• 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.

• Structural Engineering and Mechanics
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• v.71 no.5
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• pp.469-483
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• 2019

In this paper, an improved mathematical model is presented for the bending analysis of doubly curved functionally graded material (FGM) sandwich rhombic conoids. The mathematical model includes expansion of Taylor's series up to the third degree in thickness coordinate and normal curvatures in in-plane displacement fields. The condition of zero-transverse shear strain at upper and lower surface of rhombic conoids is implemented in the present model. The newly introduced feature in the present mathematical model is the simultaneous inclusion of normal curvatures in deformation field and twist curvature in strain-displacement equations. This unique introduction permits the new 2D mathematical model to solve problems of moderately thick and deep doubly curved FGM sandwich rhombic conoids. The distinguishing feature of present shell from the other shells is that maximum transverse deflection does not occur at its center. The proposed new mathematical model is implemented in finite element code written in FORTRAN. The obtained numerical results are compared with the results available in the literature. Once validated, the current model was employed to solve numerous bending problems by varying different parameters like volume fraction indices, skew angles, boundary conditions, thickness scheme, and several geometric parameters.

• 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.

• 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 Society of Clothing and Textiles
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• v.21 no.7
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• pp.1139-1152
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• 1997

Clothing consumption expenditure (UX) data of Korean consumers during the period of 1965 to 1993 were analyzed by time series analysis technique. According to the results of regression analysis, current income and UX of the year before showed most significant influences on the current UX. This means that the absolute and permanent income hypotheses can be accepted in case of clothing expenditures. However the effect of income decreased as the economy developed. The relative price of clothing had weak or no influence on clothing expenditures. It was also found out that CSX of the year before, the change of income, relative price of clothing ware the factors that affected clothing expenditures. From the estimation of Houthakker-Taylor state adjustment model, a negative stock coefficient was obtained. That is, clothing is subject to an inventor effect and Korean consumers regard clothing as one of the durable goods. To define whether clothing is a "luxury" or a "necessity", income and relative price elasticity of clothing expenditures were estimated. Income elasticity of clothing is slightly below 1.0 in case of national aggregate expenditures, and slightly above 1.0 in case of urban consumers' expenditures. Income elasticity has declined over time. Meanwhile the coefficient of price elasticity is not significant, indicating that the relative price of clothing have little connection with clothing expenditure.lothing expenditure.

• Coupled systems mechanics
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• v.6 no.2
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• pp.207-227
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• 2017

In this paper Timoshenko beam theory is employed to investigate the vibration characteristics of functionally graded carbon nanotube-reinforced composite (FG-CNTRC) Beams with a stiff core in thermal environment. The material characteristic of carbon nanotubes (CNT) are supposed to change in the thickness direction in a functionally graded form. They can also be calculated through a micromechanical model where the CNT efficiency parameter is determined by matching the elastic modulus of CNTRCs calculated from the rule of mixture with those gained from the molecular dynamics simulations. The differential transform method (DTM) which is established upon the Taylor series expansion is one of the effective mathematical techniques employed to the differential governing equations of sandwich beams. Effects of carbon nanotube volume fraction, slenderness ratio, core-to-face sheet thickness ratio, different thermal environment and various boundary conditions on the free vibration characteristics of FG-CNTRC sandwich beams are studied. It is observed that vibration response of FG-CNTRC sandwich beams is prominently influenced by these parameters.

• Proceedings of the Korean Geotechical Society Conference
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• 2010.03a
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• pp.435-441
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• 2010

In this study, numerical simulations were carried out to investigate the effect of verification core hole on the shaft tip capacity. The verification core extreted at shaft tip may deteriorate the shaft tip capacity when the clay shales (Taylor Marl) surrounding the shaft degrades and the empty core hole remains unfilled. Series of finite element analyses were conducted using Mohr-Coulomb model with total stress material parameters that were obtained from laboratory testing. The numerical analyses indicate that the shaft tip capacity does not decrease for most cases, and the maximum reduction does not exceed 5%.

• Proceedings of the Korea Concrete Institute Conference
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• 2003.11a
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• pp.169-172
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• 2003

Time dependent deflections of double composite box girders are investigated based on the on going laboratory experiments scheduled for 3months long. Two of 2-span double composite box girders with 2.5m each span length are cast and time dependent behaviors are measured using 30 strain gages and 2 LVDTs after 5 days' curing. The measured experimental results are compared with the numerical predictions performed based on the one dimensional finite element method adopting beam element. The FEM formulation adopts the time dependent concrete constitutive model which is derived in an incremental format by expanding the total form of stress-strain relation by the first order Taylor series with respect to the reference time. A good agreement between the measured and predicted results are observed and the effects of the bottom concrete placed at the negative moment region of the bridge girder are discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1557-1560
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• 2003

This paper presents the effect of varying boundary conditions such as ground subsidence on failure prediction of buried pipelines. The first order Taylor series expansion of the limit state function is used in order to estimate the probability of failure associated with three cases of ground subsidence. We estimate the distribution of stresses imposed on the buried pipelines by varying boundary conditions and calculate the probability of pipelines with von-Mises failure criterion. The effects of random variables such as pipe diameter, internal pressure, temperature, settlement width, load for unit length of pipelines, material yield stress and thickness of pipeline on the failure probability of the buried pipelines are also systematically studied by using a failure probability model for the pipeline crossing a ground subsidence region.

• ETRI Journal
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• v.34 no.5
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• pp.684-689
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• 2012

A mode-singular-value-decomposition (SVD) maximum likelihood (ML) estimation procedure is proposed for the source localization problem under an additive measurement error model. In a practical situation, the noise variance is usually unknown. In this paper, we propose an algorithm that does not require the noise covariance matrix as a priori knowledge. In the proposed method, the weight is derived by the inverse of the noise magnitude square in the ML criterion. The performance of the proposed method outperforms that of the existing methods and approximates the Taylor-series ML and Cram$\acute{e}$r-Rao lower bound.