• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1238-1245
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• 2014

This paper proposes an RBFN-based adaptive tracking controller for an electrically driven mobile robot with parametric uncertainties and external disturbances. A mobile robot model considered in this paper includes all models of the robot body and actuators with uncertain kinematic and dynamic parameters, and uncertain frictions and external disturbances. The proposed controller consists of an RBFN(Radial Basis Function Network) and a robust adaptive controller. The presented RBFN is used to approximate unknown nonlinear robot dynamic functions. The proposed controller is adjusted by the adaptation laws obtained through the Lyapunov stability analysis. The proposed control scheme does not a priori need the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. Also, nominal parameter values are not required in the controller. The global stability of the closed-loop robot control system is guaranteed using the Lyapunov stability theory. Simulation results show the validity and robustness of the proposed control scheme.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.153-160
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• 2001

A general procedure for the design sensitivity analysis of structural dynamic problems has been presented in frame of the FRF-based substructuring formulation. For a system response function, the proposed method gives a parametric design sensitivity formula in terms of the partial derivatives of the connection element properties and the transfer matrix of the subsystems. The derived design sensitivity formula is applied to an engine mount system. An interior noise problem in the passenger car is analyzed using the FRF-based substructuring method and the proposed formulation is adopted to study the response variations with respect to the dynamic characteristics of the engine mounts and the bushes. To obtain the FRFs, a finite element model is built for the engine mount structures, and test data is used for the trimmed body including cabin cavity. The comparison of sensitivities derived by the proposed method and the finite difference method shows that the proposed method is efficient and accurate. The proposed sensitivity analysis method indicates effectively the most sensitive location to the interior noise among the engine mounts and the bushes.

• Transactions of Materials Processing
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• v.14 no.1 s.73
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• pp.21-28
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• 2005

This paper is concerned with the quantitative effect of design parameters on a stamped part of the auto-body. The considered parameters in this paper are the blank holding force, the draw-bead force, the blank size which greatly affect the metal flow during stamping. The indicators of formability selected in this paper are failures such as tearing, wrinkling and the amount of springback. The stamping process of the front side inner member is simulated using the finite element analysis changing the design parameters. The numerical results demonstrate that the blank holding force cannot control the local metal flow during forming although it controls the overall metal flow. The modification of the initial blank size considering the punch opening line ensures the local wrinkling and reduces the amount of springback after forming. The restraining force of draw-bead controls the metal flow in the local area and reduces the amount of excess metal. It is noted that the parametric study of design parameters such as blank holding force, the blank size and the draw-bead are very important in the process design of the complicated member.

• Geomechanics and Engineering
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• v.20 no.4
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• pp.359-370
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• 2020

Prestressed ground anchors are important structural elements in geotechnical engineering. Despite their widespread usage, the design process is often significantly simplified. One of the major drawbacks of commonly used design methods is the assumption that skin friction is mobilized uniformly along an anchor's fixed length, one consequence of which is that a progressive failure phenomenon is neglected. The following paper introduces an alternative design approach - a computer algorithm employing the load-transfer method. The method is modified for the analysis of anchors and combined with a procedure for the derivation of load-transfer functions based on commonly available laboratory tests. The load-transfer function is divided into a pre-failure (hardening) and a post-failure (softening) segment. In this way, an aspect of non-linear stress-strain soil behavior is incorporated into the algorithm. The influence of post-grouting in terms of radial stress update, diameter enlargement, and grout consolidation is included. The axial stiffness of the anchor body is not held constant. Instead, it gradually decreases as a direct consequence of tensile cracks spreading in the grout material. An analysis of the program's operation is performed via a series of parametric studies in which the influence of governing parameters is investigated. Finally, two case studies concerning three investigation anchor load tests are presented.

• Journal of the Korean Society for Railway
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• v.12 no.6
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• pp.989-995
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• 2009

Short-time Fourier transforms (STFT) are useful for analyzing signals with harmonics that vary with time. If the variation of the harmonics with time is smooth, such as in kinematic vibrations in vehicles, then it is possible to improve the STFT using order spectra and correlation analysis. In this paper, it is shown how correlation analysis can be performed when the speed signal is noisy or unknown and then it is shown how order spectra become simple to compute after this analysis. The results are illustrated by an analysis of axle and car body vibrations in the prototype high-speed train, HSR-350x.

