• Journal of Mechanical Science and Technology
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• 제15권2호
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• pp.217-224
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• 2001

In this paper, the relocation of a mobile robot is considered such that it enables the robot to determine its position with respect to a global reference frame without any $\alpha$ priori position information. The robot acquires sonar range data from a two-dimensional model composed of planes, corners, edges, and cylinders. Considering individual range as data features, the robot searches the best position where the data features of a position matches the environmental model using a constraint-based search method. To increase the search efficiency, a hypothesize and-verify technique is employed in which the position of the robot is calculated from all possible combinations of two range returns that satisfy the sonar sensing model. Accurate relocation is demonstrated with the results from sets of experiments using sparse sonar data in the presence of unmodeled objects.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.131-140
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• 2005

Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제19권3호
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• pp.289-303
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• 2015

In this paper, an optimal guidance law with terminal angle constraint considering the seeker's lock-on condition, in which the target is located within the field-of-view (FOV) and detection range limits at the end of the midcourse phase, is proposed. The optimal solution is obtained by solving an optimal control problem minimizing the energy cost function weighted by a power of range-to-go subject to the terminal constraints, which can shape the guidance commands and the missile trajectories adjusting guidance gains of the weighting function. The proposed guidance law can be applied to both of the midcourse and terminal phases by setting the desired relative range and look angle to the final interception conditions. The performance of the proposed guidance law is analyzed through nonlinear simulations for various engagement conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.169.4-169
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• 2001

Conventional methods to solve the nonlinear programming problem range from augmented Lagrangian methods to sequential quadratic programming (SQP) methods. NPSOL, which is a SQP code, has been widely used to solve various optimization problems but is still subject to many numerical problems such as convergence to local optima, difficulties in initialization and in handling non-smooth cost functions. Recently, many evolutionary methods have been developed for constrained optimization. Among them, CEALM (Co-Evolutionary Augmented Lagrangian Method) shows excellent performance in the following aspects: global optimization capability, low sensitivity to the initial parameter guessing, and excellent constraint handling capability due to the benefit of the augmented Lagrangian function. This algorithm is ...

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.435-440
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• 2002

The free vibration of partially embedded piles is investigated. The pile model is based on the Bernoulli-Euler beam theory and the soil is idealized as a Winkler model for mathematical simplicity. The governing differential equation for the free vibrations of such members is solved numerically The piles with one typical end constraint (clamped/hinged/free) and the other hinged end with rotational spring are applied in numerical examples. The lowest three natural frequencies are calculated over a range of non-dimensional system parameters: the rotational spring parameter, the relative stiffness and the embedded ratio.

• 한국생물정보학회:학술대회논문집
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• 한국생물정보시스템생물학회 2005년도 BIOINFO 2005
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• pp.287-293
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• 2005

Predicting RNA secondary structure as accurately as possible is very important in functional analysis of RNA molecules. However, different prediction methods and related parameters including terminal GU pair of helices, minimum length of helices, and free energy systems often give different prediction results for the same RNA sequence. Then, which structure is more important than the others? i.e. which combinations of the methods and related parameters are the optimal? In order to investigate above problems, first, three prediction methods, namely, random stacking of helical regions (RS), helical regions distribution (HD), and Zuker's minimum free energy algorithm (ZMFE) were compared by taking 1139 tRNA sequences from Rfam database as the samples with different combinations of parameters. The optimal parameters are derived. Second, Zuker's dynamic programming method for prediction of RNA secondary structure was revised using the above optimal parameters and related software BJRNAFold was developed. Third, the effects of short-range interaction were studied. The results indicated that the prediction accuracy would be improved much if proper short-range factor were introduced. But the optimal short-range factor was difficult to determine. A user-adjustable parameter for short-range factor was introduced in BJRNAFold software.

• 유체기계공업학회:학술대회논문집
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• 유체기계공업학회 2004년도 유체기계 연구개발 발표회 논문집
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• pp.572-577
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• 2004

This paper presents numerical study on the performance improvement of the sirocco fan in a range hood. The performance of sirocco fan means a higher flowrate, a higher static pressure and a lower required motor power in a fixed geometry constraint. Various impeller geometric parameters, such as blade profile, blade diameter, blade thickness profile and blade exit angle, were investigated by numerically and the results were compared with each other to know the effects on the performance. In this approach, the volute geometry were fixed with the original shape. The numerical results show that the blade profile with airfoil shape and small exit blade thickness increases the performance. The blade exit angle shows optimum angle within a varied range. The efficiency of the optimized exit angle was about $10\%$ higher than the base blade exit angle and the static pressure was about $28\%$ higher at the flow coefficient 0.22.

