• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1520-1524
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• 2004

This paper describes the development of a robotic maintenance system for use in a maintenance operation of the nozzle dam in a water chamber of a steam generator at the Kori nuclear power plant in Korea. The robotic maintenance system was designed to minimize the personnel exposure to a hazardous radioactive environment. This robotic maintenance system is operated by a teleoperated control which was designed to perform the nozzle dam maintenance tasks in a remote manner without endangering the human workers. Specific maintenance tasks involve the transportation, insertion, and removal of nozzle dams in a water chamber inside a steam generator via a narrow man-way entrance port. The developed robotic maintenance system has two major subsystems: a two degrees of freedom guiding device acting as the main guiding arm and a master-slave manipulator with a kinematic dissimilarity. The mechanical design considerations, control system, and capabilities of the robotic maintenance system are presented. Finally, a graphical representation of the nozzle dam maintenance processes in a simulated work environment are also demonstrated.

• 로봇학회논문지
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• 제13권4호
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• pp.265-271
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• 2018

The recent prosthetic technologies pursue to control multi-DOFs (degrees-of-freedom) hand and wrist. However, challenges such as high cost, wear-ability, and motion intent recognition for feedback control still remain for the use in daily living activities. The paper proposes a multi-channel knit band sensor to worn easily for surface EMG-based prosthetic control. The knitted electrodes were fabricated with conductive yarn, and the band except the electrodes are knitted using non-conductive yarn which has moisture wicking property. Two types of the knit bands are fabricated such as sixteen-electrodes for eight-channels and thirty-two electrodes for sixteen-channels. In order to substantiate the performance of the biopotential signal acquisition, several experiments are conducted. Signal to noise ratio (SNR) value of the knit band sensor was 18.48 dB. According to various forearm motions including hand and wrist, sixteen-channels EMG signals could be clearly distinguishable. In addition, the pattern recognition performance to control myoelectric prosthesis was verified in that overall classification accuracy of the RMS (root mean squares) filtered EMG signals (97.84%) was higher than that of the raw EMG signals (87.06%).

• 통합자연과학논문집
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• 제15권1호
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• pp.9-18
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• 2022

This research examines the power of bootstrap two-sample test, and compares it with the powers of two-sample t-test and Wilcoxon rank sum test, through simulation. For simulation work, a positively skewed and heavy tailed distribution was selected as a population distribution, the chi-square distributions with three degrees of freedom, χ²₃. For two independent samples, the fist sample was selected from χ²₃. The second sample was selected independently from the same χ²₃ as the first sample, and calculated d+ax for each sampled value x, a randomly selected value from χ²₃. The d in d+ax has from 0 to 5 by 0.5 interval, and the a has from 1.0 to 1.5 by 0.1 interval. The powers of three methods were evaluated for the sample sizes 10,20,30,40,50. The null hypothesis was the two population medians being equal for Bootstrap two-sample test and Wilcoxon rank sum test, and the two population means being equal for the two-sample t-test. The powers were obtained using r program language; wilcox.test() in r base package for Wilcoxon rank sum test, t.test() in r base package for the two-sample t-test, boot.two.bca() in r wBoot pacakge for the bootstrap two-sample test. Simulation results show that the power of Wilcoxon rank sum test is the best for all 330 (n,a,d) combinations and the power of two-sample t-test comes next, and the power of bootstrap two-sample comes last. As the results, it can be recommended to use the classic inference methods if there are widely accepted and used methods, in terms of time, costs, sometimes power.

• 한국농공학회지
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• 제38권3호
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• pp.82-91
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• 1996

