• 로봇학회논문지
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• 제13권1호
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• pp.63-71
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• 2018

This paper describes a study on posture control of the multi-legged biomimetic underwater robot (CALEB10). Because the underwater environment has a feature that all degrees of freedom are coupled to each other, we designed the posture control algorithm by separating each degree of freedom. Not only should the research on posture control of underwater robots be a precedent study for position control, but it is also necessary to compensate disturbance in each direction. In the research on the yaw directional posture control, we made the drag force generated by the stroke of the left leg and the right leg occur asymmetrically, in order that a rotational moment is generated along the yaw direction. In the composite swimming controller in which the controllers in each direction are combined, we designed the algorithm to determine the control weights in each direction according to the error angle along the yaw direction. The performance of the proposed posture control method is verified by a dynamical simulator and underwater experiments.

• 대기
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• 제30권2호
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• pp.103-113
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• 2020

In this study, we analyzed and developed the monitoring system in order to confirm the effect of observations on forecast sensitivity on ensemble-based data assimilation. For this purpose, we developed the Ensemble Forecast Sensitivity to observation (EFSO) monitoring system based on Local Ensemble Transform Kalman Filter (LETKF) system coupled with Korean Integrated Model (KIM). We calculated 24 h error variance of each of observations and then classified as beneficial or detrimental effects. In details, the relative rankings were according to their magnitude and analyzed the forecast sensitivity by region for north, south hemisphere and tropics. We performed cycle experiment in order to confirm the EFSO result whether reliable or not. According to the evaluation of the EFSO monitoring, GPSRO was classified as detrimental observation during the specified period and reanalyzed by data-denial experiment. Data-denial experiment means that we detect detrimental observation using the EFSO and then repeat the analysis and forecast without using the detrimental observations. The accuracy of forecast in the denial of detrimental GPSRO observation is better than that in the default experiment using all of the GPSRO observation. It means that forecast skill score can be improved by not assimilating observation classified as detrimental one by the EFSO monitoring system.

• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 1996년도 추계 학술 발표회 발표논문집
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• pp.217-227
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• 1996

The new filed of learning control develops controllers that learn to improve their performance at executing a given task , based on experience performing this specific task. In a previous work[6], authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper develops improved indirect learning control algorithms, and studies the use of such controller indecentralized systems. The original motivation of the learning control field was learning in robots doing repetitive tasks such as on an asssembly line. This paper starts with decentralized discrete time systems. and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. The resultof the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample tie in the digital learning controller is sufficiently short.

• 대한조선학회지
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• 제23권1호
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• pp.23-32
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• 1986

By virtue of an application of the receptance method, simplified formulae to calculate natural frequencies of stiffened plates having a resiliently mounted or concentrated mass are obtained. Some numerical results are compared with those based on Lagrange's equation of motion and with experimental results. For the problem formulation the stiffened plate is reduced to an equivalent orthotropic plate, a resiliently mounted mass to a spring-mass system, and mode shapes of the plate are assumed with comparison functions consisting of Euler beam functions. The proposed formulae give results in good conformity to both numerical results based on Lagrange's equation of motion and experimental results for in-phase modes of the coupled system. For out-of-phase modes the conformity is assured only in case that the natural frequency of the attached system is less than a half of that the stiffened plate. It is also found that a resiliently mounted mass having its own natural frequency of about two or more times that of the stiffened plate can be reduced to a concentrated mass with assurance of a few percent error in the frequency.

• 전자공학회논문지
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• 제52권6호
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• pp.10-14
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• 2015

홀로그래픽 데이터 저장장치는 매질의 체적에 데이터를 저장하고 CCD를 사용하여 2차원 픽셀의 이미지로써 데이터를 처리하기 때문에 빠른 데이터 전송률과 저장 용량을 현저히 증가시킬 수 있다. 하지만 홀로그래픽 저장장치는 기존의 저장장치들과는 다른 오류 요인인 2차원 인접심볼간 간섭이 발생한다. 본 논문에서는 홀로그래픽 데이터 저장장치에서 읽은 데이터가 검출기를 통과하기 전에 전처리과정을 통하여 인접심볼간 간섭을 줄이는 방법을 제안한다. 이 방법은 어긋남을 보정하기 위한 전처리과정과 변조부호방법을 결합하여 사용할 수도 있다는 장점이 있다.