• 한국항공우주학회지
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• 제36권9호
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• pp.884-890
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• 2008

본 논문에서는 원형 목표구역에 무인 비행체가 도달할 때 비행체의 지향각, 즉 속도 벡터의 방향과 비행체와 목표점과의 시선이 이루는 사이 각을 제어할 수 있는 일반화된 중기 유도법칙을 제안한다. 유도법칙의 도출을 위해 비행체의 운동을 비선형 미분 방정식으로 모델링하고 거리함수 가중치를 갖는 제어 에너지 최소화 문제로 접근하여 최적제어이론을 적용하였다. 결과적으로 원형 목표구역 도달 시 지향각 구속조건을 만족시킬 수 있는 최적 해를 도출한다. 해의 수렴성을 비롯하여 제안한 유도법칙의 특성에 대해 고찰한다. 수치적인 시뮬 레이션을 통해 전형적인 시나리오에 대해 제안한 유도법칙의 성능을 시범적으로 보인다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제9권3호
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• pp.315-325
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• 2017

The design dimension may not be satisfactory at the final stage due to the welding during the assembly stage, leading to cutting or adding the components in large structure constructions. The productivity is depend on accuracy of the welding quality especially at assembly stage. Therefore, it is of utmost importance to decide the component dimension during each assembly stage considering the above situations during the designing stage by exactly predicting welding deformation before the welding is done. Further, if the system that predicts whether welding deformation is equipped, it is possible to take measures to reduce deformation through FE analysis, helping in saving time for correcting work by arresting the parts which are prone to having welding deformation. For the FE analysis to predict the deformation of a large steel structure, calculation time, modeling, constraints in each assembly stage and critical welding length have to be considered. In case of fillet welding deformation, around 300 mm is sufficient as a critical welding length of the specimen as proposed by the existing researches. However, the critical length in case of butt welding is around 1000 mm, which is far longer than that suggested in the existing researches. For the external constraint, which occurs as the geometry of structure is changed according to the assembly stage, constraint factor is drawn from the elastic FE analysis and test results, and the magnitude of equivalent force according to constraint is decided. The comparison study for the elastic FE analysis result and measurement for the large steel structure based on the above results reveals that the analysis results are in the range of 80-118% against measurement values, both matching each other well. Further, the deformation of fillet welding in the main plate among the total block occupies 66-89%, making welding deformation in the main plate far larger than the welding deformation in the longitudinal and transverse girders.

• 전기학회논문지
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• 제58권1호
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• pp.203-209
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• 2009

The purpose of this study is to develop a minimally constraint joint angle measurement system for the feedback control of FES (functional electrical stimulation) locomotion. Feedback control is desirable for the efficient FES locomotion, however, the simple on-off control schemes are mainly used in clinic because the currently available angle measurement systems are heavily constraint or cosmetically poor. We designed a new angle measurement system consisting of a magnet and magnetic sensors located below and above the ankle joint, respectively, in the rear side of ipsilateral leg. Two magnetic sensors are arranged so that the sensing axes are perpendicular each other. Multiple positions of sensors attachment on the shank part of the ankle joint model and also human ankle joint were selected and the accuracy of the measured angle at each position was investigated. The reference ankle joint angle was measured by potentiometer and motion capture system. The ankle joint angle was determined from the fitting curve of the reference angle and magnetic flux density relationship. The errors of the measured angle were calculated at each sensor position for the ankle range of motion (ROM) $-20{\sim}15$ degrees (dorsiflexion as positive) which covers the ankle ROM of both stroke patients and normal subjects during locomotion. The error was the smallest with the sensor at the position 1 which was the nearest position to the ankle joint. In case of human experiment, the RMS (root mean square) errors were $0.51{\pm}1.78(0.31{\sim}0.64)$ degrees and the maximum errors were $1.19{\pm}0.46(0.68{\sim}1.58)$ degrees. The proposed system is less constraint and cosmetically better than the existing angle measurement system because the wires are not needed.