• ICROS
• /
• v.1 no.1
• /
• pp.16-16
• /
• 1995

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• Transactions on Control, Automation and Systems Engineering
• /
• v.1 no.1
• /
• pp.16-20
• /
• 1999

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• Journal of the Korean GEO-environmental Society
• /
• v.19 no.2
• /
• pp.37-44
• /
• 2018

Ballasted track has been widely used due to its flexibility. However, the plastic deformation of ballasted track causes the evolution of track geometrical errors, and hence it requires continuous maintenance; increase in number of trains, weight, and speed expedites maintenance frequency and cost as well. Ballast stiffness is well-known as an indicator of design and maintenance. In this regard, this paper aims to suggest the method to measure ballast track stiffness using light-weight deflectometer (LWD) and thus verify its applicability as a maintenance measure. Preliminary field tests determined simple field testing protocol to measure track stiffness. The apparent ballast stiffness by LWD shows good corelation with TQI (Track Quality Index) and maintenance length. That is, as average of apparent stiffness increase, TQI and tamping length decrease exponentially. Therefore, apparent stiffness can be used as an index for ballast condition assessment.

• Wind and Structures
• /
• v.35 no.4
• /
• pp.287-296
• /
• 2022

Analyzing the typhoon wind hazards is crucial to determine the extreme wind load on engineering structures in the typhoon prone region. In essence, the typhoon hazard analysis is a high-dimensional problem with randomness arising from the typhoon genesis, environmental variables and the boundary layer wind field. This study suggests a dimension reduction approach by decoupling the original typhoon hazard analysis into two stages. At the first stage, the randomness of the typhoon genesis and environmental variables are propagated through the typhoon track model and intensity model into the randomness of the key typhoon parameters. At the second stage, the probability distribution information of the key typhoon parameters, combined with the randomness of the boundary layer wind field, could be used to estimate the extreme wind hazard. The Chinese southeast coastline is taken as an example to demonstrate the adequacy and efficiency of the suggested decoupling approach.

• 한국석유지질학회:학술대회논문집
• /
• spring
• /
• pp.48-55
• /
• 1998

The Pohang Basin is located in Pohang City and adjacent coastal areas in the southeastern Korea. It has a sequence of 900 meters of Neogene marine sediments (Yeonil Group) while offshore basins in the East Sea, e.g., the Ulleng basin, is over 10 Km in thickness. An understanding of the marine Yeonil Group in the Pohang Basin may provide insights into the hydrocarbon potential of the offshore East Sea regions. Heulandite, smectite, dolomite, kaolinite and opal-CT are commonly found as diagenetic minerals in the Yeonil Group. Among these minerals, heulandite occurs as a main cement only in sandstones consisting of volcanic matrix, Smectite composition and diagenetic mineral facies such as heulandite and opal-CT may reflect that the Yeonil Group has undergone shallow burial, temperatures below about 60 degrees. This suggest that sandstones have experiened weak diagenetic alteration. In order to reconstruct the thermal history of the basin, apatite fission-track analysis was carried out. Aapparent apatite fission-track ages (AFTAs) exhibit a broader range of ages from 238 Ma to 27 Ma with mean track lengths in the range of $15.24\pm8.0$ micrometers, indicating that these samples had undergone significant predepositional thermal alteration. The Triassic to Cretaceous AFTAs seem In represent the timing of cooling of their sedimentary sources. Late Cretaceous mean AFTA $(79.0\pm8.0 Ma)$ on the Neogene Yeonil Group indicates that the Yeonil Group had not been buried deeper than 2km since its deposition. The organic matters of. the Pohang Basin remain in the immature stage of thermal evolution because burial depth and temperature were not sufficient enough for maturation even in the deep section of the basin.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1997.11a
• /
• pp.259-262
• /
• 1997

This paper presents a visual servoing of RV-M2 robot manipulators to track and grasp moving object, using pruned dynamic recurrent neural networks(DRNN). The object is stationary in the robot work space and the robot is tracking and grasping the object by using CCD camera mounted on the end-effector. In order to optimize the structure of DRNN, we decide the node whether delete or add, by mutation probability, first in case of delete node, the node which have minimum sum of input weight is actually deleted, and then in case of add node, the weight is connected according to the number of case which added node can reach the other nodes. Using evolutionary programming(EP) that search the struture and weight of the DRNN, and evolution strategies(ES) which train the weight of neuron, we pruned the net structure of DRNN. We applied the DRNN to the Visual Servoing of a robot manipulators to control position and orientation of end-effector, and the validity and effectiveness of the pro osed control scheme will be verified by computer simulations.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2008.03a
• /
• pp.364-370
• /
• 2008

