• Steel and Composite Structures
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• v.46 no.4
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• pp.451-469
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• 2023

The use of precast hollow-core slabs (PCHCS) in civil construction has been increasing due to the speed of execution and reduction in the weight of flooring systems. However, in the literature there are no studies that present a finite element model (FEM) to predict the load-slip relationship behavior of pushout tests, considering headed stud shear connector and PCHCS placed at the upper flange of the downstand steel profile. Thus, the present paper aims to develop a FEM, which is based on tests to fill this gap. For this task, geometrical non-linear analyses are carried out in the ABAQUS software. The FEM is calibrated by sensitivity analyses, considering different types of analysis, the friction coefficient at the steel-concrete interface, as well as the constitutive model of the headed stud shear connector. Subsequently, a parametric study is performed to assess the influence of the number of connector lines, type of filling and height of the PCHCS. The results are compared with analytical models that predict the headed stud resistance. In total, 158 finite element models are processed. It was concluded that the dynamic implicit analysis (quasi-static) showed better convergence of the equilibrium trajectory when compared to the static analysis, such as arc-length method. The friction coefficient value of 0.5 was indicated to predict the load-slip relationship behavior of all models investigated. The headed stud shear connector rupture was verified for the constitutive model capable of representing the fracture in the stress-strain relationship. Regarding the number of connector lines, there was an average increase of 108% in the resistance of the structure for models with two lines of connectors compared to the use of only one. The type of filling of the hollow core slab that presented the best results was the partial filling. Finally, the greater the height of the PCHCS, the greater the resistance of the headed stud.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• Spatial Information Research
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• v.13 no.3 s.34
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• pp.211-220
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• 2005

To understand present road state quickly and correctly, The Ministry of Construction and Transportation pushing on with their plan that they offer digital images to user with position information in the HMS(Highway Management System). For that plan, the Korea Institute of Construction Technology developed a highway photologging vehicle which could acquire two high resolution color CCD images with fixed distance on the way to run. In this paper, especially, development of image aquisition S/W and synchronization device are described. And also their performance and trajectory accuracy are investigated together. As a result, it could be hon that the newly developed highway photologging vehicle is suitable to the road image acquisition work far the HMS.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.9-16
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• 2004

In this paper, we propose a robust controller for robot manipulators with parametric uncertainties using feature-based visual servo control system. In order to improve trajectory error of the robot manipulators due to the parameter variation, integral action is included in the dynamic control of part in inner subroutine of the control system. This integral action also reduces feature error in the steady state. The stability analysis of the closed-loop system is shown by the Lyapunov method. The effectiveness of the proposed method is shown by simulation and experimental results on the 5 link robot manipulator with two degree of freedom.

• Journal of Navigation and Port Research
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• v.39 no.5
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• pp.377-384
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• 2015

The interpolation of missing AIS data can be used for recovering the lost data of a ship's state which is then able to produce useful information for VTS stations or other ships. Previous research has introduced some interpolating methods however there are some problems with regard to missing AIS data. This paper proposes one new method which includes linear interpolation, cubic Hermit interpolation and an identification mechanism to overcome some of those limitations, first AIS data regarding ship position, COG, SOG and HDG is divided into separate time series, then the characteristic of the missing data is investigated into through using an identification mechanism, an appropriate interpolation is selected to fit all the time series which matches the characteristics. Numerical experiments are carried out using real AIS data to validate the algorithm of this approach and the results are compared with the previous method, after which the actual missing area is suggested to be interpolated by the proposed method. The interpolation results show this approach can be applied well in practice.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.10
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• pp.127-133
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• 2004

This paper described development of the portable ground control system(PGCS) for unmanned aerial vehicle. In the design of GCS, it upload mission planning that aircraft has to perform and has to receive position, attitude, state, navigation information all about the aircraft. Aircraft states and trajectory are displayed using this system on line. The PGCS is composed of commercial notebook computer, RF modem for communication between aircraft and PGCS, input/output board, remote control receiver, switches and lamps. Performance of this system is verified by flight test of small unmanned aerial vehicle.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.211-218
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• 1999

