• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1130-1138
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• 2008

A mobile robot should be designed to navigate with collision avoidance capability in the real world, coping with the changing environment flexibly. In this paper, a novel navigation method is proposed for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.

• The Pure and Applied Mathematics
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• v.21 no.4
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• pp.271-279
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• 2014

Let $T_l$ be a transformation on the interval [-1, 1] defined by Chebyshev polynomial of degree $l(l{\geq}2)$, i.e., $T_l(cos{\theta})=cos(l{\theta})$. In this paper, we consider $T_l$ as a measure preserving transformation on [-1, 1] with an invariant measure $\frac{1}{\sqrt[\pi]{1-x^2}}dx$. We show that If f(x) is a nonconstant step function with finite k-discontinuity points with k < l-1, then it satisfies the Central Limit Theorem. We also give an explicit method how to check whether it satisfies the Central Limit Theorem or not in the cases of general step functions with finite discontinuity points.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1993.10a
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• pp.248-255
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• 1993

Recently, due to the increasing attention to the structural safety under uncertain environments, many researches on the structural reliability analysis have been peformed. Some useful methods are available to evaluate performance reliability of structures with explicit limit states. However, for large structures, in which structural behaviors can be analyzed with finite element models and the limit states are only expressed implicitly, Monte-Carlo simulation method has been mainly used. However, Monte-Carlo simulation method spends too much computational time on repetitive structural analysis. Many alternative methods are suggested to reduce the computational work required in Monte-Carlo simulation. Response surface method is widely used to improve the efficiency of structural reliability analysis. Response surface method is based on the concept of approximating simple polynomial function of basic random variables for the limit state which is not easily expressed in explicit forms of design random variables. The response surface method has simple algorithm. However, the accuracy of results highly depends on how properly the stochastic characteristics of the original limit state has been represented by approximated function, In this study, an improved response surface method is proposed in which the sampling points for creating response surface are modified to represent the failure surface more adequately and the combined use of a linear response surface function and Rackwitz-Fiessler method has been employed. The method is found to be more effective and efficient than previous response surface methods. In addition more consistent convergence is achieved, Accuracy of the proposed method has been investigated through example.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.40 no.1
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• pp.165-172
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• 2017

Machines are physically or chemically degenerated by continuous usage. One of the results of this degeneration is the process mean shift. Under the process mean shift, production cost, failure cost and quality loss function cost are increasing continuously. Therefore a periodic preventive resetting the process is necessary. We suppose that the wear level is observable. In this case, process mean shift problem has similar characteristics to the maintenance policy model. In the previous studies, process mean shift problem has been studied in several fields such as 'Tool wear limit', 'Canning Process' and 'Quality Loss Function' separately or partially integrated form. This paper proposes an integrated cost model which involves production cost by the material, failure cost by the nonconforming items, quality loss function cost by the deviation between the quality characteristics from the target value and resetting the process cost. We expand this process mean shift problem a little more by dealing the process variance as a function, not a constant value. We suggested a multiplier function model to the process variance according to the analysis result with practical data. We adopted two-side specification to our model. The initial process mean is generally set somewhat above the lower specification. The objective function is total integrated costs per unit wear and independent variables are wear limit and initial setting process mean. The optimum is derived from numerical analysis because the integral form of the objective function is not possible. A numerical example is presented.

• Journal of the Korean Society of Propulsion Engineers
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• v.20 no.6
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• pp.46-53
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• 2016

It is required to predict a limit cycle amplitude controlled by system's nonlinear behavior as well as an eigen-frequency and initial growth rate of instabilities under the linear motions, in order to fully understand combustion instabilities in a lean premixed gas turbine combustor. Special focus of the current work is placed on the limit cycle amplitude prediction using flame describing function(FDF) where the ratio of a heat release fluctuation to a given flow perturbation is expressed as a function of frequency and amplitude. In this study, the CFD modeling work based on RANS is carried out to obtain FDF, which makes that the nonlinear thermo-acoustic model is successfully developed for predicting the limit cycle amplitude of the combustion instability.

• Wind and Structures
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• v.27 no.3
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• pp.149-161
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• 2018

A reliability analysis method is proposed in this paper based on the maximum entropy (MaxEnt) principle in which constraints are specified in terms of the fractional moments instead of integer moments. Then a multiplicative dimensional reduction method (M-DRM) is introduced to compute the fractional moments. The method is applicable for both explicit and implicit limit state functions of complex structures. After two examples illustrate the accuracy and efficiency of this method in comparison to the Monte Carlo simulation (MCS), the method is used to analyze the flutter reliability of suspension bridge. The results show that the empirical formula method in which the limit state function is explicitly represented as a function of variables is only a too conservative estimate for flutter reliability analysis but is not accurate adequately. So it is not suitable for reliability analysis of bridge flutter. The actual flutter reliability analysis should be conducted based on a finite element method in which limit state function is implicitly represented as a function of variables. The proposed M-DRM provide an alternate and efficient way to analyze a much more complicated flutter reliability of long span suspension bridge.

• Journal of Ocean Engineering and Technology
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• v.32 no.3
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• pp.208-212
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• 2018

In this paper, we focus on planing avoidance control for a supercavitating underwater vehicle based on the potential function method. The planing margin can be calculated using the relative position between the cavity center and vehicle center at the end of the vehicle. The planing margin was transformed into a limit variable such as the pitch angle and yaw angle limit. To prevent the vehicle attitude from exceeding the limit variable, a potential function based planing envelope protection method was proposed. The planing envelope protection system overrides commands from the tracking controller, and the vehicle attitude converges to a desired angle, in which the potential function is minimized. Numerical simulations were performed to analyze the physical feasibility and performance of the proposed method. The results showed that the proposed methods eliminated the planing, allowing the vehicle to follow tracking commands.

• Bulletin of the Korean Mathematical Society
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• v.50 no.1
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• pp.343-351
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• 2013

In this paper, the dynamics on a transcendental entire semigroup G is investigated. We show the possible values of any limit function of G in strictly wandering domains and Fatou components, respectively. Moreover, if G is of class $\mathfrak{B}$, for any $z$ in a Fatou domain, there does not exist a sequence $\{g_k\}$ of G such that $g_k(z){\rightarrow}{\infty}$ as $k{\rightarrow}{\infty}$.

• Communications of the Korean Mathematical Society
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• v.24 no.2
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• pp.187-195
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• 2009

We investigate the boundary values of the holomorphic mean Lipschitz function. In fact, we prove that the admissible limit exists at every boundary point of the unit ball for the holomorphic mean Lipschitz functions under some assumptions on the Lipschitz order. Moreover, we get embedding theorems of holomorphic mean Lipschitz spaces into Hardy spaces or into the Bloch space on the unit ball in $\mathbb{C}_n$.

• Journal of the Korean Data and Information Science Society
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• v.10 no.1
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• pp.47-56
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• 1999

In this paper, for whole line ($0,\;{\infty}$), the estimation procedure of mean residual life function using product-limit estimator is studied with asymptotic properties. And also, the small sample properties of proposed estimator of MRLF are investigated through Monte Carlo study and compared with Kaplan-Meier type estimator.