• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1994.10a
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• pp.35-39
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• 1994

One of the important characteristics of the response of nonlinear systems is the existence of subharmonic resonances. When some conditions in parameter space are satisfied. It is possible even in the presence of damping for a periodically excited nonlinear system to possess a response which is the combination of a contribution at the excitation frequency and a component at the system natural frequency. The system natural frequency being a submultiple of the excitation frequency implies that the resulting response is a subharmonic oscillation. In general, there also co-exists, for the system, a response at the excitation frequency, and initial conditions determine which of the steady-state responses is achieved in an experiment or a numerical simulation. In single-degree-of-freedom systems with harmonic excitation, depending on the type of the nonlinearity, e.g., cubic or quadratic the frequency of subharmonic response is respectively, one-third or one-half of that of the excitation frequency. Although subharmonic resonance is one of the principal characteristics of a nonlinear system the subharmonic responses of structures in the presence of internal resonances have been studied very rarely. In this work, we consider subharmonic responses in the two-mode approximation of the plate equations. It is assumed that the two modes are in one-to-one internal resonance. Constant and periodic steady-state solutions of the averaged equations are studied. Finally, the results of direct time integration of the original equations of motion are presented and compared with those obtained from the averaged equations.

• Journal of the Society of Naval Architects of Korea
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• v.52 no.3
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• pp.187-197
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• 2015

This study aims the development of a semi-analytic method for the parametric roll of large containerships advancing in longitudinal waves. A 1.5 Degree-of-Freedom(DOF) model is proposed to account the change of transverse stability induced by wave elevations and vertical motions (heave and pitch). By approximating the nonlinearity of restoring moment at large heel angles, the magnitude of roll amplitude is predicted as well as susceptibility check for parametric roll occurrence. In order to increase the accuracy of the prediction, the relationship between righting arm(GZ) and metacentric height(GM) is examined in the presence of incident waves, and then a new formula is proposed. Based on the linear approximation of the mean and first harmonic component of GM, the equation of parametric roll in irregular wave excitations is introduced, and the computational results of the proposed model are validated by comparing those of weakly nonlinear simulation based on an impulse-response-function method combined with strip theory. The present semi-analytic doesn’ t require heavy computational effort, so that it is very efficient particularly when numerous sea conditions for the analysis of parametric roll should be considered.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.1
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• pp.66-75
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• 2008

In this work, we explore the feasibility of roll-pitch-yaw integrated autopilots for high angle-of-attack missiles. An investigation of the aerodynamic characteristics of a surface-to-air missile is presented, which reveals the strong effects of cross coupling between the longitudinal and lateral dynamics. Robust control techniques based on $H_{\infty}$ synthesis are employed to design roll-pitch-yaw integrated autopilots. The performance of the proposed roll-pitch-yaw integrated controller is tested in high-fidelity nonlinear five-degree-of-freedom simulations accounting for kinematic cross-coupling effects between the lateral and longitudinal channels. Against nonlinearity and cross-coupling effects of the missile dynamics, the integrated controller demonstrates superior performance when compared with the controller designed in a decoupled manner.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.273-283
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• 2000

In this paper we suggest an optimal design method of Fuzzy-Neural Networks(FNN) model for complex and nonlinear systems. The FNNs use the simplified inference as fuzzy inference method and Error Back Propagation Algorithm as learning rule. And we use a HCM(Hard C-Means) Clustering Algorithm to find initial parameters of the membership function. The parameters such as parameters of membership functions learning rates and momentum weighted value is proposed to achieve a sound balance between approximation and generalization abilities of the model. According to selection and adjustment of a weighting factor of an aggregate objective function which depends on the number of data and a certain degree of nonlinearity (distribution of I/O data we show that it is available and effective to design and optimal FNN model structure with a mutual balance and dependency between approximation and generalization abilities. This methodology sheds light on the role and impact of different parameters of the model on its performance (especially the mapping and predicting capabilities of the rule based computing). To evaluate the performance of the proposed model we use the time series data for gas furnace the data of sewage treatment process and traffic route choice process.

• Journal of Ocean Engineering and Technology
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• v.27 no.6
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• pp.56-64
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• 2013

Crabbing motion is the pure sway motion of a ship without surge velocity. Thus, it can be applied to a berthing operation. Crabbing motion is induced by a peculiar operation method called the push-pull mode. The push-pull mode is induced by using a combination of the main propeller and side thruster. Two propellers generating the same amounts of thrust and rotating in opposite directions produce some yawing moment on a vessel but do not induce longitudinal motion. With the additional operation of side thrusters, the push-pull mode is used to induce a large amount of lateral force. In this paper, three-degree-of-freedom equations of motion such as for the surge, sway, and yaw are constructed for the crabbing motion. Based on these equations of motion, a feedback linearization control method is applied to auto-berthing control for a twin-screw ship with side thrusters. The controller can deal with the nonlinearity of a system, which is present in the berthing maneuver of a twin screw ship. A simulation of the auto-berthing of a ship is performed to validate the performance of the designed controller.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3186-3198
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• 1996

