• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.1
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• pp.16-22
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• 2016

The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks' Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.

• Steel and Composite Structures
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• v.19 no.6
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• pp.1403-1419
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• 2015

When precast concrete infill panels are connected to steel frames at discrete locations, interaction at the structural interface is neither complete nor absent. The contribution of precast concrete infill panels to the lateral stiffness and strength of steel frames can be significant depending on the quality, quantity and location of the discrete interface connections. This paper presents preliminary experimental and finite element results of an investigation into the composite behaviour of a square steel frame with a precast concrete infill panel subject to lateral loading. The panel is connected at the corners to the ends of the top and bottom beams. The Frame-to-Panel-Connection, FPC4 between steel beam and concrete panel consists of two parts. A T-section with five achor bars welded to the top of the flange is cast in at the panel corner at a forty five degree angle. The triangularly shaped web of the T-section is reinforced against local buckling with a stiffener plate. The second part consists of a triangular gusset plate which is welded to the beam flange. Two bolts acting in shear connect the gusset plate to the web of the T-section. This way the connection can act in tension or compression. Experimental pull-out tests on individual connections allowed their load deflection characteristics to be established. A full scale experiment was performed on a one-storey one-bay 3 by 3 m infilled frame structure which was horizontally loaded at the top. With the characteristics of the frame-to-panel connections obtained from the experiments on individual connections, finite element analyses were performed on the infilled frame structures taking geometric and material non-linear behaviour of the structural components into account. The finite element model yields reasonably accurate results. This allows the model to be used for further parametric studies.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.5
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• pp.552-567
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• 2017

The floating crane vessel in waves gives rise to the motion of the lifted object which is connected to the hoisting wire. The dynamic tension induced by the lifted object also affects the motion responses of the floating crane vessel in return. In this study, coupled motion responses of a floating crane vessel and a lifted subsea manifold during deep-water installation operations were investigated by both experiments and numerical calculations. A series of model tests for the deep-water lifting operation were performed at Ocean Engineering Basin of KRISO. For the model test, the vessel with a crane control system and a typical subsea manifold were examined. To validate the experimental results, a frequency-domain motion analysis method is applied. The coupled motion equations of the crane vessel and the lifted object are solved in the frequency domain with an additional linear stiffness matrix due to the hoisting wire. The hydrodynamic coefficients of the lifted object, which is a significant factor to affect the coupled dynamics, are estimated based on the perforation value of the structure and the CFD results. The discussions were made on three main points. First, the motion characteristics of the lifted object as well as the crane vessel were studied by comparing the calculation results. Second, the dynamic tension of the hoisting wire were evaluated under the various wave conditions. Final discussion was made on the effect of passive heave compensator on the motion and tension responses.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.9
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• pp.1562-1570
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• 2003

The prediction of the inelastic behavior of the structure is an essential part of reliability assessment procedure, because most of the failures are induced by the inelastic deformation, such as creep and plastic deformation. During decades, there has been much progress in understanding of the inelastic behavior of the materials and a lot of inelastic constitutive equations have been developed. The complexity of these constitutive equations generally requires a stable and accurate numerical method. The radial return mapping is one of the most robust integration scheme currently used. Nonlinear kinematic hardening model of Armstrong-Fredrick type has recovery term and the direction of kinematic hardening increment is not parallel to that of plastic strain increment. In this case, The conventional radial return mapping method cannot be applied directly. In this investigation, we expanded the radial return mapping method to consider the nonlinear kinematic hardening model and implemented this integration scheme into ABAQUS by means of UMAT subroutine. The solution of the non-linear system of algebraic equations arising from time discretization with the generalized midpoint rule is determined using Newton method and bisection method. Using dynamic yield condition derived from linearization of flow rule, the integration scheme for elastoplastic and viscoplastic constitutive model was unified. Several numerical examples are considered to demonstrate the efficiency and applicability of the present method.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.11
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• pp.49-54
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• 1990

