• 한국공작기계학회논문집
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• 제14권5호
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• pp.27-34
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• 2005

To accomplish various and complex tasks by intelligent robots, improvement is needed not only in mechanical system architecture but also in control system architecture. Hybrid control architecture has been suggested as a mutually complementing architecture of the weak points of a deliberative and a reactive control. This paper addresses a control architecture of robots, and a behavior representation methodology. The suggested control architecture consists of three layers of deliberative, sequencing, and reactive as hybrid control architecture. Multi-layer behavior model is employed to represent desired tasks. 3D simulation will be conducted to verify the applicability of suggested control architecture and behavior representation method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.984-988
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• 2005

To accomplish various and complex tasks by intelligent robots, improvement is needed not only in mechanical system architecture but also in control system architecture. Hybrid control architecture has been suggested as a mutually complementing architecture of the weak points of a deliberative and a reactive control. This paper addresses a control architecture of robots, and a behavior representation methodology. The suggested control architecture consists of three layers of deliberative, sequencing, and reactive as hybrid control architecture. Multi-layer behavior model is employed to represent desired tasks. 3D simulation will be conducted to verify the applicability of suggested control architecture and behavior representation method.

• 지능정보연구
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• 제14권3호
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• pp.59-76
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• 2008

본 논문에서는 실시간 동적 환경에 효과적인 L-CAA 에이전트 구조를 제안한다. L-CAA 에이전트 구조는 변화하는 환경에 대한 적응성을 높이기 위해, 선행 연구를 통해 개발된 행위기반 에이전트 구조인 CAA에 강화학습 기능을 추가하여 확장한 것이다. 안정적인 성능을 위해 L-CAA 구조에서는 행위 선택과 실행을 학습에 전적으로 의존하지 않고 학습을 보조적으로 이용한다. L-CAA에서 행위 선택 메커니즘은 크게 두 단계로 나뉜다. 첫 번째 단계에서는 사용자가 미리 정의한 각 행위의 적용 가능 조건과 효용성을 검사함으로써 행위 라이브러리로부터 실행할 행위들을 추출한다. 하지만 첫 번째 단계에서 다수의 행위가 추출되면, 두 번째 단계에서는 강화학습의 도움을 받아 이들 중에서 실행 할 하나의 행위를 선택한다. 즉, 강화학습을 통해 갱신된 각 행위들의 Q 함수값을 서로 비교함으로써, 가장 큰 기대 보상값을 가진 행위를 선택하여 실행한다. 또한 L-CAA에서는 실행 중인 행위의 유지 가능 조건을 지속적으로 검사하여 환경의 동적 변화로 인해 일부 조건이 만족되지 않는 경우가 발생하면 현재 행위의 실행을 즉시 종료할 수 있다. 그 뿐 아니라, L-CAA는 행위 실행 중에도 효용성이 더 높은 다른 행위가 발생하면 현재의 행위를 일시 정지하였다가 복귀하는 기능도 제공한다. 본 논문에서는 L-CAA 구조의 효과를 분석하기 위해, 대표적인 동적 가상환경인 Unreal Tournament 게임에서 자율적으로 동작하는 L-CAA 기반의 에이전트를 구현하고, 이를 이용한 성능 실험을 전개해본다.

• Earthquakes and Structures
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• 제16권1호
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• pp.83-96
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• 2019

The seismic behavior of PRC coupling beam-hybrid coupled shear wall system is analyzed by using the finite element software ABAQUS. The stress distribution of steel plate, reinforcing bar in coupling beam, reinforcing bar in slab and concrete is investigated. Meanwhile, the plastic hinges developing law of this hybrid coupled shear wall system is also studied. Further, the effect of coupling ratio, section dimensions of coupling beam, aspect ratio of single shear wall, total height of structure and the role of slab on the seismic behavior of the new structural system. A fitting formula of plate characteristic values for PRC coupling beams based on different displacement requirements is proposed through the experimental date regression analysis of PRC coupling beams at home and abroad. The seismic behavior control method for PRC coupling beam-hybrid coupled shear wall system is proposed based on the continuous connection method and through controlling the coupling ratio, the roof displacement, story drift angle of hybrid coupled shear wall system, displacement ductility of coupling beam.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.297-305
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• 1999

Autonomous mobile robots are required to achieve multiple goals while responding quickly to the dynamic environments. An appropriate robot control architecture, which clearly and systematically defines the relationship among the inputs, the processing functions and the outputs, thus needs to be embedded in the robot controller. This paper proposes a kind of hybrid control architecture which combines the key features of the two well-known robot control architectures; hierarchical and behavioral- based. The overall control architecture consists of three layers, i.e. the highest planner, the middle plan executor, and the lowest monitor and behavior-based controller. In the planned situation, only one behavior module is chosen by the logical coordinator in the plan executor according to the way point bin. In the exceptional situation, the central controller in the plan executor issues an additional control command to reach the planned way point. Several simulations and experiments with autonomous mobile robot show that the proposed architecture enables the robot controller to achieve the multiple sequential goals even in dynamic and uncertain environments.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.868-880
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• 2020