When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.543-547
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• 2009

This paper describes the design, simulation, development, and experiment of a six degree-of-freedom micropositioning parallel manipulator. A movable stage was supported with six links, each of which extends with a dc-servo micropositioning actuator. In case of parallel manipulator, while the solution of the inverse kinematics is easily found by the vectors of the links which are composed of the joint coordinates in base and platform, but forward kinematic is not easily solved because of the nonlinearity and complexity of the parallel manipulator's kinematic output equation with the multi-solutions. The movable range of the prototype was ${\pm}25mm$ in the x- and y-directions and ${\pm}12.5mm$ in the z-direction. The minimum incremental motion of the prototype was $1{\mu}m$ in the x- and y-directions and $0.5{\mu}m$ in the z-direction. The repeatability of the prototype was ${\pm}2{\mu}m$ in the x- and y-directions and ${\pm}1{\mu}m$ in the z-direction. The motion performance was also evaluated by not only the computer simulation of CAD model but also the experiment using a capacitive sensor system.

• Earthquakes and Structures
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• v.1 no.2
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• pp.147-162
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• 2010

The ground acceleration measured at a point on the earth's surface is composed of several waves that have different phase velocities, arrival times, amplitudes, and frequency contents. For instance, body waves contain primary and secondary waves that have high frequency content and reach the site first. Surface waves are composed of Rayleigh and Love waves that have lower phase velocity, lower frequency content and reach the site next. Some of these waves could be of more damage to the structure depending on their frequency content and associated amplitude. This paper models critical earthquake loads for single-degree-of-freedom (SDOF) inelastic structures considering evolution of the seismic waves in time and frequency. The ground acceleration is represented as combination of seismic waves with different characteristics. Each seismic wave represents the energy of the ground motion in certain frequency band and time interval. The amplitudes and phase angles of these waves are optimized to produce the highest damage in the structure subject to explicit constraints on the energy and the peak ground acceleration and implicit constraints on the frequency content and the arrival time of the seismic waves. The material nonlinearity is modeled using bilinear inelastic law. The study explores also the influence of the properties of the seismic waves on the energy demand and damage state of the structure. Numerical illustrations on modeling critical earthquake excitations for one-storey inelastic frame structures are provided.

• Geomechanics and Engineering
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• v.18 no.3
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• pp.299-313
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• 2019

This research investigated the nonlinear compressibility, permeability, the yielding due to structural degradation and their effects on consolidation behavior of structured soft soils. Based on oedometer and hydraulic conductivity test results of natural and reconstituted soft clays, linear log (1+e) ~ $log\;{\sigma}^{\prime}$ and log (1+e) ~ $log\;k_v$ relationships were developed to capture the variations in compressibility and permeability, and the yield stress ratio (YSR) was introduced to characterize the soil structure of natural soft clay. Semi-analytical solutions for one-dimensional consolidation of soft clay under time-dependent loading incorporating the effects of soil nonlinearity and soil structure were proposed. The semi-analytical solutions were verified against field measurements of a well-documented test embankment and they can give better accuracy in prediction of excess pore pressure compared to the predictions using the existing analytical solutions. Additionally, parametric studies were conducted to analyze the effects of YSR, compression index (${\lambda}_r$ and ${\lambda}_c$), and permeability index (${\eta}_k$) on the consolidation behavior of structured soft clays. The magnitude of the difference between degree of consolidation based on excess pore pressure ($U_p$) and that based on strain ($U_s$) depends on YSR. The parameter ${\lambda}_c/{\eta}_k$ plays a significant role in predicting consolidation behavior.

• Nuclear Engineering and Technology
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• v.54 no.11
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• pp.4095-4101
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• 2022

Following the climate-related disasters considered by several efforts, the nuclear capacity needs to double by 2050 compared to 2015. So, it is reasonable to investigate global warming incorporated with the fuzzy set theory for nuclear energy consumption in the aspect of fuzziness and nonlinearity of temperature variations. The complex modeling is proposed for the enhanced assessment of climate change where simulations indicate the degree of influence with the Boolean values between 0.0 and 1.0 in the designed variables. In the case of OIL, there are many 1.0 values between 20^th and 60^th months in the simulations where there are 10 times more for a 1.0 value in influence. Hence, the temperature variable can give the effective time using this study for 100 months. In the analysis, the 1.0 value in NUCLEAR means the highest influence of the modeling as the temperature increases resulting in global warming. In detail, the first influence happens near the 8th month and then there are four times more influences than effects in the early part of the temperature mitigation. Eventually, in the GLOBAL WARMING, the highest peak is around the 20^th month, and then it is stabilized.