• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.135-140
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• 2004

In this paper, we study the posture control of an underwater vehicle with nonholonomic constraint. Generally, systems with nonholnomic constraints cannot be stabilized to an equilibrium points by smooth state feedback control. Therefore, we proposed a control strategy for posture control of the underwater vehicle using backstepping control. The proposed control scheme is applied to the posture control of an underwater vehicle and verified the effectiveness of control strategy by numerical simulation.

• Journal of Navigation and Port Research
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• v.28 no.6
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• pp.469-474
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• 2004

In this paper, we study the posture control of an underwater vehicle with nonholonomic constraint. Generally, systems with nonholnomic constraints cannot be stabilized to an equilibrium points by smooth state feedback control. For the nonholonomic underwater vehicle system, we applied coordinate transformation to get multi-chained system We proposed non smooth feedback controller using backstepping method for stabilizing the multi chained form system Applying inverse input transformation to the non smooth feedback controller, we can get posture controller of the underwater vehicle with nonholonomic constraint. The proposed control scheme is applied to the posture control qf an underwater vehicle and verified the effectiveness of control strategy by numerical simulation.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.154-162
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• 1997

본 논문은 구속된 기계 시스템의 운동 제어 설계를 위한 새로운 방법을 제안한다. 구속된 기계 시스템의 운동 제어에는 지금까지 주로 사용되어온 Lagrange의 운동 방정식에 의한 모델링 보다 Udwadia와 Kalaba에 의해 제안된 운동 방정식에 의한 모델링이 더욱 적합함을 보였으며 이는 Holonomic 및 Nonholonomic 구속 조건을 비롯한 대부분의 구속 조건이 포함된다. 문헌에 잘 알려진 두 시스템을 시뮬레이션을 통하여 비교 함으로써 본 논문에 제안된 방법이 보다 우수한 결과를 보여줌을 확인 할 수 있었다. 또한 지금까지 불가능 하였던 비선형 일반 속도(gereralized velocity)를 포함한 구속 조건도 용이하게 제어됨을 보임으로써 광범위한 구속된 기계 시스템의 제어 문제를 통일된 방법으로 접근 할 수 있음을 제시하였다.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.4A
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• pp.227-235
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• 2012

Recently, study of confining effect in column members is progressed. But these studies are limited to about RC column and external confining effect in hollow columns. Internal confining effect in hollow columns has not researched. Internal confining stress is assumed the same external confining stress in hollow columns. In this study, there are to investigate the internal direction confining effect in ICH CFT column by FEA analysis. FEA analysis methods have verified by experimental values. Parametric study has performed as thickness of internal tube, hollow ratio, diameter of column and bending stiffness between concrete and external tube. Modified equations have suggested to estimating economic and reasonable thickness of internal tube.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.226-235
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• 2017

이 논문에서는 워핑 구속조건이 박벽 구조물의 비틀림 거동에 주는 효과를 확인하였다. Vlasov torsion theory를 통해 얻은 이론해 및 EDISON SW의 해석해를 St.Venent torsion theory를 통해 얻은 이론해와 비교하는 방법으로 그 영향을 확인하였다. 이를 통해 Clamped end조건이 단면의 형상 및 단면의 세부 파라미터에 따라 단면의 워핑발생을 제한하여 비틀림거동에 큰 영향을 미칠 수 있음을 확인했다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.11
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• pp.911-918
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• 2014

In this paper, a selective activation strategy of cohesive elements using user subroutine UMPC was studied as an efficient solution for the added compliance problem in cohesive zone model crack propagation analyses. The cohesive elements were inserted between every bulk elements in region where cracks were expected to initiate and propagate, but initially not activated by tying the cohesive nodes using multi-point constraints. During analyses, the cohesive elements for which specified criterion was met were selectively activated by releasing the constraints. The effect of initial cohesive stiffness and the release criterion on the crack propagation behavior was carefully investigated.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.12 no.2
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• pp.223-231
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• 1999

본 연구는 복합하중을 받는 구조물에 있어서 구조물의 안정경계점을 계산하는 방법을 제시하고 있다. 여기에서는 우선 안정경계점에 놓여 있는 기지의 점에 대한 선형해를 일반역행열을 이용하여 선형 증분 평형방정식의 여해와 특이해의 선형결합으로 나타내었다. 다음으로 두 개의 하중계수를 구속하는 선형조건을 도입하고, 그 구속조건하에서 하중계수 비가 일정하게 되도록 반복계산을 수행하므로써, 안정경계점위의 다음 목표점이 얻어진다. 얻어진 이 점을 초기점으로 이용한다. 평형경로를 추적할 때, 본래의 두 개의 하중계수 문제는 하중계수의 비가 일정하다는 조건을 도입하여 단일 하중계수의 문제로 된다. 두 개의 예를 들어 수치해석을 행하였으며, 얻어진 결과로부터 본 연구에서 채택된 방법은 구조물의 경계안정점을 찾는 문제에 적합하며 더욱 개발할 여지가 있음을 보여주고 있다.

• Journal of the Korea Society of Computer and Information
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• v.3 no.2
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• pp.139-146
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• 1998

This paper proposes a regularized iterative image restoration using method of conjugate gradient considering a priori information. Compared with conventional regularized method of conjugate gradient, this method has merits to prevent the artifacts by ringing effects and the partial magnification of the noise in the course of restoring the image degraded by blur and additive noise. Proposed method applies the constraints to accelerate the convergence ratio near the edge portions, and the regularized parameter suppresses the magnification of the noise. As experimental results, I show the superior convergence ratio and the suppression by the artifacts of the proposed method compared with conventional methods.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.22 no.5
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• pp.429-437
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• 2009

This study addresses the optimal shape of a LCVA maximizing its vibration control effect through numerical parametric study. Various LCVAs having the same total mass and tuning frequency are designed with constraints on the dimensions and water level, and one obtaining the highest equivalent damping ratio of the controlled system is chosen as an optimal solution. As a result, it was found that the limit on the variation of the water level in the vertical liquid column plays an important role constraining the shape of the LCVA. As the LCVA width perpendicular to the plane of liquid motion increases, the equivalent damping ratio rises with slowdown so that determination of the proper width is important in design of the LCVA shape.

• Journal of the Korea Society of Computer and Information
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• v.8 no.4
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• pp.13-20
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• 2003

Based on the studies on the motion vector distributions estimated on the image sequences, we proposed constrained diamond search (DS) algorithm for fast block-matching motion estimation. By considering the fact that motion vectors are searched within the 2 pixels distance in vertically and horizontally on average, we confirmed that DS algorithm achieves close performance on error ratio and requires less computation compared with new three-step search (NTSS) algorithm. Also, by applying displaced frame difference (DFD) to DS algorithm, we reduced the computational loads needed to estimate the motion vectors within the stable block that do not have motions. And we reduced the possibilities falling into the local minima in the course of estimation of motion vectors by applying DFD to DS algorithm. So, we knew that proposed constrained DS algorithm achieved enhanced results as aspects of error ratio and the number of search points to be necessary compared with conventional DS algorithm, four step search (FSS) algorithm, and block-based gradient-descent search algorithm