• International Journal of Ocean System Engineering
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• v.1 no.3
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• pp.120-135
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• 2011

This paper proposes a model based trajectory tracking control scheme for under-actuated underwater robotic vehicles. The difficulty in stabilizing a non-linear system using smooth static state feedback law means that the design of a feedback controller for an under-actuated system is somewhat challenging. A necessary condition for the asymptotic stability of an under-actuated vehicle about a single equilibrium is that its gravitational field has nonzero elements corresponding to non-actuated dynamics. To overcome this condition, we propose a continuous time-varying control law based on the direct estimation of vehicle dynamic variables such as inertia, damping and Coriolis & centripetal terms. This can work satisfactorily under commonly encountered uncertainties such as an ocean current and parameter variations. The proposed control law cancels the non-linearities in the vehicle dynamics by introducing non-linear elements in the input side. Knowledge of the bounds on uncertain terms is not required and it is conceptually simple and easy to implement. The controller parameter values are designed using the Taguchi robust design approach and the control law is verified analytically to be robust under uncertainties, including external disturbances and current. A comparison of the controller performance with that of a linear proportional-integral-derivative (PID) controller and sliding mode controller are also provided.

• Journal of the Korean institute of surface engineering
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• v.35 no.2
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• pp.129-137
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• 2002

The purpose of solderability assessment is to predict the effectiveness of soldering process. It is important for companies pursuing zero defects manufacturing because poor solderability is the major cause of two third of soldering failures. The most versatile solderability method is wetting balance method. However, there exist so many indices for wettability in the wetting balance test e.g. time to reach 2/3 values of maximum wetting force, tine to reach zero wetting force, maximum withdrawal force. In this study, three solderability assessment methods, which were the maximum withdrawal force, the wetting balance and the dynamic contact angle (DCA), were evaluated by comparing each other. The wetting balance technique measures the solderability by recording the forces exerted from the specimen after being dipped into the molten solder. Then the force at equilibrium state can be used to calculate a contact angle, which is known as static contact angles. The DCA measures contact angles occurred during advancing and withdrawing of the specimen and the contact angles are known as dynamic contact angles. The maximum withdrawal force uses the maximum force during withdrawal movement and then a contact angle can be calculated. In this study, the maximum withdrawal force method was found to be an objective index for measuring the solderability and the experiment results indicated good agreement between the maximum withdrawal force and the wetting balance method.

• Geomechanics and Engineering
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• v.12 no.1
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• pp.161-183
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• 2017

This paper investigates the damage identification of the concrete pile element through axial wave propagation technique using computational and experimental studies. Now-a-days, concrete pile foundations are often common in all engineering structures and their safety is significant for preventing the failure. Damage detection and estimation in a sub-structure is challenging as the visual picture of the sub-structure and its condition is not well known and the state of the structure or foundation can be inferred only through its static and dynamic response. The concept of wave propagation involves dynamic impedance and whenever a wave encounters a changing impedance (due to loss of stiffness), a reflecting wave is generated with the total strain energy forked as reflected as well as refracted portions. Among many frequency domain methods, the Spectral Finite Element method (SFEM) has been found suitable for analysis of wave propagation in real engineering structures as the formulation is based on dynamic equilibrium under harmonic steady state excitation. The feasibility of the axial wave propagation technique is studied through numerical simulations using Elementary rod theory and higher order Love rod theory under SFEM and ABAQUS dynamic explicit analysis with experimental validation exercise. Towards simulating the damage scenario in a pile element, dis-continuity (impedance mismatch) is induced by varying its cross-sectional area along its length. Both experimental and computational investigations are performed under pulse-echo and pitch-catch configuration methods. Analytical and experimental results are in good agreement.

