• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.5-8
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• 2003

In this paper, we propose that the chaotic behavior analysis in the mobile robot of embedding Chua's equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. In the obstacle, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.301-305
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• 2001

Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking(or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, complex, coupled manipulator dynamics. The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. In path planning, DP is applied to applied to find the shortest path form initial position to final position with the assumptions that there is no obstacle and that each path is straight line. In path control, the phase plane technique is applied to the minimum-time control with the assumptions that the bound on each actuator torque is a function of joint position and velocity or constant. This algorithm can be used for any manipulator that has rigid link, known dynamics equations of motion, and joint angles that can be determined at a given position on the path.

• Journal of the Korea Institute of Military Science and Technology
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• v.1 no.1
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• pp.211-218
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• 1998

As a part of trajectory modulation to increase system survivability and terminal effectiveness, impact angle control is required in the terminal phase of tactical missile systems. The missile systems are not allowed to have high altitude to reduce probability of detection by sensors of missile defense systems. In this paper, an analytic form of a time-optimal control law is suggested in the case of constrained missile maneuverability and impact angle under the assumption of a zero-lag autopilot. The control law is obtained by establishing optimal missile-target engagement geometry in the vertical plane. Extension of the law for missiles with autopilot response lags requiring a numerical solution is studied by introducing an iterative algorithm for optimal switching time determination of which the initial switching instants are obtained from the analytic solution. Also suggested is a closed-form impact angle control law derived by an energy-optimal approach. The performances of the proposed guidance laws are evaluated by a series of computer runs.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.589-593
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• 2003

In this paper, we propose that the chaotic behavior analysis in the mobile robot of embedding Chua's equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. In the obstacle, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.729-736
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• 2003

In this paper, we propose that the chaotic behavior analysis in the mobile robot of embedding some chaotic such as Chua`s equation, Arnold equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent In the mobile robot with obstacle. We consider that there are two type of obstacle, one is fixed obstacle and the other is VDP obstacle which have an unstable limit cycle. In the VDP obstacles case, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2004.05a
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• pp.123-127
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• 2004

In this paper, we propose that the chaotic behavior analysis in the several Arnold chaos mobile robot of embedding some chaotic such as Arnold equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. We consider that there are two type of obstacle, one is fixed obstacle and the other is hidden obstacle which have an unstable limit cycle. In the hidden obstacles case, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• Steel and Composite Structures
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• v.46 no.5
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• pp.637-647
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• 2023

Nonlinear free vibration and stability responses of a carbon nanotube reinforced composite beam under temperature rising are investigated in this paper. The material of the beam is considered as a polymeric matrix by reinforced the single-walled carbon nanotubes according to different distributions with temperature-dependent physical properties. With using the Hamilton's principle, the governing nonlinear partial differential equation is derived based on the Euler-Bernoulli beam theory. In the nonlinear kinematic assumption, the Von Kármán nonlinearity is used. The Galerkin's decomposition technique is utilized to discretize the governing nonlinear partial differential equation to nonlinear ordinary differential equation and then is solved by using of multiple time scale method. The critical buckling temperatures, the nonlinear natural frequencies and the nonlinear free response of the system is obtained. The effect of different patterns of reinforcement on the critical buckling temperature, nonlinear natural frequency, nonlinear free response and phase plane trajectory of the carbon nanotube reinforced composite beam investigated with temperature-dependent physical property.

• Journal of the Society of Naval Architects of Korea
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• v.51 no.2
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• pp.171-177
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• 2014

A two-dimensional particle image velocimetry (2D PIV) system in a towing tank is employed to measure a wake field of a very large crude oil carrier model with rotating propeller in self propulsion condition, to identify characteristics of wake of a propeller working behind a ship. Phase-averaged and time-averaged flow fields are measured for a horizontal plane. Scale ratio of the model ship is 1/100 and Froude number is 0.142. By phase-averaging technique, trajectories of tip vortex and hub vortex are identified and characteristic secondary vortex distribution is observed in the hub vortex region. Propeller wake on the starboard side is more accelerated than that on the port side, due to the difference of inflow of propeller blades. The hub vortex trajectory tends to face the port side. With the fluctuation part of the phase-averaged velocity field, turbulent kinetic energy (TKE) is also derived. In the center of tip vortex and hub vortex region, high TKE concentration is observed. In addition, a time-averaged vector field is also measured and compared with phase-averaged vector field.

• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.4
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• pp.77-86
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• 1995

The new architecture that fuzzy logic control(FLC) with difficulties for tuning membership function (MF) is parallel with neural networks(NN) to be learned from the output of FLC is proposed. Therefore proposed scheme has the characteristics to utilize the expert knowledge in design process, to be learned during the operation without any learning mode. In this architecture, the function of the FLC is to supply the sliding surface which is constructed on the phase plane by rule base for giving the desired control characteristics and learning criterion of NN and the stabilization of the control performance before NN is learned, The function of the NN is to let the system trajectory be tracked to the sliding surface and reached to the stable point.

• Advances in aircraft and spacecraft science
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• v.2 no.2
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• pp.125-168
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• 2015

Dynamic aeroelastic behavior of structurally nonlinear Joined Wings is presented. Three configurations, two characterized by a different location of the joint and one presenting a direct connection between the two wings (SensorCraft-like layout) are investigated. The snap-divergence is studied from a dynamic perspective in order to assess the real response of the configuration. The investigations also focus on the flutter occurrence (critical state) and postcritical phenomena. Limit Cycle Oscillations (LCOs) are observed, possibly followed by a loss of periodicity of the solution as speed is further increased. In some cases, it is also possible to ascertain the presence of period doubling (flip-) bifurcations. Differences between flutter (Hopf's bifurcation) speed evaluated with linear and nonlinear analyses are discussed in depth in order to understand if a linear (and thus computationally less intense) representation provides an acceptable estimate of the instability properties. Both frequency- and time-domain approaches are compared. Moreover, aerodynamic solvers based on the potential flow are critically examined. In particular, it is assessed in what measure more sophisticated aerodynamic and interface models impact the aeroelastic predictions. When the use of the tools gives different results, a physical interpretation of the leading mechanism generating the mismatch is provided. In particular, for PrandtlPlane-like configurations the aeroelastic response is very sensitive to the wake's shape. As a consequence, it is suggested that a more sophisticate modeling of the wake positively impacts the reliability of aerodynamic and aeroelastic analysis. For SensorCraft-like configurations some LCOs are characterized by a non-synchronous motion of the inner and outer portion of the lower wing: the wing's tip exhibits a small oscillation during the descending or ascending phase, whereas the mid-span station describes a sinusoidal-like trajectory in the time-domain.