• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1060-1065
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• 2005

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

• Steel and Composite Structures
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• v.43 no.2
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• pp.165-183
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• 2022

Most transportation departments have recognized and developed procedures to address the ever-increasing weights of trucks traveling on bridges in a service today. Transportation agencies also recognize the issues with overheight vehicles' collisions with bridges, but few stakeholders have definitive countermeasures. Bridges are becoming more vulnerable to collisions from overheight vehicles. The exact response under lateral impact force is difficult to predict. In this paper, nonlinear impact analysis shows that the degree of deformation recorded through the modeling of the unprotected vehicle-girder model provides realistic results compared to the observation from the US-61 bridge overheight vehicle impact. The predicted displacements are 0.229 m, 0.161 m, and 0.271 m in the girder bottom flange (lateral), bottom flange (vertical), and web (lateral) deformations, respectively, due to a truck traveling at 112.65 km/h. With such large deformations, the integrity of an impacted bridge becomes jeopardized, which in most cases requires closing the bridge for safety reasons and a need for rehabilitation. We proposed different sacrificial cushion systems to dissipate the energy of an overheight vehicle impact. The goal was to design and tune a suitable energy absorbing system that can protect the bridge and possibly reduce stresses in the overheight vehicle, minimizing the consequences of an impact. A material representing a Sorbothane high impact rubber was chosen and modeled in ANSYS. Out of three sacrificial schemes, a sandwich system is the best in protecting both the bridge and the overheight vehicle. The mitigation system reduced the lateral deflection in the bottom flange by 89%. The system decreased the stresses in the bridge girder and the top portion of the vehicle by 82% and 25%, respectively. The results reveal the capability of the proposed sacrificial system as an effective mitigation system.

• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.67-73
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• 2005

This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode.

• Structural Engineering and Mechanics
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• v.66 no.1
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• pp.15-25
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• 2018

Post-construction subgrade settlement especially differential settlement, has become a key issue in construction and operation of non-ballasted track on high-speed railway soil subgrade, which may also affect the dynamic performance of passing trains. To estimate the effect of differential subgrade settlement on the mechanical behaviors of the vehicle-slab track system, a detailed model considering nonlinear subgrade support and initial track state due to track self-weight is developed. Accordingly, analysis aiming at a typical high-speed vehicle coupled with a deteriorated slab track owing to differential subgrade settlement is carried out, in terms of two aspects: (i) determination of an initial mapping relationship between subgrade settlement and track deflections as well as contact state between track and subgrade based on a semi-analytical method; (ii) simulation of dynamic performance of the coupled system by employing a time integration approach. The investigation indicates that subgrade settlement results in additional track irregularity, and locally, the contact between the concrete track and the soil subgrade is prone to failure. Moreover, wheel-rail interaction is significantly exacerbated by the track degradation and abnormal responses occur as a result of the unsupported areas. Distributions of interlaminar contact forces in track system vary dramatically due to the combined effect of track deterioration and dynamic load. These may not only intensify the dynamic responses of the coupled system, but also have impacts on the long-term behavior of the track components.

• Journal of the Korean Society for Railway
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• v.17 no.5
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• pp.342-348
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• 2014

Contact between wheel and rail leads to the creep phenomenon. Linear creep theory, assuming linear increase in the creep force vs creep, results in a critical speed at which the vibration of a railway vehicle goes to infinity. However, the actual creep force converges to a limited value, so that the vibration of a railway vehicle cannot increase indefinitely. In this study, the dynamics of a railway vehicle is investigated with a 6 DOF bogie model includingthe nonlinear creep curves of Vermeulen, Polach, and a newly calculated creep curve with strip theory. Strip theory considers the profiles of the wheel and rail. The results show that the vibration of a railway vehicle results in a limit-cycle over a specific running speed, and this limit-cycle becomes smaller as the slope of the creep-curve steepens. Moreover, a hunting phenomenon is caused due to flange contact, which restricts the magnitude of the limit-cycle.

