• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.9
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• pp.1827-1833
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• 2009

This paper deals with the trajectory tracking control of wheeled mobile robots with input constraint. The proposed method converts the trajectory tracking problem to the system stability problem using the control inputs composed of feedforward and feedback terms, and then, by using Taylor series, nonlinear terms in origin system are transformed into polynomial equations. The composed system model can make it possible to obtain the control inputs using numerical tool named as SOSTOOL. From the simulation results, the mobile robot can track the reference trajectory well and can have faster convergence rate of the trajectory errors than the existing nonlinear control method. By using the proposed method, we can easily obtain the control input for nonlinear systems with input constraint.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.31 no.12
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• pp.971-978
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• 2007

A spray-wall impingement process of a hollow-cone fuel spray from the high-pressure swirl injector in the Gasoline Direct Injection (GDI) engine were experimented and calculated at various wall geometries. The Linearized Instability Sheet Atomization (LISA) & the Aerodynamically Progressed Taylor Analogy Breakup (APTAB) model and the Gosman model were applied to model the breakup and the wall impingement process of the hollow-cone fuel spray. The numerical modelings were implemented in the modified KIVA code. The calculation results of spray characteristics, such as a spray development process and a radial distance after wall impingement, compared with the experimental results by the Laser Induced Exciplex Fluorescence (LIEF) technique. The droplet size distribution and the ambient gas velocity field, which are generally difficult to obtain by the experimental methods, were also calculated and discussed. It was found that the radial distance after wall impingement and Sauter Mean Diameter (SMD) decreased with increasing a cavity angle.

• Journal of the Society of Naval Architects of Korea
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• v.42 no.5 s.143
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• pp.534-541
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• 2005

Until now, Korean shipyards have accumulated a great amount of data. But they do not have appropriate tools to utilize the data in practical works. Engineering data contains experts' experience and know-how in its own. It is very useful to extract knowledge or information from the accumulated existing data by using data mining technique This paper treats an evolutionary computation based on genetic programming (GP), which can be one of the components to realize data mining. The paper deals with linear models of GP for the regression or approximation problem when given learning samples are not sufficient. The linear model, which is a function of unknown parameters, is built through extracting all possible base functions from the standard GP tree by utilizing the symbolic processing algorithm. In addition to a standard linear model consisting of mathematic functions, one variant form of a linear model, which can be built using low order Taylor series and can be converted into the standard form of a polynomial, is considered in this paper. The suggested model can be utilized as a designing tool to predict design parameters with small accumulated data.

• Journal of Wetlands Research
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• v.21 no.spc
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• pp.69-79
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• 2019

In Korea, more than 60% of the whole lands are mountainous area. Since many decades ago, hydroelectric power plants have been constructed and eco-friendly energy has been produced. Hydropower can cope with the rapidly changing energy supply and demand, and produce eco-friendly energy. However, when the reservoir is built, it is often inevitable to damage the environment due to construction of large structure. In this study, the optimal reservoir operation model was developed to maximize power generation by monthly operation for long-term operation planning. The dam operation model was developed using the linear programming which is widely used in the optimal resources allocation problems. And the reservoir operation model can establish monthly operation plan for 1 year. Linear programming requires both object function and constraints to be linear. However, since the power generation equation is nonlinear, it is linearized using the Taylor Expansion technique. The optimization results were compared with the 2009-2018 historical data of five hydropower reservoirs. As a result, the total optimal generation is about 10~37% higher than the historical generation.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.7
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• pp.1270-1276
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• 2016

This paper proposes the controller design for regulation control of two-link robot arm using sum of squares (SOS) control method that takes into account the input constraint. The existing studies of two link robotic arm system used a linear model of all the non-linearity of the system is linearized. For a linear controller, since the model of the system is simplified, it is possible to design a controller in consideration of constraints on the disturbance. However, there is a limit to the performance using a linearized model for a system with a complex nonlinear properties. To compensate for this in the case of using a fuzzy LMI method, it is necessary to have a large number of linear models and thus there is a disadvantage that the system becomes complicated. To solve these problems, we represents a two-link robot arm system with a polynomial model using a Taylor series expansion and design the controller considering the case where the magnitude of the control input is limited using SOS method. We demonstrate by simulations the feasibility of the proposed algorithm.

