the distributed joint servos of the alignment stage is generated in terms of the inverse kinematic solution for the misalignment in task space. In constructing the estimation algorithm, the equation of motion for the alignment marks is given by using the forward kinematics of alignment stage. Secondly, the measurements for the alignment mark centroids are obtained from the reduced images by applying the geometric template matching. As a result, the proposed Kalman filter based coarse-fine alignment control method enables a considerable reduction of alignment time.

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.711-719
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• 2009

This paper presents a design scheme of torque control for wheeled mobile robot(WMR) to asymptotically track the target reference trajectory. By considering the kinematic model of WMR, trajectory tracking control generates the desired tracking trajectory, which is transformed into the command velocity vector for the real WMR to track the target reference trajectory. The dynamic equation of the state error between the target reference trajectory and the desired tracking trajectory is represented by Takagi-Sugeno fuzzy model, and this model is used as the reference model for the real mobile robot error dynamics to follow. The control parameters are updated by adaptive laws that are designed for the error states of the real WMR to asymptotically follow the states of reference error model for the desired tracking trajectory. The proposed control is applied to a typical wheeled mobile robot and simulation studies are carried out to verify the validity and effectiveness of the control scheme.

• 한국정밀공학회지
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• 제14권7호
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• pp.144-153
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• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• Interaction and multiscale mechanics
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• 제2권4호
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• pp.375-396
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• 2009

In the present work, the elasto-viscoplastic behavior, interactions between grains, and the texture evolution in polycrystalline materials subjected to finite deformations are modeled using a multiscale analysis procedure within a finite element framework. Computational homogenization is used to relate the grain (meso) scale to the macroscale. Specifically, a polycrystal is modeled by a material representative volume element (RVE) consisting of an aggregate of grains, and a periodic distribution of such unit cells is considered to describe material behavior locally on the macroscale. The elastic behavior is defined by a hyperelastic potential, and the viscoplastic response is modeled by a simple power law complemented by a work hardening equation. The finite element framework is based on a Lagrangian formulation, where a kinematic split of the deformation gradient into volume preserving and volumetric parts together with a three-field form of the Hu-Washizu variational principle is adopted to create a stable finite element method. Examples involving simple deformations of an aluminum alloy are modeled to predict inhomogeneous fields on the grain scale, and the macroscopic effective stress-strain curve and texture evolution are compared to those obtained using both upper and lower bound models.

• Smart Structures and Systems
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• 제18권4호
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• pp.801-818
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• 2016

To estimate structural displacement, a visually servoed paired structured light system (ViSP) was proposed in previous studies. The ViSP is composed of two sides facing each other, each with one or two laser pointers, a 2-DOF manipulator, a camera, and a screen. By calculating the positions of the laser beams projected onto the screens and rotation angles of the manipulators, relative 6-DOF displacement between two sides can be estimated. Although the performance of the system has been verified through various simulations and experimental tests, it has a limitation that the accuracy of the displacement measurement depends on the alignment of the laser pointers. In deriving the kinematic equation of the ViSP, the laser pointers were assumed to be installed perfectly normal to the same side screen. In reality, however, this is very difficult to achieve due to installation errors. In other words, the pose of laser pointers should be calibrated carefully before measuring the displacement. To calibrate the initial pose of the laser pointers, a specially designed jig device is made and employed. Experimental tests have been performed to validate the performance of the proposed calibration method and the results show that the estimated displacement with the initial pose calibration increases the accuracy of the 6-DOF displacement estimation.

• Journal of Ship and Ocean Technology
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• 제8권2호
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• pp.61-69
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• 2004

Unsteady nonlinear wave motions on the free surface over a plane beach of constant slope are numerically simulated using a finite difference method in rectangular grid system. Two-dimensional Navier-Stokes equations and the continuity equation are used for the computations. Irregular leg lengths and stars are employed near the boundaries of body and free surface to satisfy the boundary conditions. Also, the free surface which consists of markers or segments is determined every time step with the satisfaction of kinematic and dynamic free surface conditions. Moreover, marker-density method is also adopted to allow plunging jets impinging on the free surface. The second-order Stokes wave theory is employed for the generation of waves on the inflow boundary. For the simulation of wave breaking phenomena, the computations are carried out with the plane beach of constant slope in surf zone. The results are compared with other existing experimental results. Agreement between the experimental data and the computation results is good.

• 전자공학회논문지
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• 제49권10호
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• pp.209-216
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• 2012

본 논문에서는 실시간 적외선 감시시스템을 위하여 표적 영상의 평균 밝기, 면적, 종횡비로 구성된 영상특징들을 이용한 새로운 추적 방법을 제시한다. 지상 표적의 영상특징들의 시간적 변화는 수학적으로 지수함수적 상관함수를 갖는 랜덤프로세서로 모델링할 수 있다. 기존의 추적 필터에서 사용되어져 온 표적의 운동을 표현하는 표적의 위치, 속도성분뿐만 아니라, 표적의 기하학적 영상특징들을 모두 포함하는 상태벡터의 이산시간 동역학방정식 및 측정방정식을 유도했다. 시뮬레이션 결과 기존의 표적 위치 및 속도정보만 이용한 경우보다 제안된 추적방법이 추적정확도가 월등히 높음을 알 수 있었다.

• Smart Structures and Systems
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• 제26권5호
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• pp.641-656
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• 2020

The finite element solutions of thermal buckling load values of the graded sandwich curved shell structure are reported in this research using a higher-order kinematic model including the shear deformation effect. The numerical buckling temperature has been computed using an in-house specialized code (MATLAB environment) prepared in the framework of the current mathematical formulation. In addition, the mathematical model includes the excess structural distortion under the influence of elevated environment via Green-Lagrange nonlinear strain. The corresponding eigenvalue equation has been solved to predict the critical buckling temperature of the graded sandwich structure. The numerical stability and the accuracy of the current solution have been confirmed by comparing with the available published results. Thereafter, the model is extended to bring out the influences of structural parameters i.e. the curvature ratio, core-face thickness ratio, support conditions, power-law indices and sandwich types on the thermal buckling behavior of graded sandwich curved shell panels.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 1998년도 춘계 학술대회논문집
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• pp.145-155
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• 1998

A computer code has been developed for the computation of the viscous flow around a ship model with the free surface. In this code, the incompressible Reynolds-averaged Navier-Stokes equations are solved numerically by a finite difference method which employes second-order finite differences for the spatial discretization and a four-stage Runge-Kutta scheme for the temporal integration of the governing equations. For the turbulence closure, a modified version of the Baldwin-Lomax model is exploited. The location of the free surface is determined by solving the equation of the kinematic free-surface condition using the Lax-Wendroff scheme and the boundary-fitted grid is generated at each time step so that one of the grid surfaces always coincides with the free surface. An inviscid approximation of the dynamic free-surface boundary condition is applied as the boundary conditions for the velocity and pressure on the free surface. To validate the computational method and the computer code developed in the present study, the numerical computations are carried out for both Wigley parabolic hull and Series 60 $C_B=0.6$ ship model and the computational results are compared with the experimental data.