• Journal of KIISE:Computer Systems and Theory
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• v.34 no.2
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• pp.65-72
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• 2007

As embedded system has strict cost and space constraints, it is impossible to apply conventional fault-tolerant techniques directly for increasing the dependability of embedded system. In this paper, we propose software fault-tolerant mechanism which requires only minimum redundancy of system component. We define an utility metric that reflects the dependability of each embedded system component, and then measure the defined utility of each reconfiguration combinations to provide fault tolerance. The proposed utility evaluation process shows exponential complexity. However we reduce the complexity by hierachical subgrouping at the software level of each component. When some components of embedded system are tailed, reconfiguration operation changes the system state from current faulty state to pre-calculated one which has maximum utility combination.

• Journal of Mechanical Science and Technology
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• v.16 no.10
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• pp.1187-1200
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• 2002

This paper is concerned with the design or an LMI (Linear Matrix Inequality) -based H$\infty$ controller for a line of sight (LOS) stabilization system and with its robustness performance. The linearization of the system is necessary to analyze various nonlinear characteristics, but the linearization entails modeling uncertainties which reduce its performance. In addition, the stability of the LOS can be adversely affected by angular velocity disturbances while the vehicle is moving. As the vehicle accelerates, all the factors that are Ignored and simplified for the linearization tend to Inhibit the performance of the system. The robustness in the face of these uncertainties needs to be assured. This paper employs H$\infty$ control theory to address these problems and the LMI method to provide a suitable controller with minimal constraints for the system. Even though the system matrix does not have a full rank, the proposed method makes it possible to design a H$\infty$ controller and to deal with R and S matrices for reducing the system order. It can be also shown that the proposed robust controller has a better disturbance attenuation and tracking performance. The LMI method is also used to enhance the applicability of the proposed reduced-order H$\infty$ controller for the system given. The LMI-based H$\infty$ controller has superior disturbance attenuation and reference input tracking performance, compared with that of the conventional controller under real disturbances.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.859-865
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• 2007

This paper presents a method to analyze the unbalance response of a high speed polygon mirror scanner motor supported by sintered bearing and flexible supporting structures by using the finite element method and the mode superposition method. The appropriate finite element equations for polygon mirror are described by rotating annular sector element using Kirchhoff plate theory and von Karman non-linear strain, and its rigid body motion is also considered. The rotating components except for the polygon mirror are modeled by Timoshenko beam element including the gyroscopic effect. The flexible supporting structures are modeled by using a 4-node tetrahedron element and 4-node shell element with rotational degrees of freedom. Finite element equations of each component of the polygon mirror scanner motor and the flexible supporting structures are consistently derived by satisfying the geometric compatibility in the internal boundary between each component. The rigid link constraints are also imposed at the interface area between sleeve and sintered bearing to describe the physical motion at this interface. A global matrix equation obtained by assembling the finite element equations of each substructure is transformed to a state-space matrix-vector equation, and both damped natural frequencies and modal damping ratios are calculated by solving the associated eigenvalue problem by using the restarted Arnoldi iteration method. Unbalance responses in time and frequency domain are performed by superposing the eigenvalues and eigenvectors from the free vibration analysis. The validity of the proposed method is verified by comparing the simulated unbalance response with the experimental results. This research also shows that the flexibility of supporting structures plays an important role in determining the unbalance response of the polygon mirror scanner motor.

• Journal of KIISE:Computer Systems and Theory
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• v.35 no.8
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• pp.407-415
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• 2008

This paper presents novel segmentation and transition techniques for dancing motion synthesis. The segmentation method for dancing motions is based on Laban Movement Analysis (LMA). We assume a dance sequence as a set of small dancing motions. To segment a dancing motion is a subjective, psychological, and complex problem, so we extract the shape factor of LMA from a dance motion and observe shape's changes to find the boundaries of dance segments. We also introduce a transition method that meets constraints on the feet. This method that is based on a linear interpolation modifies the intermediate posture motion after analyzing footprint positions. The posture could be a key-frame between source motion and target motion on the transition. With the proposed techniques, it would be easy for multimedia applications to generate plausible dance motions.

• Structural Engineering and Mechanics
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• v.62 no.5
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Journal of KIISE:Computer Systems and Theory
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• v.27 no.3
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• pp.300-312
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• 2000

The application areas of embedded real-time systems are very wide and so are the requirements for real-time processing and reliability of the systems. To develop embedded real-time systems effectively with its real-time and reliability properties guaranteed, an appropriate real-time model is needed. Recently, the research on real-time object-oriented model is active, which graft the concept of object-orientation on real-time systems modeling and development. In this paper, we propose dRTO (dependable Real-Time Object) model, with 5 primitive classes. These allow designers to effectively model the characteristics of real-time systems, i.e., object-orientation, real-time-ness and dependability. The dRTO model has three main features. First, it is able to model and implement the timing constraints imposed on real-time objects as well as interactions among the objects. Second, hardware and software components (including kernel) of embedded systems can be modeled in one frame. Third, it is able to represent fault detection and recovery mechanisms explicitly.