• Journal of the Korean Geotechnical Society
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• v.23 no.3
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• pp.25-40
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• 2007

Excessive earth pressure is one of the major mechanical factors in the deformation and damage of Cut-and-Cover Tunnel lining in shallow tunnels and portals of mountain tunnels (Kim, 2000). Excessive earth pressure may be attributed to insufficient compaction and consolidation of backfill material due to self-weight, precipitation and vibration caused by traffic (Komiya et al., 2000; Taylor et al., 1984; Yoo, 1997). Even though there were a lot of tests performed to determine the earth pressure acting on the tunnel lining, unfortunately there were almost no case histories of studies performed to determine remedial measures that reduce differential settlement and excessive earth pressure. In this study the installation of geotextile mat was selected to reduce the differential settlement and excessive earth pressure acting on the cut-and-cover tunnel lining. In order to determine settlement and earth pressure reduction effect (reinforcement effect) of geotextile mat reinforcement, laboratory tunnel model tests were performed. This study was limited to the modeling of rigid circular cut-and-cover tunnel constructed at a depth of $1.0D\sim1.5D$ in loose sandy ground and subjected to a vibration frequency of 100 Hz. Model tests with varying soil cover, mat reinforcement scheme and slope roughness were performed to determine the most effective mat reinforcement scheme. Slope roughness was adjusted by attaching sandpaper #100, #400 and acetate on the cut slope surface. Mat reinforcement effect of each mat reinforcement scheme were presented by the comparison of earth pressure obtained from the unreinforced and mat reinforced model tests. Soil settlement reduction was analyzed and presented using the Picture Analysis Method (Park, 2003).

• Journal of Sensor Science and Technology
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• v.11 no.5
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• pp.273-278
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• 2002

An intrusion-sensitive capability of multimode graded-index (GRIN) optical fibers under bending has been investigated. In this system, the data light is transmitted in the fundamental mode while alarm monitor light is launched in a high-order mode at the same time. An attempted intrusion to drain data by bending the fiber results in greater attenuation of a monitor signal in higher order modes, thereby setting off an alarm at the receiver. Light propagation in a multimode graded-index fiber is also analyzed theoretically when the fundamental mode is selectively excited and the fiber is bent around a constant radius mandrel. The bending generates coupling between the various modes of the fiber. Power transitions of the fundamental mode by changing the bending radius were also analyzed numerically using program simulation. It is shown that Asawa-Taylor model[4] is valid up to 1cm of the radius of curvature of the fiber bend.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.1
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• pp.154-159
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• 1987

In the previously reported Part I, the behavior of the flank wear for carbide tool was studied as a preceeding step to present a simple method for Quick Tool-Life Testing, and the following general equation was obtained $W_{f}$ =(a+bt) $V^{m}$ . In this study the following step-cutting formula for the constants a, b and m in the above general model is derived by using step-cutting data [a numerical formula] To check the validity of the above formula, the comparison is made between the tool-life equation inferred in this method and that inferred in the conventional tool-life testing method, when the wear criterion is 0.3mm. The equation obtained in the present method is V(T')$^{0.57}$=1763 whereas the equation obtained in the conventional tool-life testing method is V(T)$^{0.56}$=1605 The results of the above two formula are satisfactory and also verify the validity of the present research.earch.

• Journal of the Korean Society of Propulsion Engineers
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• v.20 no.5
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• pp.60-69
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• 2016

This paper presents a numerical investigation on kerosene-air mixture detonation and behaviors of thermal elasto-plstic thin metal tube under detonation loading based on multi-material analysis. The detonation loading is modeled by the kerosene-air mixture detonation which is compared with Chapman-Jouguet (C-J) condition and experimental cell size. To conform the elasto-plastic model, plastic and elastic behaviors are verified by Taylor impact and plate bending motion, respectively. The numerical results are compared with the theory on burst pressure of tube. The critical deformable thickness with the thermal softening considered is good agreement with the theoretical value.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.4
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• pp.501-509
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• 2010

A floating crane is a crane-mounted ship and is used to assemble or to transport heavy blocks in shipyards. In this paper, the static and dynamic response of a floating crane and a heavy block that are connected using elastic booms and wire ropes are described. The static and dynamic equations of surge, pitch, and heave for the system are derived on the basis of flexible multibody system dynamics. The equations of motion are fully coupled and highly nonlinear since they involve nonlinear mass matrices, elastic stiffness matrices, quadratic velocity vectors, and generalized external forces. A floating frame of reference and nodal coordinates are employed to model the boom as a flexible body. The nonlinear hydrostatic force, linear hydrodynamic force, wire-rope force, and mooring force are considered as the external forces. For numerical analysis, the Hilber-Hughes-Taylor method for implicit integration is used. The dynamic responses of the cargo are analyzed with respect to the results obtained by static and numerical analyses.