• KIPS Transactions on Software and Data Engineering
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• v.4 no.5
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• pp.219-224
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• 2015

In this paper, the designed fish robots DOMI ver1.0 is researched and development for aquarium underwater robot. The presented fish robot consists of the head, 1'st stage body, 2nd stage body and tail, which is connected two point driving joints. The model of the robot fish is analysis to maximize the momentum of the robot fish and the body of the robot is designed through the analysis of the biological fish swimming. Also, Lighthill was applied to the kinematics analysis of robot fish swimming algorithms, we are applied to the approximate method of the streamer model that utilizes techniques mimic the biological fish. The swimming robot has two operating mode such as manual and autonomous operation modes. In manual mode the fish robot is operated to using the RF transceiver, and in autonomous mode the robot is controlled by microprocessor board that is consist PSD sensor for the object recognition and avoidance. In order to the submerged and emerged, the robot has the bladder device in a head portion. The robot gravity center weight is transferred to a one-axis sliding and it is possible to the submerged and emerged of DOMI robot by the breath unit. It was verified by the performance test of this design robot DOMI ver1.0. It was confirmed that excellent performance, such as driving force, durability and water resistance through the underwater field test.

• Journal of the Korean Geotechnical Society
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• v.27 no.10
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• pp.25-33
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• 2011

Suction buckets have been widely used for offshore structures such as anchors for floating facilities, and the foundations of offshore wind energy turbines. However, the design guidelines for suction buckets have not been clearly suggested. Therefore, this study performed the numerical analysis by using ABAQUS (2010) to evaluate bearing capacities and load-movement behaviors of the suction bucket in NC clay. For the numerical analysis, the depth ratio L/D (L=embedded length of skirt; D=diameter of a bucket) was varied from 0.25 to 1.0. The analysis results showed that the L/D ratio has a significant effect on the bearing capacity, and the vertical and horizontal capacities respectively increased by about 40% and 90%, when L/D ratio increased from 0.25 to 1.0. At the vertical loading, the bucket showed the similar failure mode with a deep foundation, so the shaft and toe resistances can be separately evaluated. At the horizontal loading, the bucket with L/D=O.25 showed the sliding failure mode and the bucket with $L/D{\geq}0.5$ showed the rotational failure mode.

• Journal of the Korean Geosynthetics Society
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• v.22 no.3
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• pp.11-25
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• 2023

In this study, the design and numerical analysis method of the inclined self-supported wall using cement treated soil were studied. In the case of the inclined self-supported wall, the active earth pressure decreased due to the decrease in the coefficient, Ka according to the slope (angle) and the weight decreasing effect, thereby increasing the overall stability. The wall with the slope caused a change in failure mode from overturning to sliding on the excavation side, and the optimal slope was evaluated to be about 10°. Compared to the strength reduction method, the overall stability in numerical analysis results in conservative results in limit equilibrium analysis, so it was found that this method should be attended when designing. As a result of the parameteric study, the stability on bearing capacity and compression failure did not significantly increase above the slope of 10° when the surcharge was small (about 20kPa or less). In the case of cohesion of the backfill, The results similar to numerical analysis were found to consider cohesion. It was evaluated that stability on sliding, oveturning, shear, and tension failure increases in proportion to the thickness of the wall, but there is no significant change in the stability on the bearing capacity and compressive failure regardless of the thickness of the wall above a certain angle (about 10°).

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.22 no.2
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• pp.79-87
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• 2010

This is the first of the two papers dealing with reliability analyses for external and internal stability of a quay wall constructed on a special foundation. A new practical reliability analysis method is proposed in this paper to evaluate the quantitative risk associated with external stability of a quay wall constructed on the deep cement mixed ground. The method can consider uncertainties in various design variables. For the risk estimation to external stability of the improved soil-quay wall, three corresponding limit state functions of sliding, overturning and bearing capacity are fully defined by introducing concept of the secondary random variable. Three representative reliability methods, MVFOSM, FORM and MCS are then applied to evaluate the failure probabilities of the three limit state functions explicitly expressed in terms of the basic and secondary random variables. From the reliability analysis results, the failure probabilities obtained from the three approaches are very close to each other, and the sliding failure mode appears to be the most critical when the earthquake loading is under consideration.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.282-286
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• 2000

In this paper, magneto-rheological(MR) damper is studied for vibration control of large infra structures under earthquake. Generally, active control devices need a large control force and a high power supply system to reduce the vibration effectively. Large and miss tuned control force may induce the dangerous situation such that the generated large control force acts to amplify the structural vibration. Recently, to overcome the weaknesses of the active control, the semi-active control method is suggested by many researchers. Semi-active control uses the passive control device of which the characteristics can be modified. Control force of the semi-active device is not generated from the actuator with power supply. It is generated as a dynamic reaction force of the device same as in the passive control case, so the control system is inherently stable and robust. Unlike the case of passive control, control force of semi-active control is adjusted depending on the measured response of the structure, so the vibration can be reduced more effectively against various unknown environmental loads. Magneto-rheological(MR) damper is one of the semi-active devices. Dynamic characteristics of the MR material can be changed by applying the magnetic fields. So the control of MR damper needs only small power. Response time of MR to the input voltage is very short, so the high performance control is possible. MR damper has a high force capacity so it is adequate to the vibration control of large infra structure. Because MR damper has a nonlinear property, normal control method used in active control may not be effective. Clipped optimal control, modified bang-bang control etc. have been suggested to MR damper by many researchers. In this study, sliding mode fuzzy control(SMFC) is applied to MR damper. Genetic algorithm is used for the controller tuning. To verify the applicability of MR damper and suggested algorithm, numerical simulation on the aseismic control is carried out. Simulation model is three-story building structure, which was used in the paper of Dyke, et al. The control performance is compared with clipped optimal control. The present results indicate that the SMFC algorithm can reduce the earthquake-induced vibration very effectively.

