• 제어로봇시스템학회지
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• 제1권1호
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• pp.16-16
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• 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
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• 제1권1호
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• pp.16-20
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• 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.

• 한국지반환경공학회 논문집
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• 제19권2호
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• pp.37-44
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• 2018

자갈궤도는 그 유연성으로 인해 전세계적으로 널리 쓰이고 있다. 그러나 소성 변형이 발생하여 궤도선형오차가 증가하므로 지속적인 유지관리가 필요하며, 최근 통과톤수, 열차중량, 속도 증가 등으로 유지보수 비용과 횟수가 증가하고 있다. 자갈궤도 강성이 거동의 중요 지표로 알려져, 소형동평판시험기(LWD)를 레일과 침목이 체결된 상태에서 실험을 하여 궤도 겉보기 강성을 측정하였다. 예비실험을 통하여 현장시험법을 결정하였고, 측정한 겉보기 강성과 TQI(Track Quality Index), 유지관리지표와의 상관성을 분석한 결과, 평균강성이 증가함에 따라 TQI와 탬핑연장이 지수함수적으로 감소함을 밝혔다. 이로부터 겉보기 강성을 궤도상태지표로써 사용가능함을 제시하였고, 향후 정량적인 유지관리지표를 개발할 수 있을 것으로 기대된다.

• Wind and Structures
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• 제35권4호
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• pp.287-296
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• 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
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• 한국석유지질학회 1998년도 제5차 학술발표회 발표논문집
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• pp.48-55
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• 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.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 춘계학술대회 학술발표 논문집
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• pp.259-262
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• 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.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2008년 영문 학술대회
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• pp.364-370
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• 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
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• 제33권2호
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• pp.209-224
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• 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.

• 한국도서관정보학회지
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• 제45권3호
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• pp.441-462
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• 2014

본 연구는 최근 문헌정보학에 대두되고 있는 정보코먼스 및 러닝코먼스에 대한 개념과 차이점을 분석하고 일본 공공도서관의 러닝코먼스화 사례연구를 통하여 공공도서관의 러닝코먼스화 방향에 관한 시사점을 얻고자 하였다. 러닝코먼스화 분석을 위해 러닝코먼스의 구성요소를 이론적으로 정리해보고, 공공도서관에 적합한 분석의 틀을 설계하고 일본의 공공도서관에 대한 사례분석을 실시하였다. 사례 분석의 결과, 도서관이 정보의 도구에 의해 주도된 정보 코먼스를 넘어 본연의 학습기능으로 돌아가고 있음을 보여주고 있다. 또한 러닝코먼스를 지향하는 공공도서관이 해야 할 미래 과제에 대한 시사점을 던져주고 있다.

• 천문학회보
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• 제37권1호
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• pp.98.2-98.2
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• 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.