• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.5
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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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.

• Journal of Intelligence and Information Systems
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• v.14 no.3
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• pp.59-76
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• 2008

In this paper, we propose an agent architecture called L-CAA that is quite effective in real-time dynamic environments. L-CAA is an extension of CAA, the behavior-based agent architecture which was also developed by our research group. In order to improve adaptability to the changing environment, it is extended by adding reinforcement learning capability. To obtain stable performance, however, behavior selection and execution in the L-CAA architecture do not entirely rely on learning. In L-CAA, learning is utilized merely as a complimentary means for behavior selection and execution. Behavior selection mechanism in this architecture consists of two phases. In the first phase, the behaviors are extracted from the behavior library by checking the user-defined applicable conditions and utility of each behavior. If multiple behaviors are extracted in the first phase, the single behavior is selected to execute in the help of reinforcement learning in the second phase. That is, the behavior with the highest expected reward is selected by comparing Q values of individual behaviors updated through reinforcement learning. L-CAA can monitor the maintainable conditions of the executing behavior and stop immediately the behavior when some of the conditions fail due to dynamic change of the environment. Additionally, L-CAA can suspend and then resume the current behavior whenever it encounters a higher utility behavior. In order to analyze effectiveness of the L-CAA architecture, we implement an L-CAA-enabled agent autonomously playing in an Unreal Tournament game that is a well-known dynamic virtual environment, and then conduct several experiments using it.

• Earthquakes and Structures
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• v.16 no.1
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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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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• v.12 no.1
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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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• v.21 no.3
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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.

• Journal of Ocean Engineering and Technology
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• v.22 no.2
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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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• v.31 no.2
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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.

• Journal of the HCI Society of Korea
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• v.8 no.1
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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.