• Proceedings of the Korea Information Processing Society Conference
• /
• 한국정보처리학회 2010년도 추계학술발표대회
• /
• pp.1839-1842
• /
• 2010

등각사상은 함수론의 기본적인 문제로 2차원 Laplace방정식이 나타나는 열전도, 정전(靜電) potential, 유체의 문제에 이용되는 등 공학이나 물리학에서 그 응용분야가 넓다. 수치등각사상의 목적은 보다 빠르고, 보다 정확하며, 보다 적용범위가 넓은 계산법을 연구하는데 있다. 단위원 내부로부터 Jordan 영역 내부로의 등각사상을 구하는 문제는 비선형 방정식인 Theodorsen 방정식을 푸는 것으로 귀결된다. Theodorsen 방정식에 관해서는 여러 가지 수치해법이 제안되어 있는데 본 논문에서는 그 중 SOR 법인 Niethammer와 Newton법인 Vertgeim의 방법을 다루어 비교, 분석하였다. 이 2가지 방법을 실제 계산기상에 실현시켜 수치실험을 하여 그 유효성을 비교, 분석한 결과 난이도가 낮은 문제에서는 Niethammer의 방법이 난이도가 높은 문제에서는 Vertgeim이 제안한 방법이 유효함을 알게 되었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
• /
• pp.932-938
• /
• 1987

The dynamic equations of robotic manipulators can be derived from either Newton-Euler equation or Lagrangian equation. Model parameters which appear in the resulting dynamic equation are the nonlinear functions of both the inertial parameters and the geometric parameters of robotic manipulators. The identification of the model parameters is important for advanced robot control. In the previous methods for the identification of the model parameters, the geometric parameters are required to be predetermined, or the robotic manipulators are required to follow some special motions. In this paper, we propose an approach to the identification of the model parameters, in which prior knowledge of the geometric parameters is not necessary. We show that the estimation equation for the model parameters can be formulated in an upper block triangular form. Utilizing the special structures, we obtain a simplified least-square estimation algorithm for the model parameter identification. To illustrate the practical use of our method, a 4DOF SCARA robot is examined.

• Journal of IKEEE
• /
• 제25권4호
• /
• pp.650-663
• /
• 2021

Subsurface topology estimation is an important factor in the geophysical survey. Electrical impedance tomography is one of the popular methods used for subsurface imaging. The EIT inverse problem is highly nonlinear and ill-posed; therefore, reconstructed conductivity distribution suffers from low spatial resolution. The subsurface region can be approximated as piece-wise separate regions with constant conductivity in each region; therefore, the conductivity estimation problem is transformed to estimate the shape and location of the layer boundary interface. Each layer interface boundary is treated as an open boundary that is described using front points. The subsurface domain contains multi-layers with very complex configurations, and, in such situations, conventional methods such as the modified Newton Raphson method fail to provide the desired solution. Therefore, in this work, we have implemented a 7-layer artificial neural network (ANN) as an inverse problem algorithm to estimate the front points that describe the multi-layer interface boundaries. An ANN model consisting of input, output, and five fully connected hidden layers are trained for interlayer boundary reconstruction using training data that consists of pairs of voltage measurements of the subsurface domain with three-layer configuration and the corresponding front points of interface boundaries. The results from the proposed ANN model are compared with the gravitational search algorithm (GSA) for interlayer boundary estimation, and the results show that ANN is successful in estimating the layer boundaries with good accuracy.

• Journal of Intelligence and Information Systems
• /
• 제16권2호
• /
• pp.55-72
• /
• 2010

