• Journal of Advanced Marine Engineering and Technology
• /
• 제39권2호
• /
• pp.159-165
• /
• 2015

Motion control schemes are generally classified into three categories (point stabilization, trajectory tracking, and path following). This paper deals with the problem which is associated with the initial deployment of a group of Unmanned Surface Vehicle (USVs) and corresponding point stabilization. To keep the formation of a group of USVs, it is necessary to set the relationship between each vehicle. A forcing functions such as potential fields are designed to keep the formation and a graph Laplacian is used to represent the connectivity between vehicle. In case of fixed topology of the graph representing the communication between the vehicles, the graph Laplacian is assumed constant. However the graph topologies are allowed to change as the vehicles move, and the system dynamics become discontinuous in nature because the graph Laplacian changes as time passes. To check the stability in the stage of deployment, the system is modeled with Kronecker algebra notation. Filippov's calculus of differential equations with discontinuous right hand sides is then used to formally characterize the behavior of USVs. The stability of the system is analyzed with Lyapunov's stability theory and LaSalle's invariance principle, and the validity is shown by checking the variation of state norm.

• 한국산학기술학회논문지
• /
• 제10권10호
• /
• pp.2634-2638
• /
• 2009

슬라이딩 모드를 가진 가변 구조 제어(VSC)에서의 불연속적인 제어 법칙은 실제로 바람직하지 못한 떨림 현상을 발생시킨다. 본 논문에서는 이러한 문제점을 해결하기 위해 신경망 슬라이딩 곡면을 갖는 VSC 구조를 제안한다. 불연속 제어 법칙을 해결하기 위해 경계층을 가진 신경망 슬라이딩 곡면이 도입된다. 제안된 제어기는 보편적인 VSC의 떨림 현상 문제를 해결할 수 있다. 제안된 제어 구조의 효과는 시뮬레이션을 통해 증명하였다.

• 제어로봇시스템학회논문지
• /
• 제9권7호
• /
• pp.507-514
• /
• 2003

Inspection and shape measurement of three-dimensional objects are widely needed in industries for quality monitoring and control. Recently the shape measurement using interferometric principle is found to be a successful methodology among other visual or optical technologies. Especially, the measuring method using wavelength scanning interferometer(WSI) has a great advantage in comparison with other conventional jnterferometric methods in that the absolute distance from the reference surface can be directly obtained from the amount of jnterferometric phase change. However, the measurement methods using WSI proposed by other researchers have low measurement resolution so far because they can't measure fractional phase change. To avoid this shortcoming we propose a new algorithm in this paper, which can obtain a small amount of even fractional phase change by sinusoidal function fitting. To evaluate the effectiveness of the proposed sinusoidal function fitting algorithm, a series of measuring experiments are conducted for discontinuously shaped specimens which have various height. The proposed algorithm shows much more enhanced measurement resolution than other existing conventional algorithms such as zero crossing algorithm and Fourier transform algorithm.

• 한국소성가공학회:학술대회논문집
• /
• 한국소성가공학회 2005년도 춘계학술대회 논문집
• /
• pp.43-46
• /
• 2005

Micro molding technology is a promising mass production technology for polymer based microstructures. Mass production technologies such as the micro injection/compression molding, hot embossing, and micro reaction molding are already in use. In the present study, we have developed a numerical analysis system to simulate three-dimensional non-isothermal cavity filling for hot embossing, with a special emphasis on the free surface capturing. Precise free surface capturing has been successfully accomplished with the level set method, which is solved by means of the Runge-Kutta discontinuous Galerkin (RKDG) method. The RKDG method turns out to be excellent from the viewpoint of both numerical stability and accuracy of volume conservation. The Stokes equations are solved by the stabilized finite element method using the equal order tri-linear interpolation function. To prevent possible numerical oscillation in temperature Held we employ the streamline upwind Petrov-Galerkin (SUPG) method. With the developed code we investigated the detailed change of free surface shape in time during the mold filling. In the filling simulation of a simple rectangular cavity with repeating protruded parts, we find out that filling patterns are significantly influenced by the geometric characteristics such as the thickness of base plate and the aspect ratio and pitch of repeating microstructures. The numerical analysis system enables us to understand the basic flow and material deformation taking place during the cavity filling stage in microstructure fabrications.

• 한국지진공학회:학술대회논문집
• /
• 한국지진공학회 2003년도 춘계 학술발표회논문집
• /
• pp.50-58
• /
• 2003

We have developed a locally variable time-step scheme matching with discontinuous grids in the flute-difference method for the efficient simulation of seismic wave propagation. The first-order velocity-stress formulations are used to obtain the spatial derivatives using finite-difference operators on a staggered grid. A three-times coarser grid in the high-velocity region compared with the grid in the low-velocity region is used to avoid spatial oversampling. Temporal steps corresponding to the spatial sampling ratio between both regions are determined based on proper stability criteria. The wavefield in the margin of the region with smaller time-step are linearly interpolated in time using the values calculated in the region with larger one. The accuracy of the proposed scheme is tested through comparisons with analytic solutions and conventional finite-difference scheme with constant grid spacing and time step. The use of the locally variable time-step scheme with discontinuous grids results in remarkable saving of the computation time and memory requirement with dependency of the efficiency on the simulation model. This implies that ground motion for a realistic velocity structures including near-surface sediments can be modeled to high frequency (several Hz) without requiring severe computer memory

• 한국생산제조학회지
• /
• 제8권4호
• /
• pp.61-67
• /
• 1999

In turning the chip may be produced in the form of continuous chip or discontinuous one. Continuous chips produced at high speed machining may hit the newly cut workpiece surface and adversely affect the appearance of the surface finish and may interfere with tool and sometimes induce tool fracture. In this study relationship between AE signal and chip form was experimentally investigated, The experimental results show that types of chip form are possible to be classified from the AE signal using fuzzy logic.

