• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.5-11
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• 2010

An adaptive formation control approach is proposed for nonhonolomic multiple mobile robots considering unknown slipping and skidding. It is assumed that unknown slipping and skidding effects are bounded by unknown constants. Under this assumption, the adaptive technique is employed to estimate the bounds of unknown slipping and skidding effects of each mobile robot. To deal with the skidding effect included in kinematics, the dynamic surface design approach is applied to design a local controller for each mobile robot. Using Lyapunov stability theorem, the adaptation laws for tuning bounds of slipping and skidding are induced and it is proved that all signals of the closed-loop system are bounded and the tracking errors and the synchronization errors of the path parameters converge to an adjustable neighborhood of the origin. Finally, simulation results are provided to verify the effectiveness of the proposed approach.

• Journal of Korean Association for Spatial Structures
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• v.19 no.1
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• pp.37-44
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• 2019

Yangjindang house, which is located in Sang-ju province of South Korea, is one of the special Hanok structures dated back to Joseon dynasty. This study aims to examine structural safety of the Yangjindang wood frame building considering dynamic parameters such as the natural frequency and damping ratio. The numerical model of the wood frame building is implemented using Midas Gen, especially the wood joint where column and beam were connected. The behavior of the actual frame building was compared with the modeling results. In addition, structure responses such as shear force, axial force, flexural moment and deflections were calculated and compared with the allowable limits. Numerical results show that, generally, despite of some local members shear failure, Yangjindang's structural response does not exceed the limitation according to current standards.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.1-15
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• 2011

This paper reviews most of the research done in the field of tensile buckling characteristics pertaining to aerospace structural elements with special attention to local buckling and parametric excitation due to periodic loading on plate and shell elements. The concepts of buckling in aerospace structures appear as the result of the application of a global compressive applied load or shear load. A less usual situation is the case, in which a global tensile stress creates buckling instability and the formation of complex spatial buckling pattern. In contrast to the case of a pure compression or shear load, here the applied macroscopic load has no compressive component and is thus globally stabilizing. The instability stems from a local compressive stress induced by the presence of a defect, such as a crack or a hole, due to partial or non-uniform applied load at the far end. This is referred to as tensile buckling. This paper discusses all aspects of tensile buckling, theoretical and experimental. Its far reaching applications causing local instability in aerospace structural components are discussed. The important effects on dynamic stability behaviour under locally induced periodic compression have been identified and influences of various parameters are discussed. Experimental results on simple and combination resonance characteristics on plate structures due to tensile buckling effects are elaborated.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.6
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• pp.965-973
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• 2011

Small unmanned ground vehicles(SUGVs) are typically operational on unstructured environments such as crashed building, mountain area, caves, and so on. On those terrains, driving control can suffer from the unexpected ground disturbances which occasionally lead turnover situation. In this paper, we have proposed an algorithm which sustains driving stability of a SUGV as preventing from turnover. The algorithm exploits potential field method in order to determine the stability of the robot. Then, the flipper and manipulator posture of the SUGV is optimized from local optimization algorithm known as gradient descent method. The proposed algorithm is verified using 3D dynamic simulation, and results showed that the proposed algorithm contributes to driving stability of SUGV.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• Journal of applied mathematics & informatics
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• v.31 no.1_2
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• pp.1-25
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• 2013

In this paper we have developed a mathematical model of alcohol abuse. It consists of four compartments corresponding to four population classes, namely, moderate and occasional drinkers, heavy drinkers, drinkers in treatment and temporarily recovered class. Basic reproduction number $R_0$ has been determined. Sensitivity analysis of $R_0$ identifies ${\beta}_1$, the transmission coefficient from moderate and occasional drinker to heavy drinker, as the most useful parameter to target for the reduction of $R_0$. The model is locally asymptotically stable at disease free or problem free equilibrium (DFE) $E_0$ when $R_0$ < 1. It is found that, when $R_0$ = 1, a backward bifurcation can occur and when $R_0$ > 1, the endemic equilibrium $E^*$ becomes stable. Further analysis gives the global asymptotic stability of DFE. Our aim of this analysis is to identify the parameters of interest for further study with a view for informing and assisting policy-makers in targeting prevention and treatment resources for maximum effectiveness.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.7 s.124
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• pp.605-610
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• 2007

In this paper a dynamic behavior(natural frequency) of a cracked cantilever beam subjected to follower force is presented. In addition, an analysis of the flutter and buckling instability of a cracked cantilever beam subjected to a follower compressive load is presented. Based on the Euler-Bernoulli beam theory, the equation of motion can be constructed by using the Lagrange's equation. The vibration analysis on such cracked beam is conducted to identify the critical follower force for flutter instability based on the variation of the first two resonant frequencies of the beam. Besides, the effect of the crack's intensity and location on the flutter follower force is studied. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.528-530
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• 1999

This paper addresses the analysis and design of fuzzy control systems for a class of complex single input single output nonlinear systems. Firstly, the nonlinear system is represented by well-known Takagai-Sugeno (TS) fuzzy model and the global controller is constructed by compensating each linear model in the rule of TS fuzzy model. The design of conventional TS fuzzy-model-based controller usually is composed of two processes. One is to determine static state feedback gain of each local model and the other is to validate the stability of the designed fuzzy controller. In this paper, we propose an alternative of the design of TS fuzzy-model-based controller. The design scheme is based on the extension of conventional optimal control theory to the design of TS fuzzy-model-based controller. By using the proposed method the design and stability analysis of the TS fuzzy model-based controller is reduced to the problem of finding the solution of a set of algebraic Riccati equations. And we use the recently developed interior point method to find the solution of AREs, where AREs are recast as the LMI formulation. One simulation example is given to show the effectiveness and feasibility of the proposed fuzzy controller design method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.1
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• pp.215-236
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• 2017

Obtaining accurate location information is important in practical applications of wireless sensor networks (WSNs). The distance vector hop (DV-Hop) is a frequently-used range-free localization algorithm in WSNs, but it has low localization accuracy. Moreover, despite various improvements to DV-Hop-based localization algorithms, maintaining a balance between high localization accuracy and good stability and convergence is still a challenge. To overcome these shortcomings, we proposed an improved DV-Hop localization algorithm based on the bat algorithm (IBDV-Hop) for WSNs. The IBDV-Hop algorithm incorporates optimization methods that enhance the accuracy of the average hop distance and fitness function. We also introduce a nonlinear dynamic inertial weight strategy to extend the global search scope and increase the local search accuracy. Moreover, we develop an updated solutions strategy that avoids premature convergence by the IBDV-Hop algorithm. Both theoretical analysis and simulation results show that the IBDV-Hop algorithm achieves higher localization accuracy than the original DV-Hop algorithm and other improved algorithms. The IBDV-Hop algorithm also exhibits good stability, search capability and convergence, and it requires little additional time complexity and energy consumption.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2009.11a
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• pp.546-549
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• 2009

Dynamic model for supersonic engine is proposed to design control law. The model structure is constructed to capture the local characteristics of supersonic and subsonic flow by using conservation equations. To evaluate the stability of control law under the disturbances, the air turbulence model is incorporated with the engine model. The combined model shows analogous results compared to performance analysis model which is good coincidence with CFD results and disturbance effects.