• Korean Journal of Computational Design and Engineering
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• v.11 no.2
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• pp.128-137
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• 2006

In this paper, a CAD/CAE integrated optimal design system is developed, in which design and analysis process is automated using CAD/CAE softwares for a complex model in which the modeling by parametric feature is not easy to apply. Unigraphics is used for CAD modeling, in which the process is automated by using UG/Knowledge Fusion for modeling itself and UG/Open API function for the other functions respectively. Structural analyses are also carried out automatically by ANSYS using the imported parasolid model. The developed system is applied for the PLS(Plasma Lighting System) consisting of more than 20 components, which is a next generation illumination system that is used to illuminate stadium or outdoor advertizing panel. The analyses include responses by static, wind and impact loads. As a result of analyses, tilt assembly, which is a link between upper and lower body, is found to be the most critical component bearing higher stresses. Experiment is conducted using MTS to validate the analysis result. Optimization is carried out using the software Visual DOC for the tilt assembly to minimize material volume while maintaining allowable stress level. As a result of optimization, the maximum stress is reduced by 57% from the existing design, though the material volume has increased by 21%.

• Journal of the Korea Computer Graphics Society
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• v.8 no.4
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• pp.1-7
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• 2002

This paper presents a new approach for modeling human limbs shape from 3D scan data. Based on the cylindrical structure of limbs, the overall shape is approximated with a set of ellipsoids through ellipsoid fitting and interpolation of fit-ellipsoids. Then, the smooth domain surface representing the coarse shape is generated as the envelope surface of ellipsoidal sweep, and the fine details are reconstructed by constructing parametric displacement function on the domain surface. For fast calculation, the envelope surface is approximated with ellipse sweep surface, and points on the reconstructed surface are mapped onto the corresponding ellipsoid. We demonstrate the effectiveness of our approach for skeleton-driven body deformation.

• Wind and Structures
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• v.18 no.3
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• pp.295-320
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• 2014

The characteristics of amplitudes and power spectra of X axial, Y axial, and RZ axial (i.e., body axis) wind forces on a 492 m high-rise building with a section varying along height in typical wind directions are studied via a rigid model wind tunnel test of pressure measurement. Then the corresponding mathematical expressions of power spectra of X axial (across-wind), Y axial (along-wind) and torsional wind forces in $315^{\circ}$ wind directions are proposed. The investigation shows that the mathematical expressions of wind force spectra of the main structure in across-wind and torsional directions can be constructed by the superimposition of an modified wind spectrum function and a peak function caused by turbulent flow and vortex shedding, respectively. While that in along-wind direction can only be constructed by the former and is similar to wind spectrum. Moreover, the fitted parameters of the wind load spectra of each measurement level of altitude are summarized, and the unified parametric results are obtained. The comparisons of the first three order generalized force spectra show that the proposed mathematical expressions accord with the experimental results well.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.4
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• pp.439-449
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• 2018

In this paper, multi-objective optimization of a multi-bubble pressure cabin in the underwater glider with Blended-Wing-Body (BWB) is carried out using Kriging and the Non-dominated Sorting Genetic Algorithm (NSGA-II). Two objective functions are considered: buoyancy-weight ratio and internal volume. Multi-bubble pressure cabin has a strong compressive capacity, and makes full use of the fuselage space. Parametric modeling of the multi-bubble pressure cabin structure is automatic generated using UG secondary development. Finite Element Analysis (FEA) is employed to study the structural performance using the commercial software ANSYS. The weight of the primary structure is determined from the volume of the Finite Element Structure (FES). The stress limit is taken into account as the constraint condition. Finally, Technique for Ordering Preferences by Similarity to Ideal Solution (TOPSIS) method is used to find some trade-off optimum design points from all non-dominated optimum design points represented by the Pareto fronts. The best solution is compared with the initial design results to prove the efficiency and applicability of this optimization method.

• Journal of the Ergonomics Society of Korea
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• v.29 no.4
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• pp.639-646
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• 2010

The APAM's quantitative effectiveness and comparative study in preventing and treating pressure ulcer has not been sufficiently evaluated mainly because of uncertainty of pressure load input and lack of interpretation of dynamic perfusion recovery characteristics of soft tissue. The purpose of this paper was to quantify and analyze the alternating pressure characteristics of APAM as a preventive measure for pressure ulcers. To quantify the alternating load to human body, we introduced alternating pressure profile concept and developed parametric model of the profile. Regarding pressure level and cycle time, 3 global and 7 local periodic parameters were used to define the profile such as light, standard, typical and heavy duty profile shape. Pressure impulse ratio of light duty is the lowest but pressure fluctuation is significantly high. For the same duty shape, contact conditions are changed with alternating cycle time and more dramatically in shorter alternating cycle time conditions. We can conclude that if we use shorter alternating cycle time on APAM's operation we can get more positive effects regarding to inflated contact time condition. We proposed the quantitative methods on tissue viability study of external loading by simultaneous measurement of interface pressure and tissue perfusion with proper alternating pressure profile conditions.