• Journal of The Korean Society of Agricultural Engineers
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• v.58 no.1
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• pp.81-90
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• 2016

The Agricultural Systems Application Platform (ASAP) provides bottom-up modelling and simulation environment for agricultural engineer. The purpose of this study is to expand usability of the ASAP to the second order partial differential equations: elliptic equations, parabolic equations, and hyperbolic equations. The ASAP is a general-purpose simulation tool which express natural phenomenon with capsulized independent components to simplify implementation and maintenance. To use the ASAP in continuous problems, it is necessary to solve partial differential equations. This study shows usage of the ASAP in elliptic problem, parabolic problem, and hyperbolic problem, and solves of static heat problem, heat transfer problem, and wave problem as examples. The example problems are solved with the ASAP and Finite Difference method (FDM) for verification. The ASAP shows identical results to FDM. These applications are useful to simulate the engineering problem including equilibrium, diffusion and wave problem.

• Geomechanics and Engineering
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• v.28 no.2
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• pp.197-207
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• 2022

The seismic holding behaviors of plate anchor embedded into submerged coarse-grained soils were investigated considering different anchor inclinations. The limit equilibrium method and the Pseudo-Dynamic Approach (PDA) were employed to calculate the inertia force of the soils within the failure rupture. In addition, assuming the permeability of coarse-grained soils was sufficiently large, the coefficient of hydrodynamic force applied on the inclined plate anchor is obtained through adopting the exact potential flow theory. Therefore, the seismic holding resistance was calculated as the combination of the inertia force and the hydrodynamic force within the failure rupture. The failure rupture can be developed due to the uplift loads, which was assumed to be an arc of a circle perpendicular to the anchor and inclines at (π/4 - φ/2). Then, the derived analytical solutions were evaluated by comparing the static breakout factor N_γ to the published experimental and analytical results. The influences of soil and wave properties on the plate anchor holding behavior are reported. Finally, the dynamic anchor holding coefficients N_γd, were reported to illustrate the anchor holding behaviors. Results show that the soil accelerations in x and z directions were both nonlinear. The amplifications of soil accelerations were more severe at lower normalized frequencies (ωH/V) compared to higher normalized frequencies. The coefficient of hydrodynamic force, C, of the plate anchor was found to be almost constant with anchor inclinations. Finally, the seismic anchor holding coefficient oscillated with the oscillation of the inertia force on the plate anchor.

• International Journal of Concrete Structures and Materials
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• v.11 no.1
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• pp.135-149
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• 2017

The prediction of the actual ultimate capacity of confined concrete columns requires partial confinement utilization under eccentric loading. This is attributed to the reduction in compression zone compared to columns under pure axial compression. Modern codes and standards are introducing the need to perform extreme event analysis under static loads. There has been a number of studies that focused on the analysis and testing of concentric columns. On the other hand, the augmentation of compressive strength due to partial confinement has not been treated before. The higher eccentricity causes smaller confined concrete region in compression yielding smaller increase in strength of concrete. Accordingly, the ultimate eccentric confined strength is gradually reduced from the fully confined value $f_{cc}$ (at zero eccentricity) to the unconfined value $f^{\prime}_c$ (at infinite eccentricity) as a function of the ratio of compression area to total area of each eccentricity. This approach is used to implement an adaptive Mander model for analyzing eccentrically loaded columns. Generalization of the 3D moment of area approach is implemented based on proportional loading, fiber model and the secant stiffness approach, in an incremental-iterative numerical procedure to achieve the equilibrium path of $P-{\varepsilon}$ and $M-{\varphi}$ response up to failure. This numerical analysis is adapted to assess the confining effect in rectangular columns confined with conventional lateral steel. This analysis is validated against experimental data found in the literature showing good correlation to the partial confinement model while rendering the full confinement treatment unsafe.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.3
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• pp.253-261
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• 2004

