• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제19권3호
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• pp.271-287
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• 2015

In this article, a more generalized form of the impact time and angle control guidance law is proposed based on the linear quadratic optimal control methodology. For the purpose on controlling an additional constraint such as the impact time, we introduce an additional state variable that is defined to be the jerk (acceleration rate). Additionally, in order to provide an additional degree of freedom in choosing the guidance gains, the performance index that minimizes the control energy weighted by an arbitrary order of time-to-go is considered in this work. First, the generalized form of the impact angle control guidance law with an additional term which is used for the impact time control is derived. And then, we also determine the additional term in order to achieve the desired impact time. Through numbers of numerical simulations, we investigate the superiority of the proposed guidance law compared to previous guidance laws. In addition, a salvo attack scenario with multiple missile systems is also demonstrated.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 1999년도 추계 학술발표회 논문집 Proceedings of EESK Conference-Fall
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• pp.244-250
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• 1999

Active vibration control method for the reduction of vibration of structures have been developed. For the application of real structures active control system that has robustness must be designed because the mathematical model incompletely described has intrinsically modeling error. In this research we propose LQG/LTR method in designing control system with robustness. A combination of acceleration feedback and model-order reduction technique is used for the application of real structures and the computation efficiency. In case of such structures as the building and the tower the inter-story relative displacements represent an important constraint in seismic design. Therefore selection method of design parameters is also proposed in order to reduce the inter-story relative displacements.

• 자동차안전학회지
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• 제14권4호
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• pp.35-42
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• 2022

This paper presents a stochastic model predictive control (SMPC) for stop maneuver of autonomous vehicles considering perception uncertainty of stopped vehicle. The vehicle longitudinal motion should achieve both driving comfortability and safety. The comfortable stop maneuver can be performed by mimicking acceleration profile of human driving pattern. In order to implement human-like stop motion, we propose a reference safe inter-distance and velocity model for the longitudinal control system. The SMPC is used to track the reference model which contains the position uncertainty of preceding vehicle as a chance constraint. We conduct simulation studies of deceleration scenarios against stopped vehicle in urban environment. The test results show that proposed SMPC can execute comfortable stop maneuver and guarantee safety simultaneously.

• 한국ITS학회 논문지
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• 제12권3호
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• pp.103-113
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• 2013

충격파모형은 교통류에서 운동학적 파동이 전파되는 속도이며, Lighthill과 Whitham(L-W)에 의해 처음 제시되 이래 지금까지 많은 교통류 문제에 적용되어지고 있다. 최근의 한 논문은 실재상황에서 발생되지 않는 충격파가 L-W모형에서 예측되는 모순을 지적하였고, 이러한 모순이 발생되는 원인과 이를 해소하는 새로운 점진적충격파모형을 제시한 바 있다. 그러나 이 모형은 교통류 흐름 중 감속하는 교통류에 대해 한정하여 유도 되었으며 반대상황 즉 가속하는 교통류에 대한 모형은 아직 제시되지 못하고 있다. 본 연구에서는 가속 교통류에 대한 점진적 충격파모형을 유도하고 이를 검증하고자 한다. 이를 위해 가속상태의 교통류에서 추종차량의 가속에 따른 차량간의 간격이 Greenshield의 모형을 충실히 따르도록 한정하고 이를 바탕으로 충격파모형을 유도하였다. 그 결과 본 연구에서 제시된 모형은 L-W모형의 모순이 해소됨을 확인하였고, 사례교통량을 적용해 기존모형들과의 결과 차이를 정량적으로 확인하였다. 한편 모형간의 차이가 분명하고도 구조적인 것을 확인하였고 이에 대한 추가적인 향후 연구의 필요성을 제시하였다.

• 전자공학회논문지SC
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• 제43권5호
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• pp.10-18
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• 2006

본 논문에서는 다중 로봇 시스템에서 물체와 로봇 팔끝 간에 접촉 마찰이 존재할 때 이 로봇 시스템의 조작도를 해석하는 새로운 방법을 제안한다. 로봇이 물체를 떨어뜨리지 않고 잡고 있으려면, 로봇이 물체에 가하는 힘 벡터가 friction cone 내부에 존재 해야만 한다. 이러한 friction cone 내부를 나타내는 식은 일반적으로 비선형 형태로 되어 있기 때문에 기존의 조작도 분석 방법에 이 식을 구속 조건으로 적용하기가 쉽지 않다. 따라서 본 논문에서는 이러한 friction cone 내부를 다각뿔로 근사함으로써 선형적인 구속 조건으로 표현하였다. 또한 선행 연구에서 찾지 못했던 부분을 새롭게 찾아내었다. 그리고 다중 로봇 시스템에 조작도를 나타내는 물체 중심의 가속도를 구하기 위해서, 먼저 선형계획법을 통해서 허용 가능한 토크의 영역을 구하였다. 이 토크의 영역을 선형 변환을 통해 최종적으로 물체의 최대 가속도의 영역을 구하였다. 본 방법의 타당성을 입증하기 위해서 두 대로 구성 된 다중 로봇 시스템과 PUMA560 로봇 시스템에 적용하였다.

