• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1039-1043
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• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• Journal of Computational Design and Engineering
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• v.1 no.4
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• pp.256-265
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• 2014

Energy efficiency is an essential consideration in sustainable manufacturing. This study presents the car fender-based injection molding process optimization that aims to resolve the trade-off between energy consumption and product quality at the same time in which process parameters are optimized variables. The process is specially optimized by applying response surface methodology and using non-dominated sorting genetic algorithm II (NSGA II) in order to resolve multi-object optimization problems. To reduce computational cost and time in the problem-solving procedure, the combination of CAE-integration tools is employed. Based on the Pareto diagram, an appropriate solution is derived out to obtain optimal parameters. The optimization results show that the proposed approach can help effectively engineers in identifying optimal process parameters and achieving competitive advantages of energy consumption and product quality. In addition, the engineering analysis that can be employed to conduct holistic optimization of the injection molding process in order to increase energy efficiency and product quality was also mentioned in this paper.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.465-470
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• 2003

In this study, the state-space Newmark method based on average velocity is presented to analyse the transient dynamic response for general dynamic system. The conventional Newmark method based on average acceleration cannot he directly to the first-order state-space differential equations introducing the state-space vector. To overcome this problem, the time-step integration algorithm, based on average velocity concept, suitable for the first-order state-space differential equations is proposed In results, the proposed method has %he numerical stability and order of accuracy, which is proved analytically, equal to those of the conventional Newmark method based on average acceleration. Also, the formulation for numerical solution is very simple and the calculation time Is nearly equal to that of the conventional Newmark method based on average acceleration in spite of an increase of two times over matrix size. This method will be look forward to applying the general dynamic system to calculate the transient dynamic response.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.6
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• pp.1510-1521
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• 1996

This paper presents acquisition algorithm and an improved detection technique for the DS/CDMA (direction sequence code division multiple access) RAKE receiver in multipath fading channel. The DS/CDMA systems use the RAKE receiver, an accurate code acquisition is required for the RAKE branches. The algorithmis able to findthe pseudonoise (PN) code delay estimates for the RAKE branches in a multipath fading channel. In this paper a numerical method and computer simulation simulation have been developed for the acquisition system. The detection probability and mean acquisition time are investigated asa performance measure of the system using the Monte Carlo method. And also in order to analyze the effect of the acquisition on the RAKE receiver this paper bring out the effect of integration time, doppler frequency, processing gain and the number of users on the acquired code phase.

• 한국전산유체공학회:학술대회논문집
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• 2002.05a
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• pp.47-52
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• 2002

The supersonic flow around multi-stage rocket system is analyzed using 3-D compressible unsteady flow solver. A Chimera overset grid technique is used for the calculation of present configuration and grid around the core rocket is composed of 3 zones to represent fins in the core rocket. Flow solver is parallelized to reduce the computation time, and an efficient parallelization algorithm for Chimera grid technique is proposed. AUSMPW+ scheme is used for the spatial discretization and LU-SGS for the time integration. The flow field around multi-stage rocket was analyzed using this developed solver, and the results were compared with that of a sequential solver The speed-up ratio and the efficiency were measured in several processors. As a result, the computing speed with 12 processors was about 10 times faster than that of a sequential solver. Developed flow solver is used to predict the trajectory of booster in separation stage. From the analyses, booster collides against core rocket in free separation case. So, additional jettisoning forces and moments needed for a safe separation are examined.

• Journal of the Korean Society of Propulsion Engineers
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• v.6 no.2
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• pp.75-84
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• 2002

A numerical analysis of unsteady motion in solid rocket motors with a nozzle has been conducted. The numerical formulation including modified $\kappa$-$\varepsilon$ turbulence model treats the complete conservation equation for the gas phase and the one-dimensional equations in the radial direction for the condensed phase. A fully coupled implicit scheme based on a dual time-stepping integration algorithm has been adopted to solve the governing equations. After obtaining a steady state solution, pulse and periodic oscillations of pressure are imposed at the head-end to simulate acoustic oscillations of a travelling-wave motion in the combustion chamber. Various steady and unsteady state features in the combustion chamber of a rocket motor has been analyzed as results of numerical calculations.