Game theory is mathematical analysis developed to study involved in making decisions. In 1928, Von Neumann proved that every two-person, zero-sum game with finitely many pure strategies for each player is deterministic. As well, in the early 50's, Nash presented another concept as the basis for a generalization of Von Neumann's theorem. Another central achievement of game theory is the introduction of evolutionary game theory, by which agents can play optimal strategies in the absence of rationality. Not the rationality but through the process of Darwinian selection, a population of agents can evolve to an Evolutionary Stable Strategy (ESS) introduced by Maynard Smith. Keeping pace with these game theoretical studies, the first computer simulation of co-evolution was tried out by Hillis in 1991. Moreover, Kauffman proposed NK model to analyze co-evolutionary dynamics between different species. He showed how co-evolutionary phenomenon reaches static states and that these states are Nash equilibrium or ESS introduced in game theory. Since the studies about co-evolutionary phenomenon were started, however many other researchers have developed co-evolutionary algorithms, in this paper we propose Game theory based Co-Evolutionary Algorithm (GCEA) and confirm that this algorithm can be a solution of evolutionary problems by searching the ESS.To evaluate newly designed GCEA approach, we solve several test Multi-objective Optimization Problems (MOPs). From the results of these evaluations, we confirm that evolutionary game can be embodied by co-evolutionary algorithm and analyze optimization performance of GCEA by comparing experimental results using GCEA with the results using other evolutionary optimization algorithms.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.10 no.3
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• pp.87-98
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• 1990

The present Study dealt with the earthquake-resistant design of cantilever retaining walls supporting cohesionless soils. With design examples of three different types of cantilever retaining walls, the factors of safety against sliding were computed at various values of horizontal acceleration coefficient and compared with each other. The horizontal inertia effect due to the weights of concrete wall itself and a portion of backfill was taken into account in the analyses, and also Mononobe-Okabe pseudo-static solution method was modified to deal with various states different from limiting equilibrium state. From the analyses of safety against sliding, it was found that a cantilever retaining wall with sloped base was the most efficient type in earthquake resistant design. It was also found that by sloping the base, the width of the base slab could be reduced, resulting in the least volume of concrete, excavation and backfill as compared to the other types of walls. In the case of a cantilever retaining wall with sloped feel, the efficiency similar to that of a wall with sloped base could be expected under static loading as well as at relatively low level of earthquake loading. However, this efficiency became vanished with the increase of horizontal acceleration coefficient, since the rate of reduction in developed earth pressures on the heel became smaller. In addition, the design charts with different soil friction angles as well as with different earthquake resistant design criteria of safety factor against sliding were presented for the design of cantilever retaining walls sith sloped base.

• Korean Journal of Environmental Agriculture
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• v.22 no.4
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• pp.284-289
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• 2003

Titanium mesoporous materials have received increasing attention as a new photocatalyst in the field for photocatalytic degradation of organic compounds. The photocatalytic degradation of chlorothalonil by mesoporous titanium oxo-phoswhate (Ti-MCM) was investigated in aqueous suspension for comparison with $TiO_2$, (Degussa, P25) using as an effective photocatalyst of organic pollutants. Mesoporous form of titanium Phosphate has been prepared by reaction of sulfuric acid and titanium isopropoxide in the presence or n-hexadecyltrimethylammonium bromide. The XRD patterns of Ti-MCM are hexagonal phases with d-spacings of 4.1 nm. Its adsorption isotherm for chlorothalonil reached at reaction equilibrium within 60 min under dark condition with 28% degradation efficiency. The degradation ratio of chlorothalonil after 9 hours under the UV radiation condition (254 nm) exhibited 100% by Ti-MCM and 88% by $TiO_2$. However, these degradation kinetics in static state showed a slow tendency compared to that of stirred state because of a low contact between titanium matrices and chlorothalonil. Also, degradation efficiency of chlorothalonil was increased with decreasing initial concentration and with increasing pH of solution. As results of this study, it was clear that mesoporous titanium oxo-phosphate with high surface area and crystallinity could be used to photo- catalytic degradation of various organic pollutants.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.14 no.4
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• pp.189-193
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• 1981

An apparatus for continuous measurements of sorption isotherm of dried food was manufactured to shorten the time required for equilibration. The apparatus was so designed that the temperature, air velocity and relative humidity in the experimental chamber could be controlled. The use of dynamic stream of conditioned air with a velocity of 0.2m/sec, instead of static atmosphere, allowed a faster equilibration of dried filefish muscle at $25^{\circ}C$. The mean time necessary for the equilibration of dried filefish muscle at the water activity of a given state to a higher water activity was about 45 hours. The monolayer moisture content of dried filefish muscle calculated from BET-equation was 0.092 kg water /kg dry matter at $25^{\circ}C$.