• 한국정보전자통신기술학회논문지
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• 제10권6호
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• pp.587-593
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• 2017

본 논문에서는 로봇제어분야의 이론적인 내용에 대해서 실제 실습교육이 가능한 환경을 구축하는데 따른 애로를 해결하기 위한 하나의 방안을 제시하기 위해서 세그웨이 구조의 양바퀴 이동로봇을 레고(LEGO) 블록을 사용하여 제작하고, 제작된 로봇이 로봇공학 교육의 동적시스템이나 비선형 시스템과 같은 고급제어 이론기술을 적용하는 실습용으로 활용하는 것에 대한 타당성을 제시하기 위하여 로봇이 주행 중에 중력의 변화에 대해서도 균형을 유지하면서 안정된 자세를 취하도록 하는 자세제어에 대한 실험을 수행하고 그 결과를 제시하였다. 로봇의 자세제어 주행 실험은 평면과 경사로에서 각각 수행하였으며, 평면 주행실험에서는 장애물을 인식하고 회피하는 실험을 병행하여 그 결과도 함께 제시함으로써 로봇공학의 고급제어 이론의 실습교육용으로 레고(LEGO) 블록을 이용해서 제작한 로봇이 효과적인 실습도구로 활용될 수 있음을 확인하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.306-309
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• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• 한국산업융합학회 논문집
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• 제22권2호
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• 국제강구조저널
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• 제18권4호
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• pp.1325-1335
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• 2018

This study dealt with investigating the seismic performance of the smart and shape memory alloy (SMA) and magnets plus rubber-spring (MRS) dampers and their effects on the seismic resistance of multiple-span simply supported bridges. The rubber springs in the MRS dampers were pre-compressed. For this aim, a set of experimental works was performed together with developing nonlinear analytical models to investigate dynamic responses of the bridges subjected to earthquakes. Fragility analysis and probabilistic assessment were conducted to assess the seismic performance for the overall bridge system. Fragility curves were then generated for each model and were compared with those of as-built. Results showed dampers could increase the seismic capacity of bridges. Furthermore, from system fragility curves, use of damper models reduced the seismic vulnerability in comparison to the as-built bridge model. Although the SMA damper showed the best seismic performance, the MRS damper was the most appropriate one for the bridge in that the combination of magnetic friction and pre-compressed rubber springs was cheaper than the shape memory alloy, and had the similar capability of the damper.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.367-375
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• 2020

This paper presents an integrated analysis about dynamic performance of a Floating Offshore Wind Turbine (FOWT) OC4 DeepCwind with semi-submersible platform under real sea environment. The emphasis of this paper is to investigate how the wave mean drift force and slow-drift wave excitation load (Quadratic transfer function, namely QTF) influence the platform motions, mooring line tension and tower base bending moments. Second order potential theory is being used for computing linear and nonlinear wave effects, including first order wave force, mean drift force and slow-drift excitation loads. Morison model is utilized to account the viscous effect from fluid. This approach considers floating wind turbine as an integrated coupled system. Two time-domain solvers, SIMA (SIMO/RIFLEX/AERODYN) and FAST are being chosen to analyze the global response of the integrated coupled system under small, moderate and severe sea condition. Results show that second order mean drift force and slow-drift force will drift the floater away along wave propagation direction. At the same time, slow-drift force has larger effect than mean drift force. Also tension of the mooring line at fairlead and tower base loads are increased accordingly in all sea conditions under investigation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.301-307
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• 1998

The goal of this paper is to describe an advanced method of the fault diagnois using Control Theory with reference to a crack detection, a new way to localize the crack position under infulence of the plant disturbance and white measurement noise on a rotating shaft. As a first step, the shaft is physically modelled with a finite element method as usual and the dynamic mathematical model is derived from it using the Hamilton - principle and in this way the system is modelled by various subsystems. The equations of motion with crack is established by adaption of the local stiffness change through breathing and gaping from the crack to the equation of motion with un-damaged shaft. This is supposed to be regarded as reference for the given system. Based on the fictitious model of the time behaviour induced from vibration phenomena measured at the bearings, a nonlinear State Observer is designed in order to detect the crack on the shaft. This is elementary NL- observer(EOB). Using the elementary observer, an Estimator(Observer) Bank is established and arranged at the certain position on the shaft. In case a crack is found and its position is known, the procedure for the estimation of the depth is going to begin.

• Earthquakes and Structures
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• 제25권6호
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• pp.443-454
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• 2023

Steel shear walls are used to strengthen steel and concrete structures. One such system is Partial Attached Steel Shear Walls (PASSW), which are only connected to frame beams. This system offers both structural and architectural advantages. This study first calibrated the numerical model of RC frames with and without PASSW using an experimental sample. The seismic performance of the RC frame was evaluated by 30 non-linear static analyses, which considered stiffness, ductility, lateral strength, and energy dissipation, to investigate the effect of PASSW width and column axial load. Based on numerical results and a curve fitting technique, a lateral stiffness equation was developed for frames equipped with PASSW. The effect of the shear wall location on the concrete frame was evaluated through eight analyses. Nonlinear dynamic analysis was performed to investigate the effect of the shear wall on maximum frame displacement using three earthquake records. The results revealed that if PASSW is designed with appropriate stiffness, it can increase the energy dissipation and ductility of the frame by 2 and 1.2 times, respectively. The stiffness and strength of the frame are greatly influenced by PASSW, while axial force has the most significant negative impact on energy dissipation. Furthermore, the location of PASSW does not affect the frame's behavior, and it is possible to have large openings in the frame bay.