This is a basic study for the static and dynamic analysis on the elasto-plastic and elasto-viscoplastic of an axi-symmetric shell. The objective of this study was to investigate the mechanical characteristics of a nuclear reinforced concrete containment structure, which was selected as a model, by a numerical analysis using a finite element method. The structure was modeled with discrete ring elements of 8-noded isoparametric element rotating against the symmetrical axis, and the interaction between the foundation and the structure was modeled by Winkler's model. Also, the meridional tendon was modeled with 2-node truss elements, and the hoop tendon was done with point elements in two degrees of freedom. The effect of the tendon was considered without the increasement in total degree of freedom as the stiffness matrix of modeled tendon elements was assembled on the stiffness matrix of ring elements linked with the tendon. The results obtained from the analysis of an example were summarized as follows : 1. The stresses in the hoop direction on the interior and exterior surfaces of the structure were shown in changes of similar trend, and high stresses appeared on the structure wall 2. The stresses in the meridional direction on the interior and exterior surfaces were shown in change of different trend. Especially, the stresses at the junctions between the dome and the wall and between the wall and the bottom plate of the structure were very high, compared with those at other parts of the structure. 3. The stress changes in the direction of thickness on the crown of the dome were much linearly distributed. However, as the amount of tendon increased, the stresses in the upper and lower parts of the wall established with the tendon were shown stress concentration. 4. The stress changes in the direction of thickness on the center of the structure wall was linearly distributed in the all cases, and special stress due to the use of the tendon was not shown.

• 한국전산구조공학회논문집
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• 제22권4호
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• pp.371-377
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• 2009

본 연구에서는 회전 및 병진 자유도를 갖는 2자유도 진동계의 동적 특성을 다루었다. 강체의 관성모멘트를 새로운 기계 요소인 이너터로 모델링한 뒤 동강성법을 이용하여 2자유도 진동계의 등가모델을 구하였다. 이때 이너터의 크기에 따라 진동계의 동적특성이 결정되는 것을 보였다. 2자유도 진동계를 진동 흡진기로서 단일 모우드 소거에 적용하였을 경우의 흡진기 설계방법론을 구하였다. 비감쇠 진동흡진기의 경우 해석적인 방법론을 제시하였고, 하나의 감쇠기가 존재하는 경우 고정점법을 적용한 방법론을 소개하였다. 수치 예를 통해서 제시된 방법론을 검증하였다.

• 해양환경안전학회지
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• 제29권5호
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• pp.505-511
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• 2023

본 논문에서는 소형어선의 운동 응답을 예측하기 위해 딥러닝 모델을 구축하였다. 크기가 다른 두 소형어선을 대상으로 유체동역학 성능을 평가하여 데이터세트를 확보하였다. 딥러닝 모델은 순환 신경망 기법의 하나인 장단기 메모리 기법(LSTM, Long Short-Term Memory)을 사용하였다. 딥러닝 모델의 입력 데이터는 6 자유도 운동 및 파고의 시계열 데이터를 사용하였으며, 출력 라벨로는 6 자유도 운동의 시계열 데이터로 선정하였다. 최적 LSTM 모델 구축을 위해 hyperparameter 및 입력창 길이의 영향을 평가하였다. 구축된 LSTM 모델을 통해 입사파 방향에 따른 시계열 운동 응답을 예측하였다. 예측된 시계열 운동 응답은 해석 결과와 전반적으로 잘 일치함을 확인할 수 있었다. 시계열의 길이가 길어짐에 따라서 예측값과 해석 결과의 차이가 발생하는데, 이는 장기 데이터에 따른 훈련 영향도가 감소 됨에 따라 나타난 것으로 확인할 수 있다. 전체 예측 데이터의 오차는 약 85% 이상의 데이터가 10% 이내의 오차를 보였으며, 소형어선의 시계열 운동 응답을 잘 예측함을 확인하였다. 구축된 LSTM 모델은 소형어선의 모니터링 및 경보 시스템에 활용될 수 있을 것으로 기대한다.

• 대한토목학회논문집
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• 제3권4호
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• pp.109-122
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• 1983

