• Journal of Drive and Control
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• v.14 no.3
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• pp.40-49
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• 2017

This study presents an online estimation of an excavator's rotational inertia by using recursive least square with forgetting. It is difficult to measure rotational inertia in real systems. Against this background, online estimation of rotational inertia is essential for improving safety and automation of construction equipment such as excavators because changes in inertial parameter impact dynamic characteristics. Regarding an excavator, rotational inertia for swing motion may change significantly according to working posture and digging conditions. Hence, rotational inertia estimation by predicting swing motion is critical for enhancing working safety and automation. Swing velocity and damping coefficient were used for rotational inertia estimation in this study. Updating rules are proposed for enhancing convergence performance by using the damping coefficient and forgetting factors. The proposed estimation algorithm uses three forgetting factors to estimate time-varying rotational inertia, damping coefficient, and torque with different variation rates. Rotational inertia in a typical working scenario was considered for reasonable performance evaluation. Three simulations were conducted by considering several digging conditions. Presented estimation results reveal the proposed estimation scheme is effective for estimating varying rotational inertia of the excavator.

• Ocean Science Journal
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• v.42 no.1
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• pp.19-30
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• 2007

This study analyzed the current meter records along with wind records for over 500 days obtained in the Kangjin Bay, South Sea, Korea spanning from March, 2003 to Nov. 2005. Various analyses include descriptive statistics, harmonic analysis of tidal constituents, spectra and coherence, the principal axis, progressive vector diagrams. These analyses can illustrate the response of residual current to the local wind resulting in the net drift with rotational motion. Current speed ranges from -28 to 33 (cm/sec), with standard deviations from 6.5 to 12.9 (cm/sec). The harmonic analyses of the tidal current show the average form number, 0.12 with semi-diurnal type and the rectilinear orientation of the major axis toward northeast. The magnitudes of the semi-major range from 12.7 to 17.7 (cm/sec) for M2 harmonics, while for S2 harmonics, they range from 6.3 to 10.4 (cm/sec), respectively. In the spectral and coherency analysis of residual current and wind, a periodicity of 13.6 (day) is found to be most important in both records and plays an important role in the net drift of residual current. The progressive vector diagrams of residual current and wind show two types of behaviors such as unidirectional drift and rotational motion. It was also found that 3 % rule holds approximately to drive 1 (cm/sec) drift current by 30 (cm/sec) wind speed based on the correlation of the semi-major axis of wind and residual current.

• Special Issue of the Society of Naval Architects of Korea
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• 2005.06a
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• pp.15-21
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• 2005

In this paper, the procedure of generation and application of nonlinear wave loads for structural design of large container carrier was described. Ship motion and wave load was calculated by modified strip method. Pressure acting on wetted hull surface was calculated taking into account of relative hull motion to the wave. Design wave height was determined based on the most sensitive wave length considering rule vertical wave bending moment at head sea or fellowing sea condition. And the enforced heeling angie concept which was introduced by Germanischer Lloyd (GL) classification had been used to simulate high torsional moment in way of fore hold parts similar to actual sea going condition. Using wave load generated from this dynamic load calculation, FE analyses were performed. With this result, yielding, buckling, hatch diagonal deflection and fatigue strength of hatch corners were reviewed based on the requirement of GL classification. The results of FE analysis show good compatibility with GL classification.

• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.679-684
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• 1989

In this paper, we describe the PTP notion of robot manipulators by neural networks. The PTP motion requires the inverse kinematic redline and the joint trajectory generation algorithm. We use the multi-layered Perceptron neural networks and the Error Back Propagation(EBP) learning rule for inverse kinematic problems. Varying the number of hidden layers and the neurons of each hidden layer, we investigate the performance of the neural networks. Increasing the number of learning sweeps, we also discuss the performance of the neural networks. We propose a method for solving the inverse kinematic problems by adding the error compensation neural networks(ECNN). And, we implement the neural networks proposed by Grossberg et al. for automatic trajectory generation and discuss the problems in detail. Applying the neural networks to the current trajectory generation problems, we can refute the computation time for trajectory generation.

• Physical Therapy Korea
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• v.2 no.2
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• pp.108-118
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• 1995

The techniques of joint mobilization and traction are used to improve joint mobility or to decrease pain by restoring accessory movements to the shoulder joints and thus allowing full, nonrestriced, pain-free range of motion. In the glenohumeral joint, the humeral head would be the convex surface, while the glenoid fossa would be the concave surface. The medial end of the clavicle is concave anterioposteriorly and convex superioinferiorly, the articular surface of the sternum is reciprocally curved. The acromioclavicular joint is a plane synovial joint between a small convex facet on lateral end of the clavicle and a small concave facet on the acromion of the scapula. The relationship between the shape of articulating joint surface and the direction of gliding is defined by the Convex-Concave Rule. If the concave joint surface is moving on a stationary convex surface, gliding occur in the same direction as the rolling motion. If the convex surface is moving on a stationary concave surface, gliding will occur in an opposite direction to rolling. Hypomobile shoulder joints are treated be using a gliding technique.