In this paper, a simple model is presented for the gate-voltage dependence of the parasitic resistance in MOSFETs with the lightly-doped drain (LDD) structure. At the LDD region located under the gate electrode, an accumulation layer is formed due to the gate voltage. The parasitic resistance of the source side LDD in the channel is treated as a parallel combination of the resistance of the accumulation layer and that of the bulk LDD, which is approximated as a spreading resistance from the end of the channel inversion layer to the ${n^+}$/LDD junction boundary. Also the effects of doping gradients at the junction are discussed. As result of the model, the LDD resistance decreases with increasing the gate voltage at the linear regime, and increase quasi-linearly with the gate voltage at the saturation regime, considering th velocity saturation both in the channel and in the LDD region. The results are in good agreement with experimental data reported by others.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.2
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• pp.398-406
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• 2011

In this paper, we introduce a new architecture of PSO-based Polynomial Neural Networks (PNN) and discuss its comprehensive design methodology. The conventional PNN is based on a extended Group Method of Data Handling (GMDH) method, and utilized the polynomial order (viz. linear, quadratic, and modified quadratic) as well as the number of node inputs fixed (selected in advance by designer) at Polynomial Neurons located in each layer through a growth process of the network. Moreover it does not guarantee that the conventional PNN generated through learning results in the optimal network architecture. The PSO-based PNN results in a structurally optimized structure and comes with a higher level of flexibility that the one encountered in the conventional PNN. The PSO-based design procedure being applied at each layer of PNN leads to the selection of preferred PNs with specific local characteristics (such as the number of input variables, input variables, and the order of the polynomial) available within the PNN. In the sequel, two general optimization mechanisms of the PSO-based PNN are explored: the structural optimization is realized via PSO whereas in case of the parametric optimization we proceed with a standard least square method-based learning. To evaluate the performance of the PSO-based PNN, the model is experimented with using Gas furnace process data, and pH neutralization process data. For the characteristic analysis of the given entire data with non-linearity and the construction of efficient model, the given entire system data is partitioned into two type such as Division I(Training dataset and Testing dataset) and Division II(Training dataset, Validation dataset, and Testing dataset). A comparative analysis shows that the proposed PSO-based PNN is model with higher accuracy as well as more superb predictive capability than other intelligent models presented previously.

• Wind and Structures
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• v.28 no.3
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• pp.181-190
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• 2019

Light-frame wood structures have the ability to carry gravity loads. However, their performance during severe wind storms has indicated weakness with respect to resisting uplift wind loads exerted on the roofs of residential houses. A common failure mode observed during almost all main hurricane events initiates at the roof-to-wall connections (RTWCs). The toe-nail connections typically used at these locations are weak with regard to resisting uplift loading. This issue has been investigated at the Insurance Research Lab for Better Homes, where full-scale testing was conducted of a house under appropriate simulated uplift wind loads. This paper describes the detailed and sophisticated numerical simulation performed for this full-scale test, following which the numerical predictions were compared with the experimental results. In the numerical model, the nonlinear behavior is concentrated at the RTWCs, which is simulated with the use of a multi-linear plastic element. The analysis was conducted on four sets of uplift loads applied during the physical testing: 30 m/sincreased by 5 m/sincrements to 45 m/s. At this level of uplift loading, the connections exhibited inelastic behavior. A comparison with the experimental results revealed the ability of the sophisticated numerical model to predict the nonlinear response of the roof under wind uplift loads that vary both in time and space. A further component of the study was an evaluation of the load sharing among the trusses under realistic, uniform, and code pressures. Both the numerical model and the tributary area method were used for the load-sharing calculations.