• 한국GIS학회:학술대회논문집
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• 한국GIS학회 1995년도 추계학술대회 발표요약문
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• pp.9-21
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• 1995

계획지원체계는 도시성장관리수단으로 간선시설 시설확장을 이용하는 우리의 능력을 증진시킨다. 이연구는 그러한 계획지원체계 (PEGASUS: 공간도시체계의 생성 및 분석을 위한 계획환경)의 개발계획의 일환으로서 상수도 시설확장모델의 개발에 관한 연구이다. 이 연구는 토지이용과 개발은 간선시설의 수요를 유발하고 간선시설은 토지가 이용되고 개발되는 방향에 영향을 미친다는 전제하에서 시작된다. 상수도 시설 확장은 2 방법으로 해결될 수 있다: 1) 최적통제이론, 2) MINLP 방법. 이 방법들은 각각장단점을 가지고 있다. 이 연구에서는 동적 시설 확장 크기 및 시기를 동시에 결정할 수 있는 MINLP방법이 채택이 되었다. 상수도 관망해석모델과 동적 상수도 시설 최적화 모델이 상수도계획과 토지이용계획의 동적 연관관계를 해결할 수 있다. 상수도 관망해석모델은 생성된 관경의 적정성을 분석하며 동적 상수도 시설 최적화모델은 변화하는 상수도 수요량을 충족할 수 있는 대안을 작성한다. 표준화기법에 의한 비용편익분석은 가장 경제적인 대안을 선정한다. GIS는 필요 상수도 수요량을 산정하고 시설확장모델의 결과를 이용자에게 보여주는데 훌륭한 역활을 할 수 있다.

• 한국구조물진단유지관리공학회 논문집
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• 제14권6호
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• pp.238-245
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• 2010

연쇄붕괴는 구조부재의 국부적인 파괴가 주변부재로 이어지고 이 파괴가 또 다른 주변부재의 파괴로 이어지는 붕괴를 의미한다. 현재 국내에서는 연쇄붕괴 방지를 위한 설계지침이 마련되어 있지 않은 형편이다. 특히 구조설계 시 연쇄붕괴 저항성능의 평가를 할 필요가 있을 때 연쇄붕괴 방법 및 절차에 대한 기준이 없어 엔지니어들이 많은 어려움을 느끼고 있다. 따라서, 본 연구에서는 연쇄붕괴 저항성능평가에 가장 많이 사용되는 GSA 가이드라인을 이용하여 정적 및 동적해석에 의해 평가하는 방법 및 절차를 소개하고, 철근콘크리트 모멘트저항골조에 대해 연쇄붕괴 성능평가를 수행하여 각 해석방법에 의한 결과를 비교, 분석하였다. 연구의 결과 국내 설계기준에 의해 내진 설계된 해석모델의 철근콘크리트 모멘트저항골조 시스템은 DCR 값이 2를 초과하여 연쇄붕괴에 충분한 대체하중 경로를 제공하지 못하며, 연쇄붕괴를 고려하기 위해서는 추가적인 보강이 고려되어야 할 것으로 판단된다. 또한, 선형동적해석과 선형정적해석의 수직 처짐 및 DCR 값을 비교한 결과, 정적해석에 의한 평가결과보다 보수적인 결과를 나타내어 실용적인 방법으로서 현재 제안되고 있는 하중조합의 2배를 고려하는 동적계수를 고려한 선형정적해석의 사용이 가능할 것으로 판단된다.

• International Journal of Aeronautical and Space Sciences
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• 제11권1호
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• pp.10-18
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• 2010

The purpose of this paper deals with direct multiple-shooting method (DMS) to resolve helicopter maneuver problems of helicopters. The maneuver problem is transformed into nonlinear problems and solved DMS technique. The DMS method is easy in handling constraints and it has large convergence radius compared to other strategies. When parameterized with piecewise constant controls, the problems become most effectively tractable because the search direction is easily estimated by solving the structured Karush-Kuhn-Tucker (KKT) system. However, generally the computation of function, gradients and Hessian matrices has considerably time-consuming for complex system such as helicopter. This study focused on the approximation of the KKT system using the matrix exponential and its integrals. The propose method is validated by solving optimal control problems for the linear system where the KKT system is exactly expressed with the matrix exponential and its integrals. The trajectory tracking problem of various maneuvers like bob up, sidestep near hovering flight speed and hurdle hop, slalom, transient turn, acceleration and deceleration are analyzed to investigate the effects of algorithmic details. The results show the matrix exponential approach to compute gradients and the Hessian matrix is most efficient among the implemented methods when combined with the mixed time integration method for the system dynamics. The analyses with the proposed method show good convergence and capability of tracking the prescribed trajectory. Therefore, it can be used to solve critical areas of helicopter flight dynamic problems.