• Proceedings of the Korea Concrete Institute Conference
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• 1992.10a
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• pp.140-154
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• 1992

The objective of the research stated here was aimed at providing the information needed to establish the Korean Seismic Design Code Recommendations and Guides for precast concrete (P.C) large panel apartment buildings. This was accomplished by investigation and analysis of the response of P.C large panel structures subjected to shaking table excitation simulating earthquake ground motion. one of the test specimens used was 1/3-scaled 3-story box P.C model provided by Sam-Hwan Camus Corporation. The 4m $\times$4m shaking table was used to simulate the earthquake ground motion. the employed input accelerogram was the one recorded as Taft N21E component and the peak ground acceleration(PGA) was scaled depending on the desired level of seismic severity and the time according to dynamic similitude rule. Based on results obtained from shaking table test of this P.C model, the following conclusions were drawn . (1) As far as test specimen is concerned, the seismic safety factors turns out to be 7~8. (2)P.C model has damping ratio of about8% which is twice larger than in-situ R.C. structure. And (3)this model has global displacement ductility ratio of 2~3 through the energy dissipation by opening and sliding of joints.

• Journal of Navigation and Port Research
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• v.45 no.4
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• pp.212-223
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• 2021

The objective of this study was to evaluate structural safety according to environmental conditions acting on the piping of offshore structure and the motion of the structure. As for conditions acting on the piping, the maximum and minimum temperature conditions were used to analyze the design conditions of N2 generator. The motion of the structure was calculated and applied according to the DNV(Det Norske Veritas) rule. Each condition was combined and a total of 26 load combinations were constructed according to thermal load, motion load, and presence or absence of pipe support. Analysis was performed using a commercial program MSC Patran/Nastran. Thermal analysis was performed by applying the steady-state method, Sol 153. Thermal-structural coupled analysis was performed using Sol 101, a linear-static method. As a result of the analysis, the stress tended to increase when temperature inside the pipe was lower in Set 1 and Set 2, when temperature was higher in Set 3, and when the temperature difference between the inside and outside of the pipe in Set 4 was increased. However, the sum of stresses in the condition with only temperature load and the condition with only the kinetic load did not show the same value as the stress in the composite load condition of two loads. That is, the influence of the motion load varied depending on the direction of motion, the arrangement of pipes, and the position of the support. Therefore, it is necessary to comprehensively consider the size and direction of the motion load acting on the piping, the arrangement of the piping, and the location of the pipe supports during the design of piping.

• Geophysics and Geophysical Exploration
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• v.15 no.2
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• pp.57-65
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• 2012

Various numerical methods in simulation of seismic wave propagation have been developed. Recently an innovative numerical method called as the Spectral Element Method (SEM) has been developed and used in wave propagation in 3-D elastic media. The SEM that easily implements the free surface of topography combines the flexibility of a finite element method with the accuracy of a spectral method. It is generally used a weak formulation of the equation of motion which are solved on a mesh of hexahedral elements based on the Gauss-Lobatto-Legendre integration rule. Variational formulations of velocity-stress motion are newly modified in order to implement ADE-PML (Auxiliary Differential Equation of Perfectly Matched Layer) in wave propagation in 3-D elastic media, because a general weak formulation has a difficulty in adapting CFS (Complex Frequency Shifted) PML (Perfectly Matched Layer). SEM of Velocity-Stress motion having ADE-PML that is very efficient in absorbing waves reflected from finite boundary is verified with simulation of 1-D and 3-D wave propagation.

• Coupled systems mechanics
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• v.7 no.6
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• pp.649-668
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• 2018

In this paper, we present a numerical model for fluid-structure interaction between structure built of porous media and acoustic fluid, which provides both pore pressure inside porous media and hydrodynamic pressures and hydrodynamic forces exerted on the upstream face of the structure in an unified manner and simplifies fluid-structure interaction problems. The first original feature of the proposed model concerns the structure built of saturated porous medium whose response is obtained with coupled discrete beam lattice model, which is based on Voronoi cell representation with cohesive links as linear elastic Timoshenko beam finite elements. The motion of the pore fluid is governed by Darcy's law, and the coupling between the solid phase and the pore fluid is introduced in the model through Biot's porous media theory. The pore pressure field is discretized with CST (Constant Strain Triangle) finite elements, which coincide with Delaunay triangles. By exploiting Hammer quadrature rule for numerical integration on CST elements, and duality property between Voronoi diagram and Delaunay triangulation, the numerical implementation of the coupling results with an additional pore pressure degree of freedom placed at each node of a Timoshenko beam finite element. The second original point of the model concerns the motion of the outside fluid which is modeled with mixed displacement/pressure based formulation. The chosen finite element representations of the structure response and the outside fluid motion ensures for the structure and fluid finite elements to be connected directly at the common nodes at the fluid-structure interface, because they share both the displacement and the pressure degrees of freedom. Numerical simulations presented in this paper show an excellent agreement between the numerically obtained results and the analytical solutions.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.2C
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• pp.192-199
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• 2008

In ultra-wideband (UWB) systems, conventionally, the synchronization is to align time phases of a locally generated template and any of multipath components to within an allowable range. However, the synchronization with a low-power multipath component could incur significant performance degradation in receiver operation (e.g., detection) after the synchronization. On the other hand, the synchronization with a high-power multipath component can improve the performance in receiver operation after the synchronization. Generally, the first one among multipath components has the largest power. Thus, the synchronization with the first path component can make better performance than that with low-power component in receiver operation after the synchronization, Based on which, we first propose an optimal decision rule based on a maximum likelihood (ML) approach, and then, develope a simpler suboptimal decision rule for selecting the first path component. Simulation results show that the system has good demodulation performance, which uses new synchronization definition and the proposed decision rules have better performance than that of the conventional decision rule in UWB multipath channels. Between macroblocks in the previous and the current frame. On video samples with high motion and scene change cases, experimental results show that (1) the proposed algorithm adapts the encoded bitstream to limited channel capacity, while existing algorithms abruptly excess the limit bit rate; (2) the proposed algorithm improves picture quality with $0.4{\sim}0.9$dB in average.