• Asia-Pacific Journal of Business
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• v.12 no.4
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• pp.289-297
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• 2021

Purpose - This study analyzed the correlation between economic liberalization and foreign direct investment. The purpose of this study is to seek ways to attract foreign direct investment from developing countries. Design/methodology/approach - This study analysed with observations of 19 from 2000 to 2018 using a fixed effect model, a random effect model, and a two-way fixed effect model. Findings - First, it was found that economic liberalization had a positive effect on attracting foreign direct investment in the early stages of economic liberalization. Second, it was found that economic liberalization in the deepening stage of economic liberalization had a negative effect on attracting foreign direct investment. In general, it was found that the higher the level of economic liberalization in developing countries is not accompanied by innovative changes in the industrial structure, the higher the level of economic liberalization is likely to decrease the inducement of foreign direct investment due to negative factors such as an increase in labor costs. Overall, this study approved that Economic liberalization have a non-linear (inverted U-shape) relationship with the inflow of foreign direct investment. Research implications or Originality - First, this study attempted to expand the variables for the determinants of FDI by analyzing economic factors which is a determinent of FDI. Second, economic liberalization generally has a positive effect on foreign direct investment, but it proved that it does not have only positive effects as a factor of attracting foreign direct investment in developing countries. The advantage of low wages in ASEAN countries acts as a factor for foreign direct investment, but as the degree of economic liberalization increases, the environment such as government size, guarantee of property rights, international trade freedom, fiscal soundness, and regulations change positively. On the other hand, it can be suggested that if the industrial level is less, it may lead to a loss of comparative advantage and a decrease in investment.

• Advances in Computational Design
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• v.8 no.1
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• pp.13-36
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• 2023

The Puebla-Morelos Earthquake (Mw 7.1) occurred in Mexico in 2017 causing 44 buildings to collapse in Mexico City. This work evaluates the non-linear response of a 6-story reinforced concrete (RC) frame prototype model with masonry infill walls on upper floors. The prototype model was designed using provisions prescribed before 1985 and was subjected to seismic excitations recorded during the earthquakes of 1985 and 2017 in different places in Mexico City. The building response was assessed through a damage index (DI) that considers low-cycle fatigue of the steel reinforcement in columns of the first floor, where the steel was modeled including buckling as was observed in cases after the 2017 earthquake. Isocurves were generated with 72 seismic records in Mexico City representing the level of iso-demand on the structure. These isocurves were compared with the location of 16 collapsed (first-floor column failure) building cases consistent with the prototype model. The isocurves for a value greater than 1 demarcate the location where fatigue failure was expected, which is consistent with the location of 2 of the 16 cases studied. However, a slight increase in axial load (5%) or decrease in column cross-section (5%) had a significant detrimental effect on the cumulated damage, increasing the intensity of the isocurves and achieving congruence with 9 of the 16 cases, and having the other 7 cases less than 2 km away. Including column special detailing (tight stirrup spacing and confined concrete) was the variable with the greatest impact to control the cumulated damage, which was consistent with the absence of severe damage in buildings built in the 70s and 80s.

• Journal of Korean Tunnelling and Underground Space Association
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• v.19 no.3
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• pp.355-373
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• 2017

Tunnelling in urban areas, it is essential to understand existing structure-tunnel interactive behavior. Serviced structures in the city are supported by pile foundation, since they are certainly effected due to tunnelling. In this research, thus, pile load distribution and ground behavior due to tunnelling below grouped pile were investigated using laboratory model test. Grouped pile foundations were considered as 2, 3 row pile and offsets (between pile tip and tunnel crown: 0.5D, 1.0D and 1.5D for generalization to tunnel diameter, D means tunnel diameter). Soil in the tank for laboratory model test was formed by loose sand (relative density: Dr = 30%) and strain gauges were attached to the pile inner shaft to estimate distribution of axial force. Also, settlements of grouped pile and adjacent ground surface depending on the offsets were measured by LVDT and dial gauge, respectively. Tunnelling-induced deformation of underground was measured by close range photogrammetric technique. Numerical analysis was conducted to analyze and compare with results from laboratory model test and close range photogrammetry. For expression of tunnel excavation, the concept of volume loss was applied in this study, it was 1.5%. As a result from this study, far offset, the smaller reduction of pile axial load and was appeared trend of settlement was similar among them. Particulary, ratio of pile load and settlement reduction were larger when the offset is from 0.5D to 1.0D than from 1.0D to 1.5D.