• Earthquakes and Structures
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• v.10 no.4
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• pp.939-963
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• 2016

According to the new directives about the rational and efficient use of energy, thermal bridges in buildings have to be avoided, and the thermal insulation (TI) layer should run without interruptions all around the building - even under its foundations. The paper deals with the seismic response of multi-storeyed reinforced concrete (RC) frame building structures founded on an extruded polystyrene (XPS) layer placed beneath the foundation slab. The purpose of the paper is to elucidate the problem of buildings founded on a TI layer from the seismic resistance point of view, to assess the seismic behaviour of such buildings, and to search for the critical parameters which can affect the structural and XPS layer response. Nonlinear dynamic and static analyses were performed, and the seismic response of fixed-base (FB) and thermally insulated (TI) variants of nonlinear RC building models were compared. Soil-structure interaction was also taken into account for different types of soil. The results showed that the use of a TI layer beneath the foundation slab of a superstructure generally induces a higher peak response compared to that of a corresponding system without TI beneath the foundation slab. In the case of stiff structures located on firm soil, amplification of the response might be substantial and could result in exceedance of the superstructure's moment-rotation plastic hinge capacities or allowable lateral roof and interstorey drift displacements. In the case of heavier, slenderer, and higher buildings subjected to stronger seismic excitations, the overall response is governed by the rocking mode of oscillation, and as a consequence the compressive strength of the XPS could be insufficient. On the other hand, in the case of low-rise and light-weight buildings, the friction capacity between the layers of the applied TI foundation set might be exceeded so that sliding could occur.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.08a
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• pp.110-110
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• 2011

The nanomechanical properties of fully lithiated and unlithiated silicon nanowire deposited on silicon substrate have been studied with atomic force microscopy. Silicon nanowires were synthesized using the vapor-liquid-solid process on stainless steel substrates using Au catalyst. Fully lithiated silicon nanowires were obtained by using the electrochemical method, followed by drop-casting on the silicon substrate. The roughness, derived from a line profile of the surface measured in contact mode atomic force microscopy, has a smaller value for lithiated silicon nanowire and a higher value for unlithiated silicon nanowire. Force spectroscopy was utilitzed to study the influence of lithiation on the tip-surface adhesion force. Lithiated silicon nanowire revealed a smaller value than that of the Si nanowire substrate by a factor of two, while the adhesion force of the silicon nanowire is similar to that of the silicon substrate. The Young's modulus obtained from the force-distance curve, also shows that the unlithiated silicon nanowire has a relatively higher value than lithiated silicon nanowire due to the elastically soft amorphous structures. The frictional forces acting on the tip sliding on the surface of lithiated and unlithiated silicon nanowire were obtained within the range of 0.5-4.0 Hz and 0.01-200 nN for velocity and load dependency, respectively. We explain the trend of adhesion and modulus in light of the materials properties of silicon and lithiated silicon. The results suggest a useful method for chemical identification of the lithiated region during the charging and discharging process.

• Structural Engineering and Mechanics
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• v.76 no.2
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• pp.153-162
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• 2020

Aiming at the mechanical and structural characteristics of the contact zone composite rock, the shear tests and numerical studies were carried out. The effects of the differences in mechanical properties of different materials and the normal stress on shear properties of contact zone composite samples were analyzed from a macro-meso level. The results show that the composite samples have high shear strength, and the interface of different materials has strong adhesion. The differences in mechanical properties of materials weakens the shear strength and increase the shear brittleness of the sample, while normal stress will inhibit these effect. Under low/high normal stress, the sample show two failure modes, at the meso-damage level: elastic-shearing-frictional sliding and elastic-extrusion wear. This is mainly controlled by the contact and friction state of the material after damage. The secondary failure of undulating structure under normal-shear stress is the nature of extrusion wear, which is positively correlated to the normal stress and the degree of difference in mechanical properties of different materials. The increase of the mechanical difference of the sample will enhance the shear brittleness under lower normal stress and the shear interaction under higher normal stress.

• Advances in Computational Design
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• v.3 no.3
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• pp.269-288
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• 2018

180 different 2D numerical analyses have been carried out to estimate the factor of safety (FOS) for rooted slopes. Four different types of vegetated coverage and a variety of slope geometry considering three types of soil have been evaluated in this study. The highly influenced parameters on the slope's FOS are determined. They have been chosen as the input parameters for developing a new practical relationship to estimate the FOS with an emphasis on the roots effects. The dependency of sliding mode and shape considering the soil and roots-type has been evaluated by using the numerical finite element model. It is observed that the inclination and height of the slope and the coverage type are the most important effective factors in FOS. While the soil strength parameters and its physical properties would be considered as the second major group that affects the FOS. Achieved results from the developed relationship have shown the acceptable estimation for the roots slope. The extracted R square from the proposed relationship considering nonlinear estimation has been achieved up to 0.85. As a further cross check, the achieved R square from a multi-layer neural network has also been observed to be around 0.92. The numerical verification considering different scenarios has been done in the current evaluation.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.4
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• pp.174-180
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• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional braking control systems. In order to achieve the superior braking performance through the wheel slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a wheel slip control system is developed for maintaining the vehicle stability based on the braking monitor, wheel slip controller and optimal target slip assignment algorithm. The braking monitor estimates the tire braking force, lateral tire force and brake disk-pad friction coefficient utilizing the extended Kalman filter. The wheel slip controller is designed based on the sliding mode control method. The target slip assignment algorithm is proposed to maintain the vehicle stability based on the direct yaw moment controller and fuzzy logic. The performance of the proposed wheel slip control system is verified in simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.