One of the main concerns in the structural integrity of offshore pipelines is mechanical damage from external loads. Pipelines are exposed to fatigue failure in welded joints due to geometric discontinuity. In addition, fatigue loads such as currents, waves, and platform motions may cause significant plastic deformation and fracture or leakage within a relatively low-cycle regime. The 2007 ASME Div. 2 Code adopts the master S―N curve for the fatigue evaluation of welded joints based on the mesh-insensitive structural stress. An extension to the master S―N curve was introduced to evaluate the low-cycle fatigue strength. This structural strain method uses the tensile properties of the material. However, the monotonic tensile properties have limitations in describing the material behavior above the elastic range because most engineering materials exhibit hardening or softening behavior under cyclic loads. The goal of this study is to extend the cyclic stress-strain behavior to the structural strain method. To this end, structural strain-based procedure was established while considering the cyclic stress-strain behavior and compared to the structural strain method with monotonic tensile properties. Finally, the improved prediction method was validated using fatigue test data from full-scale girth-welded pipes.

• Computers and Concrete
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• 제21권3호
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• pp.231-237
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• 2018

A strain-hardening highly ductile composite based on an alkali-activated slag binder and synthetic fibers is a promising construction material due to its excellent tensile behavior and owing to the ecofriendly characteristics of its binder. This study investigated the effect of different types of synthetic fibers and water-to-binder ratios on the compressive strength and tensile behavior of slag-based cementless composites. Alkali-activated slag was used as a binder and water-to-binder ratios of 0.35, 0.45, and 0.55 were considered. Three types of fibers, polypropylene fiber, polyethylene (PE) fiber, and polyparaphenylene-benzobisethiazole (PBO) fiber, were used as reinforcing fibers, and compression and uniaxial tension tests were performed. The test results showed that the PE fiber series composites exhibited superior tensile behavior in terms of the tensile strain capacity and crack patterns while PBO fiber series composites had high tensile strength levels and tight crack widths and spacing distances.

• 한국해양공학회지
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• 제22권2호
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• pp.13-19
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• 2008

A camprehensive review of the expansion behavior of marine pipelines due to thermal and pressure change is presented based on research work over the last 10 years. The review is organized into five main sections, namely free expansion with uniform temperature, free expansion with temperature gradient, expansion with end restraints, expansion of pipe-in-pipe system, and lateral deviation (snaking). Based on the accumulated knowledge of the interactions between the soil and pipeline behavior, a whole pipeline system can be modeled by an accurate finite element method (FEM). This methodology requires a comprehensive understanding and engineering verification of the expansion behavior of marine pipelines.

• Wind and Structures
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• 제31권2호
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• pp.153-164
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• 2020

In the design of buildings, lateral loading is one of the most important factors considered by structural designers. The concept of performance-based design (PBD) is well developed for seismic load. Whereas, wind design is mainly based on elastic analysis for both serviceability and strength. For tall buildings subject to extreme wind load, inelastic behavior and application of the concept of PBD bear consideration. For seismic design, current practice primarily presumes inelastic behavior of the structure and that energy is dissipated by plastic deformation. However, due to analysis complexity and computational cost, calculations used to predict inelastic behavior are often performed using elastic analysis and a response modification factor (R). Inelastic analysis is optionally performed to check the accuracy of the design. In this paper, a framework for application of an R factor for wind design is proposed. Theoretical background on the application and implementation is provided. Moreover, seismic and wind fatigue issues are explained for the purpose of quantifying the modification factor R for wind design.

• 한국HCI학회논문지
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• 제8권1호
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• pp.11-17
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• 2013

Context aware systems are those systems that are aware about the environment and perform productive functions automatically by reducing human computer interactions(HCI). In this paper, we present common architecture principles of context-aware systems to explain the important aspects of context aware systems. Our study focuses on identifying common concepts in pervasive computing approaches, which allows us to devise common architecture principles that may be shared by many systems. The principles consists of context sensing, context modeling, context reasoning, context processing, communication modelling and resource discovery. Such an architecture style can support high degree of reusability among systems and allows for design flexibility, extensibility and adaptability among components that are independent of each other. We also propose a new architecture based on broker-centric middleware and using ontology reasoning mechanism together with an effective behavior based context agent that would be suitable for the design of context-aware architectures in future systems. We have evaluated the proposed architecture based on the design principles and have done an analyses on the different elements in context aware computing based on the presented system.