• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.613-617
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• 1992

The tracking control problem of a flexible manipulator with a prismatic joint along a given path is discussed. The nondimensionalization of the elastic part of the manipulator makes it possible to model such a flexible manipulator. For a discontinuous velocity trajectory, an optimal control theory has been applied to formulate the problem. The optimal scheme is given to find the input commands(e.g., joint torques) necessary to produce a, specified end effector motion. Simulated results show the potential use of this scheme for a discontinuous velocity trajectory control.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.701-708
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• 1997

A direct boundary element method(DBEM) is developed for thin bodies whose surfaces are rigid or compliant. Th eHelmholtz integral equation and its normal derivative integral equation are adopted simultaneously to calculate the pressure on both sides of the thin body, instead of the jump values across it, to account for the different surface conditions of each side. Unlike the usual assumption, the normal velocity is assumed to be discontinuous across the thin body. In this approach, only the neutral surface of the thin body has to be discontinuous across the thin body. In this approach, only the neural surface of the thin body has to be discretized. The method is validated by comparison with analytic and/or numerical results for acoustic scattering and radiation from several surface conditions of the thin body; the surfaces are rigid when stationary or vibrating, and part of the interior surface is lined with a sound-absorbing material.

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.2
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• pp.169-176
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• 2005

In this paper, a DC and small-signal AC modeling for the active-clamp, ful1-bridge boost converter is described. Based on the operation principle, the ac part of the converter can be replaced by a dc counterpart. Then, a conceptual equivalent circuit is derived by rearranging the switches. The equivalent circuit for this converter consists of CCM(Continuous conduction mode) boost and DCM(Discontinuous conduction mode) buck converter. The analyses for the equivalent CCM boost and DCM buck converter are done using the model of PWM switch. The theoretical modeling results are confirmed through experiment or SIMPLIS simulation.

• Proceedings of the KIEE Conference
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• summer
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• pp.797-799
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• 2004

The discontinuous primary linear synchronous motor is proposed as a driving source in the middle-distance transportation systems in factories and facilities. This paper describes the examination about the acceleration characteristics and a synchronizing method when the secondary mover overlaps with the primary from the inertia travel motion section in the whole of the re-acceleration part.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.24 no.6
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• pp.459-471
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• 1991

The community structure and micro-scale distribution of plankton in relation to hydrography were investigated in Masan Bay, Korea in October 1989. Warmer and less saline waters with stratification was located in the inner part of the Pudo Strait, and chlorophyll-a and nutrients were higher. Both phytoplankton biomass and nutrients was changed dramatically around the Strait. Offshore/oceanic species in phytoplankton i.e., Chaetoceres decipiens, Rhizosolenia stolterforthii, Rhizosolenia styliformis and Ceratium trichoceros and zooplankton i.e., Sagitta enflata, Oncaea uenusta and Oikopluera longicaudata occurred mainly in well mixed waters of the outer part. This suggests that discontinuous layer seems to play an important role as an approximate border for the plankton population. This layer was located between Station 3 and Station 4 near the Pudo Strait, since the layer consisted of a series of micro-scale discontinuties of salinity and dissolved inorganic nutrients gradient. Phytoplankton patchs of more than 801e1 were found only in the inner part of the bay. Depletion of silicate caused by a rapid assimilation of phytoplankton in the inner part of the bay seemed to be responsible for the decline of blooms.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1772-1777
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• 2007

This paper provides plastic limit loads of pipes with constant-depth, circumferential part-through surface cracks under combined pressure and bending. A key issue is to postulate discontinuous hoop stress distributions in the net-section. Validity of the proposed limit load solutions is checked against the results from three-dimensional (3-D) finite element (FE) limit analyses using elastic-perfectly plastic material behavior.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.159-163
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• 2004

