• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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• pp.120-131
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• 2004

In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; ⅰ) an one-leg phase, ⅱ) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.

• Journal of Ocean Engineering and Technology
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• v.5 no.2
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• pp.51-57
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• 1991

불규칙 해상에서 선박의 큰 횡요각의 예측이 중요한 과제로 대두 되고 있다. 본 논문에서는 통계적 해석에 의한 이의 예측 방법을 제시한다. 즉 주어진 비 선형 횡요운동 방정식으로 부터 배의 횡요각과 각속도의 결합 확률 밀도 함수를 구하는 방법을 도입하고 각종 계수들의 값의 변화에 따른 예측 결과를 다른 논문에서 제시한 시뮬레이션 결과와 비교하였다.

• Journal of applied mathematics & informatics
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• v.16 no.1_2
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• pp.231-242
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• 2004

The effect of toxicants on ecological systems is an important issue from mathematical and experimental points of view. Here we have studied dynamical model of a single-species population-toxicant system. Two cases are studied: constant exogeneous input of toxicant and rapidly fluctuating random exogeneous input of toxicant into the environment. The dynamical behaviour of the system is analyzed by using deterministic linearized technique, Lyapunov method and stochastic linearization on the assumption that exogeneous input of toxicant into the environment behaves like ‘Coloured noise’.

• Journal of Electrical Engineering and Technology
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• v.1 no.2
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• pp.200-210
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• 2006

This paper proposes the motion generation method in which the movement of the 3-links leg subsystem in constrained to slider-link and a singular posture can be easily avoided. This method is the realization of jumping control moving in a vertical direction, which mimics a cat's behavior. To consider the movement from the point of the constraint mechanical system, a robotics system for realizing the motion will change its configuration according to the position. The effectiveness of the proposed scheme is illustrated by simulation and experimental results.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.10a
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• pp.440-447
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• 2000

In order to evaluate the cost effectiveness of seismic isolation for bridges in low and moderate seismic region, a method of calculation minimum life-cycle cost of seismic-isolated bridges under specific acceleration level and soil condition is developed. Input ground motion is modeled as spectral density function compatible with response spectrum for combination of acceleration coefficient and site coefficient. Failure probability is calculated by spectrum analysis based on random vibration theories to simplify repetitive calculations in the minimization procedure. Ductility of piers and its effects on cost effectiveness are considered by stochastic linearization method. Cost function and cost effectiveness index are defined by taking into consideration the characteristics of seismic isolated bridges. Limit states for calculation of failure probability are defined on superstructure, isolator and pier, respectively. The results of example design and analysis show that seismic isolation is more cost-effective in low and moderate seismic region than in high seismic region.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.8 no.2
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• pp.185-196
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• 1988

In this study, a method of nonlinear dynamic analysis of suspension bridges subjected to random wind loads is pre.sented. The nonlinearity considered is the one due to the interaction between the motion of the bridge girder and the tertsion variation of the main cables. The equation of motion is formulated using a continuum approach. The coupling between the vertical and torsional motions are included in the analysis. The equation of motion is solved by using the mode superposition method. The analysis is carried out in the frequency domain utilizing the stochastic linearization technique on to the modal equations. In the linearization procedure, the nonlinear terms are approximated as linear ones with constant terms. The verification of the method has been performed on a case with four modal degrees of freedom. Example analyses are carried out on two suspension bridges for various wind speeds and wind force parameters. Numerical results indicate that, by including the nonlinearity into the analysis, the dynamic responses of the bridges, particularly in the vertical direction, change considerably.

• Journal of Korean Association for Spatial Structures
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• v.1 no.1 s.1
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• pp.109-115
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• 2001

Composite materials also known as fiber reinforced plastics have been developed and used in many engineering applications due to their outstanding mechanical properties. Laminated plates as structural components that are made of in composite material are widely used. Therefore, nonlinear response of laminated composite plates modeled with finite elements and excited by stochastic loading is studied. The classical laminated plate theory is used to account for the variation of strains through the thickness for modeling laminated thin plates. Approximate nonlinear random vibration analysis is performed using the method of equivalent linearization to account for material non-linearity.

• Structural Engineering and Mechanics
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• v.66 no.1
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• pp.75-84
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• 2018

This study presents the reliability-based analysis of nonlinear structures using the analytical fragility curves excited by random earthquake loads. The stochastic method of ground motion simulation is combined with the random vibration theory to compute structural failure probability. The formulation of structural failure probability using random vibration theory, based on only the frequency information of the excitation, provides an important basis for structural analysis in places where there is a lack of sufficient recorded ground motions. The importance of frequency content of ground motions on probability of structural failure is studied for different levels of the nonlinear behavior of structures. The set of simulated ground motion for this study is based on the results of probabilistic seismic hazard analysis. It is demonstrated that the scenario events identified by the seismic risk differ from those obtained by the disaggregation of seismic hazard. The validity of the presented procedure is evaluated by Monte-Carlo simulation.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.2
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• pp.60-65
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• 1992

The roll response of a ship to random beam seas is investigated in terms of the threshold crossing process. The non-white excitation process is modeled as an equivalent white-noise one based on the assumption that the upcrossing properties of the response can be approximately replaced by the excitation with a white noise process with a suitable intensity. Then the non-linear damping is reinstated. The reinstated equation of motion with the equivalent white-noise intensity is solved using the equivalent non-linear method to get the desired probability density function. The proposed scheme is tested extensively with varing coefficients.

• Proceedings of the KIEE Conference
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• 1999.07b
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• pp.649-652
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• 1999

In this paper, the design method of target tracking systems using the extended $H^{\infty}$ filter(EHF) is proposed. Usually, a Cartesian coordinate frame is tell suited to describe the target dynamics. However, the measurements made in radar-centered polar coordinates are expressed as nonlinear equations in Cartesian coordinates. Thus the tacking problem is concerned with the nonlinear estimation. The extended $H^{\infty}$ filter is able to deal with the problems arising in the target tacking systems such as the parameter uncertainty included inevitably in modeling physical systems mathematically, the unavailableness of the stochastic information about exogenous disturbances, and errors due to the linearization of measurement equations. We show the proposed filter is robuster than the extended Kalman filter(EKF) through a simple target tracking example.