• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.59-64
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• 2005

In the paper, we propose an intelligent walking algorithm of biped robot on the uneven ground and a posture stabilization algorithm against external forces. At first, the mechanics and the control system of biped robot that can walk on the uneven ground and stand external forces are designed. We propose obstacle hurdling, incline walking. and going-up stairs algorithm by using infrared sensors and FSR sensors. Also, posture stabilization algorithm against external forces is designed using FSR sensors. Infrared sensors ate used to detect the obstacles in the working environment and FSR sensors are used to obtain the ZMP of biped robot. The developed biped robot can be controlled by the remote control system using vision system and RF module. The experimental results show that the biped robot Performs obstacle avoidance, obstacle hurdling, walking on the inclined plane, and going up stairs using the proposed walking and stabilization algorithm.

• Journal of Navigation and Port Research
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• v.33 no.8
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• pp.505-511
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• 2009

Vessels on anchoring are frequently dragged due to the increased area of wind pressure by enlargement of ship's size and sudden gust of winds in recent years. In the view point of the ship's navigators, the proper measurements corresponding to the dragging of anchor should be taken into account concerned about the time for the occurring of dragging by the external forces such as wind and wave, the pattern and speed of dragging and the possibility of collisions with any other vessels or obstacles. In this paper, it was examined the actual dragging anchor in T.S. HANBADA due to the wind and waves. From this case, it was found the critical external forces by which she was begun to dragged comparing the force by the wind, frictional resistance, drifting force and ship motion moment with the holding power. Also, through the analysis of the dragging pattern, it was known the alteration range of heading angle, swinging width and dragging speed etc.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.56 no.2
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• pp.83-93
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• 2020

In fisheries, the importance of designing efficient fish cages is being emphasized as aquaculture has become more production than capture fishing. Particularly, the gravity cage system is one of the popular fish cage system in Korea. Currently, gravity cages of various shapes and sizes are being widely designed and installed in offshore and inland seas. The cage is subject to external forces, such as currents and waves, and the shape of the structure and tension on the ropes changes according to these external forces. Thus, it is important to accurately calculate these dynamic behavior, including the external forces and tension on the structure during the design stage. In this study, three types of cage systems with an equal internal volume of 8000 ㎥ were analyzed using mass-spring models and their behavior was interpreted through simulations. These simulations were used to analyze the behavior and tension of the ropes in response to currents and waves to aid in the selection of individual cage sizes for a given total volume. The numerical calculation results indicate that depending on the flow rate, the most resistant system is System 1, which has eight strays, and System 2 and System 3 have 69.4% and 54.8% of the resistance of System 1. Further, total resistance increased as the number of cages increased for all flow rates.

• Computers and Concrete
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• v.6 no.1
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• pp.41-57
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• 2009

This paper presents the details of a novel external prestressing technique for strengthening of concrete members. In the proposed technique, transfer of external force is in shear mode on the end block thus creating a complex stress distribution and the required transverse prestressing force is lesser compared to conventional techniques. Steel brackets are provided on either side of the end block for transferring external prestressing force and these are connected to the anchor blocks by expansion type anchor bolts. In order to validate the technique, an experimental investigation has been carried out on post-tensioned end blocks. Performance of the end blocks have been studied for design, cracking and ultimate loads. Slip and slope of steel bracket have been recorded at various stages during the experiment. Finite element analysis has been carried out by simulating the test conditions and the responses have been compared. From the analysis, it has been observed that the computed slope and slip of the steel bracket are in good agreement with the corresponding experimental observations. A simplified analytical model has been proposed to compute load-deformation of the loaded steel bracket with respect to the end block. Yield and ultimate loads have been arrived at based on force/moment equilibrium equations at critical sections. Deformation analysis has been carried out based on the assumption that the ratio of axial deformation to vertical deformation of anchor bolt would follow the same ratio at the corresponding forces such as yield and ultimate. It is observed that the computed forces, slip and slopes are in good agreement with the corresponding experimental observations.