• 한국전자파학회논문지
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• 제11권5호
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• pp.755-762
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• 2000

본 논문에는 유전체 도파관 모델을 이용하여 육면체 유전체 공진기 안테나의 공진주파수, Qrad 및 임파던스 대역폭에 대한 근사 결과를 넓은 종횡비에 대하여 3D 그래프로 제시하고 시뮬레이션 및 측정 결과와 비교 분석하였다. 이러한 비교를 위해 상대 유전율이 37.84와 90인 유전체를 개구 결합 및 동축선로 급선하였는데 공진주파수는 약 8% 정도의 예측오차를 갖는 것이 확인되었고 임피던스 대역폭도 급전방식에 따라 차이가 날수 있음을 확인하였다. 본 논문에서 제시된 데이터들은 유전체 공지기 안테나 설계시 주어진 공진주파수와 대역폭에 대한 종횡비 선정시 유용하게 사용될 수 있다.

• Structural Engineering and Mechanics
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• 제21권6호
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• pp.635-658
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• 2005

The possibility of detecting a crack in L-shaped pipes filled with fluid based on measurement of transverse natural frequencies is examined. The problem is solved by representing the crack by a massless rotational spring, simulating the out-of-plane transverse vibration only without solving the coupled torsional vibration and using the transfer matrix method for solution of the governing equation. The theoretical solutions are verified by experiments. The cracks considered are external, circumferentially oriented and have straight front. Pipes made of aluminium and mild steel are tested with water as internal fluid. Crack size to pipe thickness ratio ranging from 0.20 to 0.57 and fluid (gauge) pressure in the range of 0 to 10 atmospheres are examined. The rotational spring stiffness is obtained by an inverse vibration analysis and deflection method. The details of the two methods are given. The results by the two methods are presented graphically and show good agreement. Crack locations are also determined by the inverse analysis. The maximum absolute error in the location is 13.80%. Experimentally determined variation of rotational spring stiffness with ratio of crack size to thickness is utilized to predict the crack sizes. The maximum absolute errors in prediction of crack size are 17.24% and 16.90% for aluminium and mild steel pipes respectively.

• Coupled systems mechanics
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• 제9권2호
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• pp.91-110
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• 2020

The reliability of structures is affected by various impacts that generally have a negative effect, from extreme weather conditions, due to climate change to natural or man-made hazards. In recent years, extreme loading has had an enormous impact on the resilience of structures as one of the most important characteristics of the sound design of structures, besides the structural integrity and robustness. Resilience can be defined as the ability of the structure to absorb or avoid damage without suffering complete failure, and it can be chosen as the main objective of design, maintenance and restoration for structures and infrastructure. The latter needs further clarification (which is done in this paper), to achieve the clarity of goals compared to robustness which is defined in Eurocode EN 1991-1-7 as: "the ability of a structure to withstand events like fire, explosions, impact or the consequences of human error, without being damaged to an extent disproportionate to the original cause". Many existing structures are more vulnerable to the natural or man-made hazards due to their material deterioration, and a further decrease of its loadbearing capacity, modifying the structural performance and functionality and, subsequently, the system resilience. Due to currently frequent extreme events, the design philosophy is shifting from Performance-Based Design to Resilience-Based Design and from unit to system (community) resilience. The paper provides an overview of such design evolution with indicative needs for Resilience-Based Design giving few conducted examples.

• 한국전자파학회논문지
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• 제13권1호
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• pp.80-86
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• 2002

본 논문에서는 유전체층을 가진 3차원 도체의 정전용량 계산을 위한 적응요소 MLFMA을 제안하였다. 고속화 알고리즘인 MLFMA와 더불어 높은 전하밀도를 가지는 영역에서 삼자요소를 세분화함으로써 효율적으로 요소를 분할하게 된다. 제안된 기법은 유전체 층위의 3차원 도체의 정전용량을 계산하는데 적용되어 균일한 요소에 의한 계산결과의 수렴보다 빠른 결과를 얻을 수 있었다. 또한, 3차원의 복잡한 구조를 가진 문제의 해석에 있어서도 과도한 추가계산시간을 요구하지 않으므로, 제안된 방법을 MLFMA의 장점에 부합되는 적절한 기법이라 할 수 있다.

• Computers and Concrete
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• 제13권4호
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• pp.547-567
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• 2014

Precast Seismic Structural Systems (PRESSS) provided an iterative procedure for obtaining optimum design of unbonded post-tensioned coupled precast concrete wall systems. Although PRESSS procedure is effective, however, it is lengthy and laborious. The purpose of this research is to employ Artificial Neural Network (ANN) to predict the optimum design parameters for such wall systems while avoiding the demanding iterative process. The developed ANN model is very accurate in predicting the nondimensional optimum design parameters related to post-tensioning reinforcement area, yield force of shear connectors and ratio of moment resisted by shear connectors to the design moment. The Mean Absolute Percent Error (MAPE) for the test data for these design parameters is around %1 and the correlation coefficient is almost equal to 1.0. The developed ANN model is then used to study the effect of different design parameters on wall behavior. It is observed that the design moment and the concrete strength have the most influence on the wall behavior as compared to other parameters. Several design examples were presented to demonstrate the accuracy and effectiveness of the ANN model.