• The Transactions of the Korea Information Processing Society
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• v.6 no.12
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• pp.3469-3476
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• 1999

In spatial database based on spatial data structures, instead of one-dimensional indexing structure, new indexing structure which corresponds to multi-dimensional features of spatial objects is required. In order to meet those requirements, in this paper we proposed new indexing structure for efficient retrieval of spatial database by carrying through the feature analysis of conventional multi-dimensional indexing structures. To improve the sequential search method of supernodes in the conventional X-tree and to reduce the retrieval time in case of generating the huge supernode, we proposed a indexing structure integrating the kd-tree based on point index structure into the X-tree. We implemented the proposed indexing structure and analyzed its retrieval time according to the dimension and distribution of experimental data.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.12
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• pp.5614-5633
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• 2018

Mobile Edge Computing (MEC) and Wireless Power Transfer (WPT) are both recognized as promising techniques, one is for solving the resource insufficient of mobile devices and the other is for powering the mobile device. Naturally, by integrating the two techniques, task will be capable of being executed by the harvested energy which makes it possible that less intrinsic energy consumption for task execution. However, this innovative integration is facing several challenges inevitably. In this paper, we aim at prolonging the battery life of mobile device for which we need to maximize the harvested energy and minimize the consumed energy simultaneously, which is formulated as residual energy maximization (REM) problem where the offloading ratio, energy harvesting time, CPU frequency and transmission power of mobile device are all considered as key factors. To this end, we jointly optimize the offloading ratio, energy harvesting time, CPU frequency and transmission power of mobile device to solve the REM problem. Furthermore, we propose an efficient convex optimization and sequential unconstrained minimization technique based combining method to solve the formulated multi-constrained nonlinear optimization problem. The result shows that our joint optimization outperforms the single optimization on REM problem. Besides, the proposed algorithm is more efficiency.

• Steel and Composite Structures
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• v.38 no.5
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• pp.497-521
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• 2021

In this study, an effective numerical method is introduced for nonlinear inelastic analyses of rectangular concrete-filled steel tubular (CFST) frames for the first time. A steel-concrete composite fiber beam-column element model is developed that considers material, and geometric nonlinearities, and residual stresses. This is achieved by using stability functions combined with integration points along the element length to capture the spread of plasticity over the composite cross-section along the element length. Additionally, a multi-spring element with a zero-length is employed to model the nonlinear semi-rigid beam-to-column connections in CFST frame models. To solve the nonlinear equilibrium equations, the generalized displacement control algorithm is adopted. The accuracy of the proposed method is firstly verified by a large number of experiments of CFST members subjected to various loading conditions. Subsequently, the proposed method is applied to investigate the nonlinear inelastic behavior of rectangular CFST frames with fully rigid, semi-rigid, and hinged connections. The accuracy of the predicted results and the efficiency pertaining to the computation time of the proposed method are demonstrated in comparison with the ABAQUS software. The proposed numerical method may be efficiently utilized in practical designs for advanced analysis of the rectangular CFST structures.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.24 no.1
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• pp.1-9
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• 2016

In this paper, we integrate three degree of freedom(3DOF) point-mass model for aircraft and three-dimensional path generation algorithms using dubins curve and nonlinear path tracking law. Through this integration, we apply the path generation algorithm to the path planning, and verify tracking performance and feasibility of using the aircraft 3DOF point-mass model for air traffic management. The accuracy of modeling 6DOF aircraft is more accurate than that of 3DOF model, but the complexity of the calculation would be raised, in turn the rate of computation is more likely to be slow due to the increase of degree of freedom. These obstacles make the 6DOF model difficult to be applied to simulation requiring real-time path planning. Therefore, the 3DOF point-mass model is also sufficient for simulation, and real-time path planning is possible because complexity can be reduced, compared to those of the 6DOF. Dubins curve used for generating the optimal path has advantage of being directly available to apply path planning. However, we use the algorithm which extends 2D path to 3D path since dubins curve handles the two dimensional path problems. Control law for the path tracking uses the nonlinear path tracking laws. Then we present these concomitant simulation results.