Recently, the battlefield environment has changed from platform-centric warfare(PCW) which focuses on maneuvering forces into network-centric warfare(NCW) which is based on the connectivity of each asset through the warfare information system as information technology increases. In particular, C4I(Command, Control, Communication, Computer and Intelligence) system can be an important factor in achieving NCW. It is generally used to provide direction across distributed forces and status feedback from thoseforces. It can provide the important information, more quickly and in the correct format to the friendly units. And it can achieve the information superiority through SA(Situational Awareness). Most of the advanced countries have been developed and already applied these systems in military operations. Therefore, ROK forces also have been developing C4I systems such as KJCCS(Korea Joint Command Control System). And, ours are increasing the budgets in the establishment of warfare information systems. However, it is difficult to evaluate the C4I effectiveness properly by deficiency of methods. We need to develop a new combat effectiveness evaluation method that is suitable for NCW. Existing evaluation methods lay disproportionate emphasis on technical factors with leaving something to be desired in human factors. Therefore, it is necessary to consider technical and human factors to evaluate combat effectiveness. In this study, we proposed a new Combat Effectiveness evaluation algorithm called E-TechMan(A Combat Effectiveness Evaluation Algorithm Considering Technical and Human Factors in C4I System). This algorithm uses the rule of Newton's second law($F=(m{\Delta}{\upsilon})/{\Delta}t{\Rightarrow}\frac{V{\upsilon}I}{T}{\times}C$). Five factors considered in combat effectiveness evaluation are network power(M), movement velocity(v), information accuracy(I), command and control time(T) and collaboration level(C). Previous researches did not consider the value of the node and arc in evaluating the network power after the C4I system has been established. In addition, collaboration level which could be a major factor in combat effectiveness was not considered. E-TechMan algorithm is applied to JFOS-K(Joint Fire Operating System-Korea) system that can connect KJCCS of Korea armed forces with JADOCS(Joint Automated Deep Operations Coordination System) of U.S. armed forces and achieve sensor to shooter system in real time in JCS(Joint Chiefs of Staff) level. We compared the result of evaluation of Combat Effectiveness by E-TechMan with those by other algorithms(e.g., C2 Theory, Newton's second Law). We can evaluate combat effectiveness more effectively and substantially by E-TechMan algorithm. This study is meaningful because we improved the description level of reality in calculation of combat effectiveness in C4I system. Part 2 will describe the changes of war paradigm and the previous combat effectiveness evaluation methods such as C2 theory while Part 3 will explain E-TechMan algorithm specifically. Part 4 will present the application to JFOS-K and analyze the result with other algorithms. Part 5 is the conclusions provided in the final part.

• Journal of the Society of Naval Architects of Korea
• /
• 제55권4호
• /
• pp.297-305
• /
• 2018

In a shipyard, block lifting is an important process in the production of ships and offshore structures. Block lifting is a sensitive process because lifting blocks have to be erected with exact positions and orientations. If we use a numerical method for the process, it is important to find tensions of wires and positions of equalizers to maintain the initial equilibrium position of the block. At this time, equations of motion of the block should be solved to calculate the initial equilibrium position of the block. Because the solving technique changes according to the number of equalizers, a suitable equation for the corresponding problem is required. In this study, three types of equations are proposed to find the initial equilibrium position of the block according to the number of equalizers. The Newton-Raphson's method is used to solve nonlinear simultaneous equations and the optimization method is used to determine the appropriate solution to the undetermined problem. To evaluate the applicability of the proposed methods, the dynamic simulations are performed using the tensions calculated from the proposed methods, and the results are discussed. The results show that the proposed methods can be effectively used to determine initial equilibrium position of the block for the block lifting.

• Steel and Composite Structures
• /
• 제29권6호
• /
• pp.785-802
• /
• 2018

In this paper, two different computational methods, called Rayleigh-Ritz and collocation are developed to estimate the ultimate strength of composite plates. Progressive damage behavior of moderately thick composite laminated plates is studied under in-plane compressive load and uniform lateral pressure. The formulations of both methods are based on the concept of the principle of minimum potential energy. First order shear deformation theory and the assumption of large deflections are used to develop the equilibrium equations of laminated plates. Therefore, Newton-Raphson technique will be used to solve the obtained system of nonlinear algebraic equations. In Rayleigh-Ritz method, two degradation models called complete and region degradation models are used to estimate the degradation zone around the failure location. In the second method, a new energy based collocation technique is introduced in which the domain of the plate is discretized into the Legendre-Gauss-Lobatto points. In this new method, in addition to the two previous models, the new model named node degradation model will also be used in which the material properties of the area just around the failed node are reduced. To predict the failure location, Hashin failure criteria have been used and the corresponding material properties of the failed zone are reduced instantaneously. Approximation of the displacement fields is performed by suitable harmonic functions in the Rayleigh-Ritz method and by Legendre basis functions (LBFs) in the second method. Finally, the results will be calculated and discussions will be conducted on the methods.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• 제37권4호
• /
• pp.447-459
• /
• 2013