• 한국터널공학회:학술대회논문집
• /
• 한국터널공학회 2005년도 학술발표회 논문집
• /
• pp.348-358
• /
• 2005

Although the evaluation of the mechanical properties and behavior of discontinuous rock masses is very important for the design of underground openings, it has always been considered the most difficult problem. One of the difficulties in describing the rock mass behavior is assigning the appropriate constitutive model. This limitation may be overcome with the progress in discrete element software such as PFC, which does not need the user to prescribe a constitutive model for rock mass. Instead, the micro-scale properties of the intact rock and joints are defined and the macro-scale response results from those properties and the geometry of the problem. In this paper, a $30m{\times}30m{\times}30m$ jointed rock mass of road tunnel site was analyzed. A discrete fracture network was developed from the joint geometry obtained from core logging and surface survey. Using the discontinuities geometry from the DFN model, PFC simulations were carried out, starting with the intact rock and systematically adding the joints and the stress-strain response was recorded for each case. With the stress-strain response curves, the mechanical properties of discontinuous rock masses were determined and compared to the results of empirical methods such as RMR, Q and GSI. The values of Young's modulus, Poisson's ratio and peak strength are almost similar from PFC model and Empirical methods. As expected, the presence of joints had a pronounced effect on mechanical properties of the rock mass. More importantly, the mechanical response of the PFC model was not determined by a user specified constitutive model.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.625-628
• /
• 2005

For precise micro-grooving and surface machining, ultrasonic cyclic elliptical cutting is proposed using two parallel piezoelectric actuators. The piezoelectric actuators are energized by sinusoidal voltages of varying phase which is essenstial to generating elliptical cutting. Experimental setup is composed of ultrasonic motor, single crystal diamond cutting tool, and precise motorized xyz stage. It is confirmed experimentally that the cutting performance, in terms of the cutting force, the burr formation, and the discontinuous chip formation is improved remarkably by applying ultrasonic elliptical vibration cutting.

• 한국군사과학기술학회지
• /
• 제5권1호
• /
• pp.37-44
• /
• 2002

An echo signal in the active sonar using a high frequency is mainly formed of a specular reflection from the surface of an object along with several equivalent scatter inside, which are characterized by the spatial distribution of the highlights on the object. This thesis proposed a model in which the synthesized echo signal can be expressed as a distributed simulated target. The proposed model is obtained after composing a signal based on the movement of highlights relative to the aspect angle from the discontinuous point of an external hull with a strong reflection from a spheroid underwater target. Because the proposed algorithm includes a synthesis of the signals related to the highlight spacial distribution, it can be applied to all kinds of systems used at a short range, and similar results were obtained to the actual measured results of all reflected signals in previous literature referring to the irregular factor application of an envelope.

• 한국수자원학회:학술대회논문집
• /
• 한국수자원학회 2021년도 학술발표회
• /
• pp.253-253
• /
• 2021

천수방정식에 대한 불연속 갤러킨 기법 (DG) 모형은 주로 양해법 기반으로 개발되어 적용되어 왔으나, 바닥마찰항의 처리, 과도한 CFL 조건 등의 불리한 점이 지적되어 왔으며, 이로 인하여 실제 적용에서 FDM, FEM 등 다른 고전적인 수치기법과 비교하여 경쟁력을 갖기 어려웠다. 이에 대한 대안으로써, 최근, 불연속 갤러킨 기법에 대한 음해법 기반의 모형이 연구되고 있으며, 다소 복잡한 알고리즘에도 불구하고 적용이 확대되고 있다. 또한, 널리 알려진 바와 같이, 천수방정식의 실제 하도에 대한 적용에 있어 문제점 중 하나는 나비에-스토크스 방정식으로부터 유도할 때 사용된 정수압 가정으로 인하여, 하도의 계단과 같은 불연속 지형에 적용이 용이하지 않다는 것이다. 본 연구에서는 기존에 개발된 불연속 갤러킨 음해법에 불연속 지형의 해석을 위한 표면경사법(surface gradient method)을 결합하여 이러한 문제에 효과적으로 대응할 수 있는 기법을 제시하였다. 개발된 모형의 검증을 위하여, 제방 등 하도 구조물 위의 장주기 조석흐름, 홍수파, 계단 등을 포함하는 댐 붕괴류 모의에 적용하고 실용적인 기능성을 검증하였다. 향후 구조물이 많은 국내 하천에 적용이 가능할 것으로 사료된다.