• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.110-119
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• 2010

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.10
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• pp.959-967
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• 2012

The theory for a new electromagnetically biased diskless combined radial and axial magnetic bearing is developed. A typical magnetic bearing system is composed of two radial magnetic bearings and an axial magnetic bearing. The axial magnetic bearing with a large axial disk usually limits rotor dynamic performance and makes assembling and disassembling difficult for maintenance work. This paper proposes a novel electromagnet biased integrated radial-axial magnetic bearing without axial disk. This integrated magnetic bearing uses two axial coils to provide the bias flux to the radial and axial air gaps of the combined bearing. The axial magnetic bearing unit in this combined magnetic bearing utilizes reluctance forces developed in the non-uniform air gaps such that the axial disk can be removed from the bearing unit. The 4-pole homopolar type radial magnetic bearing unit is also designed and analyzed. Three dimensional finite element model for the bearing is also developed and analyzed to illustrate the diskless combined magnetic bearing.

• Advances in Computational Design
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• v.5 no.1
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• pp.55-89
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• 2020

For the first time, an accurate analytical solution, based on coupled three-dimensional (3D) piezoelasticity equations, is presented for free vibration analysis of the angle-ply elastic and piezoelectric flat laminated panels under arbitrary boundary conditions. The present analytical solution is applicable to composite, sandwich and hybrid panels having arbitrary angle-ply lay-up, material properties, and boundary conditions. The modified Hamiltons principle approach has been applied to derive the weak form of governing equations where stresses, displacements, electric potential, and electric displacement field variables are considered as primary variables. Thereafter, multi-term multi-field extended Kantorovich approach (MMEKM) is employed to transform the governing equation into two sets of algebraic-ordinary differential equations (ODEs), one along in-plane (x) and other along the thickness (z) direction, respectively. These ODEs are solved in closed-form manner, which ensures the same order of accuracy for all the variables (stresses, displacements, and electric variables) by satisfying the boundary and continuity equations in exact manners. A robust algorithm is developed for extracting the natural frequencies and mode shapes. The numerical results are reported for various configurations such as elastic panels, sandwich panels and piezoelectric panels under different sets of boundary conditions. The effect of ply-angle and thickness to span ratio (s) on the dynamic behavior of the panels are also investigated. The presented 3D analytical solution will be helpful in the assessment of various 1D theories and numerical methods.

• Journal of Information Processing Systems
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• v.16 no.6
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• pp.1324-1342
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• 2020

Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.

• Nuclear Engineering and Technology
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• v.56 no.9
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• pp.3512-3527
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• 2024

Seismic quantification of nonstructural components like electrical cabinets is essential to ensure the uninterrupted operation of nuclear facilities during earthquake events. This process requires experimental tests, which can be expensive, time-consuming, and limited by safety concerns and precision. As an alternative to that, numerical simulations should be done in such a way that they are capable of capturing the global dynamic behavior with minimum computational efforts. However, in the case of complex interconnected cabinets, the simplification of numerical models often poses difficulties in illustrating the real-time behavior of combined cabinet systems. On the other hand, detailed three-dimensional (3D) numerical models require lengthy time and sophisticated computational setup, indicating their expensive computational efforts. To resolve this issue, a simplified and efficient 3D modeling approach has been proposed in this study. The accuracy of the results from the new model showed an excellent match with that obtained from the responses of the experimental test. After the validation and observation of the numerical efficiency, a practical application is implemented by considering the impacts of earthquake frequency contents on the behavior of cabinet systems. From the outcomes, it is evident that this proposed modeling methodology has the potential to replace the complex combined nuclear cabinet models for earthquake evaluation.

• Korean Journal of Radiology
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• v.24 no.7
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• pp.647-659
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• 2023

Objective: The study was conducted to investigate the effect of correct occlusion of the left atrial appendage (LAA) on intracardiac blood flow and thrombus formation in patients with atrial fibrillation (AF) using four-dimensional (4D) flow magnetic resonance imaging (MRI) and three-dimensional (3D)-printed phantoms. Materials and Methods: Three life-sized 3D-printed left atrium (LA) phantoms, including a pre-occlusion (i.e., before the occlusion procedure) model and correctly and incorrectly occluded post-procedural models, were constructed based on cardiac computed tomography images from an 86-year-old male with long-standing persistent AF. A custom-made closed-loop flow circuit was set up, and pulsatile simulated pulmonary venous flow was delivered by a pump. 4D flow MRI was performed using a 3T scanner, and the images were analyzed using MATLAB-based software (R2020b; Mathworks). Flow metrics associated with blood stasis and thrombogenicity, such as the volume of stasis defined by the velocity threshold ($\left|\vec{V}\right|$ < 3 cm/s), surface-and-time-averaged wall shear stress (WSS), and endothelial cell activation potential (ECAP), were analyzed and compared among the three LA phantom models. Results: Different spatial distributions, orientations, and magnitudes of LA flow were directly visualized within the three LA phantoms using 4D flow MRI. The time-averaged volume and its ratio to the corresponding entire volume of LA flow stasis were consistently reduced in the correctly occluded model (70.82 mL and 39.0%, respectively), followed by the incorrectly occluded (73.17 mL and 39.0%, respectively) and pre-occlusion (79.11 mL and 39.7%, respectively) models. The surfaceand-time-averaged WSS and ECAP were also lowest in the correctly occluded model (0.048 Pa and 4.004 Pa^-1, respectively), followed by the incorrectly occluded (0.059 Pa and 4.792 Pa^-1, respectively) and pre-occlusion (0.072 Pa and 5.861 Pa^-1, respectively) models. Conclusion: These findings suggest that a correctly occluded LAA leads to the greatest reduction in LA flow stasis and thrombogenicity, presenting a tentative procedural goal to maximize clinical benefits in patients with AF.