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot’s trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. In this paper, we solve the inverse kinematic problem of a binary parallel robot manipulator using neural network and test the validity of this structure using some arbitrary points m the workspace of the robot manipulator. As a result, we can show that the neural network can find the nearest feasible points and corresponding binary states of the joints of the robot manipulator

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.5
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• pp.1133-1138
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• 2012

In the paper, design of nonlinear sliding surfaces which are based on optimal control is studied, The state trajectory by the input of optimal control was obtained by Frobenius theorem and matrix decomposition method, was set the nonlinear sliding surfaces of the system. The states is maintained to sliding surfaces from initial states. As the result, robustness of the system can be guaranteed throughout an entire response of the system starting form the initial time instance, the uncertainty and external disturbance that can occur during the reaching time is removed, the problem of large control input was solved, and setting the sliding surfaces optimal path was able to reduce the tracking time. The validity of the proposed control scheme is shown in computer simulation for inverted pendulum.

• Proceedings of the Korean Information Science Society Conference
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• 2007.06c
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• pp.319-323
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• 2007

실세계의 여러 문제들은 마르코프 결정 문제(Markov decision problem, MDP)로 표현될 수 있고, 이 MDP는 모델이 알려진 경우에는 평가치 반복(value iteration) 이나 모델이 알려지지 않은 경우에도 강화 학습(reinforcement learning) 알고리즘 등을 사용하여 풀 수 있다. 하지만 이들 알고리즘들은 시간 복잡도가 높아 크기가 큰 실세계 문제에 적용하기 쉽지 않아, MDP를 계층적으로 분할하거나, 여러 단계를 묶어서 수행하는 등의 시간적 추상화(temporal abstraction) 방법이 제안되어 왔다. 이러한 시간적 추상화 방법들의 문제점으로는 시간적 추상화의 디자인에 따라 MDP의 풀이 성능이 크게 달라질 수 있으며, 많은 경우 사용자가 이 디자인을 직접 제공해야 한다는 것들이 있다. 최근 사용자의 간섭이 필요 없이 자동적으로 시간적 추상화를 만드는 방법들이 제안된 바 있으나, 이들 방법들 역시 결과물에 대한 이론적인 성능 보장(performance guarantee)은 제공하지 못하고 있다. 본 연구에서는 이러한 문제점을 해결하기 위해 MDP의 구조와 그 풀이 성능을 연관짓는 복잡도 척도에 대해 살펴본다. 이를 위해 MDP로부터 얻은 상태 경로 그래프(state trajectory graph)의 위상적 성질들을 여러 네트워크 척도(network measurements) 들을 이용하여 측정하고, 이와 MDP의 풀이 성능과의 관계를 다양한 상황에 대해 실험적, 이론적으로 분석해 보았다.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.2
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• pp.159-165
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• 2015

Motion control schemes are generally classified into three categories (point stabilization, trajectory tracking, and path following). This paper deals with the problem which is associated with the initial deployment of a group of Unmanned Surface Vehicle (USVs) and corresponding point stabilization. To keep the formation of a group of USVs, it is necessary to set the relationship between each vehicle. A forcing functions such as potential fields are designed to keep the formation and a graph Laplacian is used to represent the connectivity between vehicle. In case of fixed topology of the graph representing the communication between the vehicles, the graph Laplacian is assumed constant. However the graph topologies are allowed to change as the vehicles move, and the system dynamics become discontinuous in nature because the graph Laplacian changes as time passes. To check the stability in the stage of deployment, the system is modeled with Kronecker algebra notation. Filippov's calculus of differential equations with discontinuous right hand sides is then used to formally characterize the behavior of USVs. The stability of the system is analyzed with Lyapunov's stability theory and LaSalle's invariance principle, and the validity is shown by checking the variation of state norm.