Many problems need to be solved before vision systems can actually be applied in industry, such as the precision of the kinematics model of the robot control algorithm based on visual information, active compensation of the camera's focal length and orientation during the movement of the robot, and understanding the mapping of the physical 3-D space into 2-D camera coordinates. An algorithm is proposed to enable robot to move actively even if the relative positions between the camera and the robot is unknown. To solve the correction problem, this study proposes vision system model with six camera parameters. To develop the robot vision control algorithm, the N-R and EKF methods are applied to the vision system model. Finally, the position accuracy and processing time of the two algorithms developed based based on the EKF and the N-R methods are compared experimentally by making the robot perform slender bar placement task.

• Smart Structures and Systems
• /
• 제9권3호
• /
• pp.273-286
• /
• 2012

As civil structures are exposed to various external loads, it is essential to assess the structural condition, especially the structural displacement, in every moment. Therefore, a visually servoed paired structured light system was proposed in the previous study. The proposed system is composed of two screens facing with each other, each with a camera, a screen, and one or two lasers controlled by a 2-DOF manipulator. The 6-DOF displacement can be calculated from the positions of three projected laser beams and the rotation angles of the manipulators. In the estimation process, one of well-known iterative methods such as Newton-Raphson or extended Kalman filter (EKF) was used for each measurement. Although the proposed system with the aforementioned algorithms estimates the displacement with high accuracy, it takes relatively long computation time. Therefore, an incremental displacement estimation (IDE) algorithm which updates the previously estimated displacement based on the difference between the previous and the current observed data is newly proposed. To validate the performance of the proposed algorithm, simulations and experiments are performed. The results show that the proposed algorithm significantly reduces the computation time with the same level of accuracy compared to the EKF with multiple iterations.

• Structural Engineering and Mechanics
• /
• 제47권4호
• /
• pp.559-573
• /
• 2013

Geometrically non-linear axisymmetric bending of a shallow spherical shell with a clamped or a simply supported edge under axisymmetric load was investigated numerically. The partial load was introduced by the Heaviside step function, and the solution was obtained by the finite difference and the Newton-Raphson methods. The thickness of the shell was considered to be uniform and the material was assumed to be homogeneous and isotropic. Sensitivity analysis was made for three geometrical parameters. The accuracy of the algorithm was checked by comparing the central deflection, the radial membrane stress at the edge, or the transverse shear force with the solutions of plates and shells in the literature and good agreement was obtained. The main findings of the study can be outlined as follows: (i) If the shell is fully loaded the central deflection of a clamped shell is larger than that of a simply supported shell provided that the shell is not very shallow, (ii) if the shell is partially loaded the central deflection of the shell is sensitive to the parameters of thickness, depth, and partial loading but the influence of the boundary conditions is negligible.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• 제20권3호
• /
• pp.933-944
• /
• 1996

In this paper, two new techniques, the pattern filling and the refined flow field regeneration, based on the finite element method and Eulerian mesh advancement approach have been developed to analyze incompressible viscous flow with free surfaces. The gorerning equation for flow analysis is Navier-Stokes equation including inertia and gravity effects. The penalty and Newton-Raphson methods are used effectively for finite element formulation. The flow front surface and the volume inflow rate are calculated using the pattern filling technique to select an adequate pattern among five filling patterns at each quadrilateral control volume. By the refined flow field regeneration technique, the new flow field which renders better prediction in flow surface shape is generated and the velocity field at the flow front part is calculated more exactly. Using the new thchniques to be developed, the dam-breaking problem has been analyzed to predict flow phenomenon of fluid and the predicted front positions versus time have been compared with the reported experimental result.