Spinning detonations propagating in a circular tube were numerically investigated with a one-step irreversible reaction model governed by Arrhenius kinetics. The time evolution of the simulation results was utilized to reveal the propagation mechanism of single-headed spinning detonation. The track angle of soot record on the tube wall was numerically reproduced with various levels of activation energy, and the simulated unique angle was the same as that of the previous reports. The maximum pressure histories of the shock front on the tube wall showed stable and unstable pitch modes for the lower and higher activation energies, respectively. The shock front shapes and the pressure profiles on the tube wall clarified the mechanisms of two modes. The maximum pressure history in the stable pitch remained nearly constant, and the single Mach leg existing on the shock front rotated at a constant speed. The high and low frequency pressure oscillations appeared in the unstable pitch due to the generation and decay of complex Mach interaction on the shock front shape. The high frequency oscillation was self-induced because the intensity of the transverse wave was changed during propagation in one cycle. The high frequency behavior was not always the same for each cycle, and therefore the low frequency oscillation was also induced in the pressure history.

• Steel and Composite Structures
• /
• v.33 no.2
• /
• pp.209-224
• /
• 2019

This paper describes a study of the mapping relationship between the vertical deformation of bridge structures and rail deformation of high-speed railway, taking the interlayer interactions of the bridge subgrade CRTS II ballastless slab track system (HSRBST) into account. The differential equations and natural boundary conditions of the mapping relationship between the vertical deformation of bridge structures and rail deformation were deduced according to the principle of stationary potential energy. Then an analytical model for such relationship was proposed. Both the analytical method proposed in this paper and the finite element numerical method were used to calculate the rail deformations under three typical deformations of bridge structures and the evolution of rail geometry under these circumstances was analyzed. It was shown that numerical and analytical calculation results are well agreed with each other, demonstrating the effectiveness of the analytical model proposed in this paper. The mapping coefficient between bridge structure deformation and rail deformation showed a nonlinear increase with increasing amplitude of the bridge structure deformation. The rail deformation showed an obvious "following feature"; with the increase of bridge span and fastener stiffness, the curve of rail deformation became gentler, the track irregularity wavelength became longer, and the performance of the rail at following the bridge structure deformation was stronger.

• Journal of Korean Library and Information Science Society
• /
• v.45 no.3
• /
• pp.441-462
• /
• 2014

The purpose of this study is to analyze the concept of information commons and learning commons that has emerged in recent years, and point out the difference between the two concepts, as well as its implications for public libraries, which get lessons learned from learning commons at Japanese public libraries. To track its evolution to learning commons, the theoretical component of learning commons was analyzed. Based on the reference, a research framework for the case study of learning commons was developed. With IT technology diffusion, libraries have become information commons. However, the main mission of libraries should basically remain as learning. Because of this, libraries which function as information commons should go back to being learning commons, which are primarily places of learning. This research shows that libraries should stress its original basic mission which is learning, beyond being information commons in the Japanese library.

• The Bulletin of The Korean Astronomical Society
• /
• v.37 no.1
• /
• pp.98.2-98.2
• /
• 2012

It has been speculated that there could be dormant or extinct comets in the list of known asteroids, which appear asteroidal but are icy bodies originating from outer solar system. However, little is known about the existence of such objects not only because of their complicated chaotic orbits but also because of the limited physical and chemical information. AKARI infrared space mission gave us brand-new albedo catalog of Near Earth Objects, which clues in a better understanding of dark asteroids using both albedo data and dynamical models could be possible. Dark Asteroids with low () albedos are thought to be dormant or extinct comet candidates due to its similar albedo values with comet nucleus. In addition to this, dynamical models indicate that candidate cometary objects have Tisserand parameter. Based on both observational and dynamical criteria, we obtained 196 dark asteroids lists. We numerically integrated backward their orbits using the N-body code Mercury6 (Chambers 1999) during 10 million years to track the past orbits of bodies. We picked out 14 comet candidates that show abnormal orbits in the past by analyzing orbital elements among 196 candidates. From the dynamical evolution simulations, we finally obtained 3 most-likely comet candidates; 944Hidalgo,2006QL39,andP/SidingSpring.Twoofthemareconsistent with past research; P/Siding Spring is a known comet and 944 Hidalgo is a most-likely comet candidate in asteroid populations. Since they all have stable orbits in nowadays although they have unstable orbit in the past, we could conclude that they may be not active comets but dormant or extinct comets.