• Journal of the Earthquake Engineering Society of Korea
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• v.3 no.1
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• pp.1-8
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• 1999

Dynamic elastoplastic LPM (lumped parameter mass) analyses are carried out in order to investigate the seismic resistant performance of a typical high-rise shear wall apartment subjected to several earthquakes. Three-dimensional nonlinear pushover analysis is adopted to estimate initial elastic stiffness, yielding strength and post-yielding stiffness of each story for the time history analysis of LPM shear model. For the hysteresis of each story, Clough and bilinear models are used with the input of four recorded earthquake ground motions of EI Centro 1940 NS, Taft 1952 EW, Hachinohe 1968 NS and Kobe 1995 NS, of which the amplitudes are scaled down to have the same maximum ground velocity of 12 kine. The result shows that yieldings take place in most storys of the building, i.e. the earthquake resistant capacity of this high-rise shear wall apartment is not sufficient at the event of earthquake M=5~6.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.37 no.1
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• pp.17-24
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• 2024

This paper assesses the structural performance of the Daeungbojeon Hall of Magoksa in Gongju, a representative multi-tiered roof traditional timber structure from the Joseon Dynasty, under vertical loads. Employing midas Gen, a structural analysis software, we developed a three-dimensional analysis model closely resembling the actual structure. Static analysis was employed to evaluate the safety and serviceability of the main vertical and horizontal members under vertical loads. While all members met the safety and serviceability criteria, structural weaknesses were identified in the Daelyang of the lower floor, particularly as a transitional beam, necessitating improvement. For the evaluation of dynamic behavior characteristics, eigenvalue analysis was conducted, assuming a relative rotational stiffness of 5% at the main joints. The natural period was determined to be 1.105 seconds, placing it within the category of a Hanok of similar size. The first mode manifested as a translational movement in the forward and backward direction of the building.

• Journal of Korean Tunnelling and Underground Space Association
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• v.21 no.6
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• pp.861-874
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• 2019

A great interest in the seismic performance evaluation of small size tunnel structures such as utility tunnel has been taken since recent earthquakes at Pohang and Gyeongju in Korea. In this study, the three-dimensional dynamic analyses of vertical shaft and horizontal tunnel under seismic load were carried out using FLAC3D. Especially, parametric analyses was performed to investigate the effects of interfacial stiffness on interfacial behavior between soil and structure. The parametric analysis showed that the interfacial stiffness scarcely gave an effect on the global dynamic behavior of the structure, while had a significant effect on the local displacement behavior of the connections. The magnitude of the interfacial stiffness was inversely proportional to the displacement, while the magnitude of interface stiffness was proportional to the normal and shear stresses. The results of this study suggest the limitations of the existing empirical equations for interfacial stiffness and emphasize the need to develop new interfacial stiffness models.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.116-122
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• 2019

Among the various wave power systems, Salter's duck (rotor) is one of the most effective wave absorbers for extracting wave energy. The rotor shape is designed such that the front part faces the direction of the incident wave, which forces it to bob up and down due to wave-induced water particle motion, whereas the rear part, which is mostly circular in shape, reflects no waves. The asymmetric geometric shape of the duck makes it absorb energy efficiently. In the present study, the rotor was investigated using WAMIT (a program based on the linear potential flow theory in three-dimensional diffraction/radiation analyses) in the frequency domain and verified using OrcaFlex (design and analysis program of marine system) in the time domain. Then, an experimental investigation was conducted to assess the performance of the rotor motion based on the model scale in a two-dimensional (2D) wave tank. Initially, a free decay test (FDT) was carried out to obtain the viscous damping coefficient. The pitch response was extracted from the experimental time series in a periodic regular wave for two different wave heights (1 cm and 3 cm). In addition, the viscous damping coefficient was calculated from the FDT result and fluid forces, obtained from WAMIT, are incorporated into the final response of the rotor. Finally, a comparative study based on experimental and numerical results (WAMIT & OrcaFlex) was performed to confirm the performance reliability of the designed rotor.