본(本) 연구(硏究)에서는 전단변형(剪斷變形)(Shear deformation)과 회전관성(回轉慣性)(Rotatory inertia)의 영향(影響)을 고려(考慮)한 4절점(節點) 8자유도(自由度)를 갖는 Timoshenko 보 요소(要素)(TB4)를 3차원(次元) 연속체(連續體)로부터 유도(誘導)하고 있다. TB4보 요소(要素)는 3차(次) 보간함수(補間凾數)(Interpolation function)로 표시(表示)되는 연직(鉛直)처짐(Transverse deflection) W와 평면회전(平面回轉)(Plane rotation) ${\theta}$를 절점(節點)의 자유도(自由度)로 취(取)하고 있다. TB4요소(要素)의 강도(剛度)매트릭스와 질량(質量)매트릭스는 보의 운동방정식(運動方程式)을 Galerkin 가중잔차법(加重殘差法)(Weighted residual method)으로 Discretization하여 3개(個)의 Gauss점(點)을 이용(利用)한 RSI(Reduced shear integration)기법(技法)에 의한 수치적분(數値積分)으로 구해진다. TB4보 요소(要素)의 정확성(正確性)과 수감상태(收歛狀態)를 고찰(考察)하기 위하여 여러 가지 예제(例題)를 해석(解析)한 결과(結果), 보의 L/h 비(比)에 관계없이 보의 정적해석(靜的解析)(Static analysis)이라 자유진동해석(自由振動解析)(Free vibration analysis)에 있어서 TB4보 요소(要素)는 다른 Timoshenko보 요소(要素)들 보다 월등(越等)히 우수(優秀)한 정확도(正確度)와 수감현상(收歛現象)을 보여 주고 있다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제8권3호
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• pp.252-261
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• 2016

A spar-type floating substructure that is being widely used for offshore wind power generation is vulnerable to resonance in the heave direction because of its small water plane area. For this reason, the stable dynamic response of this floating structure should be ensured by accurately identifying the resonance characteristics. The purpose of this study is to analyze the characteristics of the combination resonance between the excitation frequency of a regular wave and natural frequencies of the floating substructure. First, the nonlinear equations of motion with two degrees of freedom are derived by assuming that the floating substructure is a rigid body, where the heaving motion and pitching motions are coupled. Moreover, to identify the characteristics of the combination resonance, the nonlinear term in the nonlinear equations is approximated up to the second order using the Taylor series expansion. Furthermore, the validity of the approximate model is confirmed through a comparison with the results of a numerical analysis which is made by applying the commercial software ANSYS AQWA to the full model. The result indicates that the combination resonance occurs at the frequencies of ${\omega}{\pm}{\omega}_5$ and $2{\omega}_{n5}$ between the excitation frequency (${\omega}$) of a regular wave and the natural frequency of the pitching motion (${\omega}_{n5}$) of the floating substructure.

• Geomechanics and Engineering
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• 제24권4호
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• pp.371-388
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• 2021

A novel flexibility-based beam-foundation model for inelastic analyses of beams resting on foundation is presented in this paper. To model the deformability of supporting foundation media, the Winkler-Pasternak foundation model is adopted. Following the derivation of basic equations of the problem (strong form), the flexibility-based finite beam-foundation element (weak form) is formulated within the framework of the matrix virtual force principle. Through equilibrated force shape functions, the internal force fields are related to the element force degrees of freedom. Tonti's diagrams are adopted to present both strong and weak forms of the problem. Three numerical simulations are employed to assess validity and to show effectiveness of the proposed flexibility-based beam-foundation model. The first two simulations focus on elastic beam-foundation systems while the last simulation emphasizes on an inelastic beam-foundation system. The influences of the adopted foundation model to represent the underlying foundation medium are also discussed.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2001년도 추계학술대회 논문집(Proceeding of the KOSME 2001 Autumn Annual Meeting)
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• pp.21-27
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• 2001

Springs are widely utilized in machine element. To find out stiffness of frustum-shaped coil spring, the space beam theory using the finite element method is adopted in this paper In three dimensional space, a space frame element is a straight bar of uniform cross section which is capable of resisting axial forces, bending moments about two principal axes in the plane of its cross section and twisting moment about its centroidal axis. The corresponding displacement degrees of freedom are twelve. To find out load vector of coil spring subjected to distributed compression, principle of virtual work is adapted The displacements of nodal points due to small increment of force are calculated by the finite element method and the calculated nodal displacements are added to coordinates of nodal points. The new stiffness matrix of the system using the new coordinates of nodal points is adopted to calculate the another increments of nodal displacements, that is, the step by step method is used in this paper. The results of the finite element method are fairly well agreed with those of various experiments. Using MATLAB program developed in this paper, spring constants and stresses can be predicted by input of few factors.