The KNR(Korean National Railroad) has a speed limit regulation(130km/h) for the train passing the turnout to guarantee a safety. Since that speed is set as below the maximum commercial speed(140km/h), it has been regarded as a major factor to obstacle the total efficiency. The crossing rail part of the turnout system is formed into a antisymmetric, furthermore, there are several discontinuous part. Thus, measuring the strain signals of this part is impossible actually and it must be in the most difficult work related the turnout research. In this research, the program that can anticipate the signals at the various conditions with considering its own shape was developed and the preciousness of its results had been examined by comparing analyzed and measured ones at the other parts. The simulation was performed with varying the factors such as train speed and contact depth. As a results, it was proved that the regulation was not useless and very important guide at least up to now.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.4
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• pp.433-445
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• 2014

Single phase voltage source converter (VSC) is an important power electronic converter (PEC), including single-phase voltage source inverter (VSI), single-phase voltage source rectifier (VSR), single-phase active power filter (APF) and single-phase grid-connection inverter (GCI). As the fundamental part of large scale PECs, single-phase VSC has a wide range of applications. In the paper, as first, on the basis of the concept of the discontinuous pulse-width modulation (DPWM) for three-phase VSC, a new DPWM of single-phase VSR is presented by means of zero-sequence component injection. Then, the transformation from stationary frame (abc) to rotating frame (dq) is designed after reconstructing the other orthogonal current by means of one order all-pass filter. Finally, the presented DPWM based single-phase VSR is established analyzed and simulated by means of MATLAB/SIMULINK. In addition, the DPWMs presented by D. Grahame Holmes and Thomas Lipo are discussed and simulated in brief. Obviously, the presented DPWM can also be used for single-phase VSI, GCI and APF. The simulation results show the validation of the above modulation algorithm, and the DPWM based single-phase VSR has reduced power loss and increased efficiency.

• Coupled systems mechanics
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• v.8 no.1
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• pp.71-93
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• 2019

Finite element simulations of solid mechanics problems often involve the use of Non-Confirming Meshes (NCM) to increase accuracy in capturing nonlinear behavior, including damage and plasticity, in part of a solid domain without an undue increase in computational costs. In the presence of material nonlinearity and plasticity, higher-order variables are often needed to capture nonlinear behavior and material history on non-conforming interfaces. The most popular formulations for coupling non-conforming meshes are dual methods that involve the interpolation of a traction field on the interface. These methods are subject to the Ladyzhenskaya-Babuska-Brezzi (LBB) stability condition, and are therefore limited in their implementation with the higher-order elements needed to capture nonlinear material behavior. Alternatively, the enriched discontinuous Galerkin approach (EDGA) (Haikal and Hjelmstad 2010) is a primal method that provides higher order kinematic fields on the interface, and in which interface tractions are computed from local finite element estimates, therefore facilitating its implementation with nonlinear material models. The inclusion of higher-order interface variables, however, presents the issue of preserving material history at integration points when a increase in integration order is needed. In this study, the enriched discontinuous Galerkin approach (EDGA) is extended to the case of small-deformation plasticity. An interface-driven Gauss-Kronrod integration rule is proposed to enable adaptive enrichment on the interface while preserving history-dependent material data at existing integration points. The method is implemented using classical J2 plasticity theory as well as the pressure-dependent Drucker-Prager material model. We show that an efficient treatment of interface variables can improve algorithmic performance and provide a consistent approach for coupling non-conforming meshes in inelasticity.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.464-467
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• 1995

Autonomous Mobile Robot(AMR) is a field of study which is under active research along with rapid development of the engineering technology. The main reasons for the high interest in AMR are because of its ability to change work space freely and its capability to replace human being for difficult and dangerous jobs. Also the fact that AMR provides a variety of research fields, such as path planning, navigation algorithm, sensor fusion, image processing, and controller design is part of the reason for its popularity. But relatively few researches are concerned with controller. So in this paper, a control strategy of mobile robot with nonholonomic constraint for tracking ordered discontinuous motion is proposed. The proposed control strategy has been designed as a state feedback shape to allow the AMR to obtain continuous velocity and track the path which is composed of discontinuous motions. In order to design such controller, 3 states have been reduced to 2 states through coordinate projection. These ideas are tested for validity through simulation and simulation result is compared with experiments result.