• Journal of Internet Computing and Services
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• v.15 no.1
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• pp.171-178
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• 2014

This paper presents dynamic modelling of a virtual object in augmented reality environments when external forces are applied to the object in real-time fashion. In order to simulate a natural behavior of the object we employ the theory of Newtonian physics to construct motion equation of the object according to the varying external forces applied to the AR object. In dynamic modelling process, the physical interaction is taken placed between the augmented object and the physical object such as a haptic input device and the external forces are transferred to the object. The intrinsic properties of the augmented object are either rigid or elastically deformable (non-rigid) model. In case of the rigid object, the dynamic motion of the object is simulated when the augmented object is collided with by the haptic stick by considering linear momentum or angular momentum. In the case of the non-rigid object, the physics-based simulation approach is adopted since the elastically deformable models respond in a natural way to the external or internal forces and constraints. Depending on the characteristics of force caused by a user through a haptic interface and model's intrinsic properties, the virtual elastic object in AR is deformed naturally. In the simulation, we exploit standard mass-spring damper differential equation so called Newton's second law of motion to model deformable objects. From the experiments, we can successfully visualize the behavior of a virtual objects in AR based on the theorem of physics when the haptic device interact with the rigid or non-rigid virtual object.

• Proceedings of the KWS Conference
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• 1997.05a
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• pp.107-111
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• 1997

In this paper distribution of welding residual stress on the double fillet welded joint which exits and not exits root gap, i.e. full penetration and partial penetration is investigated by two dimensional cunduct and thermal elasto-plastic analysis. And stress distribution on notch-tip of the structure where welding residual stress regarded as initial stress and then external load is added is also investigated.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.36.6-36
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• 2002

$\textbullet$ Human motion consists of continual impact with environment $\textbullet$ External impulse model of kicking motion $\textbullet$ Models of aerodynamic forces $\textbullet$ Analysis of external impulse according to posture $\textbullet$ Simulation of a soccer ball trajectory

• Journal of the Society of Naval Architects of Korea
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• v.50 no.3
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• pp.175-181
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• 2013

This paper presents a simulation for passenger ship evacuation considering the inclination of a ship. In order to describe a passenger's behavior in an evacuation situation, a passenger is modeled as a rigid body which translates in the horizontal plane and rotates along the vertical axis. The position and rotation angle of a passenger are calculated by solving the dynamic equations of motions at each time step. To calculate inclined angle of damaged ship, static equilibrium equations of damaged ship are derived using "added weight method". Using these equations, physical external forces due to the inclination of a ship act on the body of each passenger. The crowd behavior of the passenger is considered as the flock behavior, a form of collective behavior of a large number of interacting passengers with a common group objective. Passengers can also avoid an obstacle due to penalty forces acting on their body. With the passenger model and forces acting on its body, the test problems in International Maritime Organization, Maritime Safety Committee/Circulation 1238(IMO MSC/Circ.1238) are implemented and the effects of ship's inclination on the evacuation time are confirmed.

• Wind and Structures
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• v.18 no.1
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• pp.1-20
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• 2014

Modern design of long suspension bridges must satisfy at the same time spanning very long distances and limiting their response against several external loads, even if of high intensity. Structural Control, with the solutions it provides, can offer a reliable contribution to limit internal forces and deformations in structural elements when extreme events occur. This positive aspect is very interesting when the dimensions of the structure are large. Herein, an updated numerical model of an existing suspension bridge is developed in a commercial finite element work frame, starting from original data. This model is used to reevaluate an optimization procedure for a passive control strategy, already proven effective with a simplified model of the buffeting wind forces. Such optimization procedure, previously implemented with a quasi-steady model of the buffeting excitation, is here reevaluated adopting a more refined version of the wind-structure interaction forces in which wind actions are applied on the towers and the cables considering drag forces only. For the deck a more refined formulation, based on the use of indicial functions, is adopted to reflect coupling with the bridge orientation and motion. It is shown that there is no variation of the previously identified optimal passive configuration.

• Geomechanics and Engineering
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• v.16 no.1
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• pp.11-19
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• 2018

Propagation of the generalized Rayleigh waves in an elastic half-space covered by an elastic layer for different initial stress combinations and imperfect contact conditions is investigated. Three-dimensional linearized theory of elastic waves in initially stressed bodies in plane-strain state is employed, the corresponding dispersion equation is derived and an algorithm is developed for numerical solution to this equation. Numerical results on the influence of the initial stress patterns and on the influence of the contact conditions are presented and discussed. The case where the external forces are "follower forces" is considered as well. These investigations provide some theoretical foundations for the study of the near-surface waves propagating in layered mechanical systems and can be successfully used for estimation of the degree of the bonded defects between layers, fault characteristics and study of the behavior of seismic surface waves propagating under the bottom of the oceans.