• Journal of Ocean Engineering and Technology
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• v.20 no.6 s.73
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• pp.24-34
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• 2006

Hydrodynamic coefficients strongly affect the dynamic performance of an AUV. Thus, it is important to know the true values of these coefficients, in order to accurately simulate the AUV's dynamic performance. Although these coefficients are generally obtained experimentally, such as through the PMM test, the measured values are not completely reliable because of experimental difficulties and errors. Another approach, by which these coefficients can be obtained, is the observer method, in which a model-based estimation algorithm estimates the coefficients. In this paper, the hydrodynamic coefficients are estimated using two nonlinear observers: a sliding mode observer and an extended Kalman filter. Their performances are evaluated in Matlab simulations, by comparing the estimated coefficients obtained from the two observer methods, with the experimental values as determined from the PMM test. A sliding mode controller is constructed for the diving and steering maneuver by using the estimated coefficients. It is demonstrated that the controller, applied with the estimated values, maintains the desired depth and path with sufficient accuracy.

• Journal of Mechanical Science and Technology
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• v.17 no.9
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• pp.1324-1331
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• 2003

A bushing is a device used in automotive suspension systems to cushion the force transmitted from the wheel to the frame of the vehicle. A bushing is essentially a hollow cylinder which is bonded to a solid metal shaft at its inner surface and a metal sleeve at its outer surface. The shaft is connected to the suspension and the sleeve is connected to the frame. The cylinder provides the cushion when it deforms due to relative motion between the shaft and sleeve. The relation between the force applied to the shaft or sleeve and its deformation is nonlinear and exhibits features of viscoelasticity. An explicit force-displacement relation has been introduced for multi-body dynamics simulations. The relation is expressed in terms of a force relaxation function and a method of determination by experiments on bushings has been developed. Solutions allow for comparison between the force-displacement behavior by experiments and that predicted by the proposed method. It is shown that the predictions by the proposed force-displacement relation are in very good agreement with the experimental results.

• International Journal of Highway Engineering
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• v.19 no.4
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• pp.1-7
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• 2017

PURPOSES : This study aims to improve complex modeling of multivariable, nonlinear, and overdispersion data with an artificial neural network that has been a problem in the civil and transport sectors. METHODS: Deep learning, which is a technique employing artificial neural networks, was applied for developing a large bus fuel consumption model as a case study. Estimation characteristics and accuracy were compared with the results of conventional multiple regression modeling. RESULTS : The deep learning model remarkably improved estimation accuracy of regression modeling, from R-sq. 18.76% to 72.22%. In addition, it was very flexible in reflecting large variance and complex relationships between dependent and independent variables. CONCLUSIONS : Deep learning could be a new alternative that solves general problems inherent in conventional statistical methods and it is highly promising in planning and optimizing issues in the civil and transport sectors. Extended applications to other fields, such as pavement management, structure safety, operation of intelligent transport systems, and traffic noise estimation are highly recommended.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.11a
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• pp.3-4
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• 2011

In this study, the nonlinear mathematical model of Manta type UUV is derived the hydrodynamic derivatives and the sliding mode controller of Manta type UUV test bed is designed. The sliding mode control scheme is used for robust control on the nonlinear motion. The designed controller is used the depth and heading control. It is based on the 6 DOF mathematical model with effect of the ocean currents. As a result, the performance of the designed controller is confirmed by computer simulation.

• Elastomers and Composites
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• v.37 no.3
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• pp.151-158
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• 2002

An elastomeric bushing which has been considered in this research is a device used in automotive suspension systems to reduce the forte transmitted iron the wheel to the frame of the vehicle. A bushing is modeled at a hollow cylinder which is bonded to a solid metal shaft at its inner surface and a metal sleeve at its outer surface. Lianis constitutive equation for a nonlinear viscoelastic incompressible material is used to model the elastomeric material of the bushing. It is used to derive a force-displacement relation for axial response of the bushing. The displacement dependent force relaxation function for the bushing is obtained from the ramp displacement control tests with an extrapolation method. This is compared with the exact result obtained from the step displacement control test and the results are in very good agreement.