• Smart Structures and Systems
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• 제9권3호
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• pp.253-271
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• 2012

Finite element (FE) model updating is a useful tool for global damage detection technique, which identifies the damage of the structure using measured vibration data. This paper presents the application of a finite element model updating method to detect the damage of a small-scale reinforced concrete building structure using measured acceleration data from shaking table tests. An iterative FE model updating strategy using the least-squares solution based on sensitivity of frequency response functions and natural frequencies was provided. In addition, a side constraint to mitigate numerical difficulties associated with ill-conditioning was described. The test structure was subjected to six El Centro 1942 ground motion histories with different Peak Ground Accelerations (PGA) ranging from 0.06 g to 0.5 g, and analytical models corresponding to each stage of the shaking were obtained using the model updating method. Flexural stiffness values of the structural members were chosen as the updating parameters. In model updating at each stage of shaking, the initial values of the parameter were set to those obtained from the previous stage. Severity of damage at each stage of shaking was determined from the change of the updated stiffness values. Results indicated that larger reductions in stiffness values occurred at the slab members than at the wall members, and this was consistent with the observed damage pattern of the test structure.

• 한국산업융합학회 논문집
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• 제20권1호
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• pp.1-7
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• 2017

Most conventional processors execute program instructions in a sequential manner. On the other hand, VLIW processor can execute multiple instructions at the same time. It exploits instruction level parallelism to improve system performance. To that end, program code should be rearranged to VLIW instruction format by a compiler. The compiler determine an optimal execution order of instructions of a program code. This instruction ordering is also called instruction scheduling. The scheduling is an algorithm that decides the execution order for instruction codes in loop parts of a program so that the instruction level parallelism can be maximized. In this research, we apply an existing scheduling algorithm to a VLIW FCC and describe analysis results to further improve its performance. And, we present a solution to solve some limitation of the existing scheduling technique. By using our solution, FCC's performance can be improved upto 32% compared to the existing scheduling only setting.

• Geomechanics and Engineering
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• 제10권1호
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• pp.59-76
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• 2016

The non-linear Hoek-Brown failure criterion has been widely accepted and applied to evaluate the stability of rock slopes under plane-strain conditions. This paper presents a kinematic approach of limit analysis to assessing the static and seismic stability of three-dimensional (3D) rock slopes using the generalized Hoek-Brown failure criterion. A tangential technique is employed to obtain the equivalent Mohr-Coulomb strength parameters of rock material from the generalized Hoek-Brown criterion. The least upper bounds to the stability number are obtained in an optimization procedure and presented in the form of graphs and tables for a wide range of parameters. The calculated results demonstrate the influences of 3D geometrical constraint, non-linear strength parameters and seismic acceleration on the stability number and equivalent strength parameters. The presented upper-bound solutions can be used for preliminary assessment on the 3D rock slope stability in design and assessing other solutions from the developing methods in the stability analysis of 3D rock slopes.

• International Journal of Aeronautical and Space Sciences
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• 제15권2호
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• pp.163-172
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• 2014

This paper proposes a novel guidance law based on the block backstepping sliding mode control and extended state observer (ESO), which also takes into account the autopilot dynamic characteristics of the near space interceptor (NSI), and the impact angle constraint of attacking the maneuvering target. Based on the backstepping control approach, the target maneuvers and the parameter uncertainties of the autopilot are regarded as disturbances of the outer loop and inner loop, respectively. Then, the ESO is constructed to estimate the target acceleration and the inner loop disturbance, and the block backstepping sliding model guidance law is employed, based on the estimated disturbance value. Furthermore, in order to avoid the "explosion of complexity" problem, first-order low-pass filters are also introduced, to obtain differentiations of the virtual control variables. The stability of the closed-loop guidance system is also proven, based on the Lyapunov theory. Finally, simulation results demonstrate that the proposed guidance law can not only overcome the influence of the autopilot dynamic delay and target maneuvers, but also obtain a small miss distance.

• 대한기계학회논문집A
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• 제41권9호
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• pp.869-876
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• 2017

기계시스템을 제어한다든지 그 부재를 설계하기 위하여 그리고 구동기의 용량을 결정하는데 있어서 구동력이나 조인트반력을 해석하는 것이 필요하다. 본 논문은 주어진 시스템의 운동을 구현하는 다양한 형태의 구동조건에 따른 구동력(또는 토크)을 조인트좌표 공간에서 계산하는 알고리즘을 제시한다. 조인트좌표를 기구학적 시스템의 일반좌표로 사용하며 운동방정식과 구속조건의 가속도식은 속도변환법을 이용하여 직교좌표공간으로부터 조인트좌표공간으로 변환한다. 수치예제를 통하여 제시된 알고리즘의 유용성을 확인한다.