• Journal of the Korean Society of Systems Engineering
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• v.9 no.2
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• pp.23-36
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• 2013

Plant industry is one of technology-intensive and most prosperous industries in Korea because of its recent prosperity and promising outlook in export. However, no Korean EPC company has yet been well prepared in lifting their capacity sufficient enough to get the upstream conceptual or basic design and engineering orders for sizable plant projects which are known as the more value-added. If systems engineering, a methodology which developed complex systems such as airplanes and has been justified its effectiveness in Defense and NASA projects, can be integrated with plant engineering which should be developed and applied based on the requirements of so many stakeholders, conditions, lifecycle concepts, and constraints of the projects, huge synergic effect is expected particularly in developing a specific upstream design, which is a conceptual or basic design. The notion of integration with each other between systems engineering and plant engineering can be really the crux of EPC's success in any plant projects. This paper suggests an approach showing a methodology how to dig out, analyze, evaluate, verify and implement the stakeholders' requirements into a plant design in conceptual phase using the theory and skills of systems engineering. ISO/IEC 15288 well known systems engineering standards is used. Carbon capture system is used for a case study, for it is an emerging technology in reducing emissions of carbon dioxide causing global warming from flue gas after combustion. Here systems engineering was proven to play a substantial role in enhancing the capability of designers in developing a conceptual design of whole plant or certain part of crucial plant systems.

• Journal of Korean Society of Steel Construction
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• v.21 no.4
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• pp.361-373
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• 2009

Using the genetic algorithm, the optimal-design technique of the Nielsen arch bridge was proposed in this paper. The design parameters were the arch-rise ratio and the steel weight ratio of the Nielsen arch bridge, and optimal-design techniques were utilized to analyze the behavior of the bridge. The optimal parameter values were determined for the estimated optimal level. The parameter determination requires the standardization of the safety, utility, and economic concepts as the critical factors of a structure. For this, a genetic algorithm was used, whose global-optimal-solution search ability is superior to the optimization technique, and whose object function in the optimal design is the total weight of the structure. The constraints for the optimization were displacement, internal stress, and time and space. The structural analysis was a combination of the small displacement theory and the genetic algorithm, and the runtime was reduced for parallel processing. The optimal-design technique that was developed in this study was employed and deduced using the optimal arch-rise ratio, steel weight ratio, and optimal-design domain. The optimal-design technique was presented so it could be applied in the industry.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.9 no.1
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• pp.33-40
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• 1989

In the design of reinforced concrete framed structures, which consist of various design variables, the objective and the constraint functions are formulated in complicated forms. Usually iterative methods have been used to optimize the design variables. In this paper, multilevel formulation is adopted, and design variables are selected in reduced numbers at each level, to reduce the iterative cycle and to accelerate the convergence rate. At level 1, elastic analysis is performed to get the upper and lower bounds of the redistributed design moments due to inelastic behavior of the frame. Then the design moments are taken as design variables and optimized at level 2, and the sizing variables are optimized at level 3. The optimization of redistributed moments is performed using the design sensitivity obtained at the level 2, and force approximation technique is used to reflect the variation of design variables in the lower level to the upper level. The design variables are selected in reduced numbers at each level, and the optimization formulation is simplified effectively. A cost function is taken as the objective function, and the constraints of the stress of the structures are derived from BSI CP 110 following limit state theory. Numerical examples are included to prove the effectiveness of the developed algorithm.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.3 s.96
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• pp.251-258
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• 2005

The free vibration of a spinning flexible disk-spindle system supported by hydro dynamic bearings (HDB) in an HDD is analyzed by FEM. The spinning flexible disk is described using Kirchhoff plate theory and von Karman non-linear strain, and its rigid body motion is also considered. It is discretized by annular sector element. The rotating spindle which includes the clamp, hub, permanent magnet and yoke, is modeled by Timoshenko beam including the gyroscopic effect. The flexible supporting structure with a complex shape which includes stator core, housing, base plate, sleeve and thrust pad is modeled by using a 4-node tetrahedron element with rotational degrees of freedom to satisfy the geometric compatibility. The dynamic coefficients of HDB are calculated from the HDB analysis program, which solves the perturbed Reynolds equation using FEM. Introducing the virtual nodes and the rigid link constraints defined in the center of HDB, beam elements of the shaft are connected to the solid elements of the sleeve and thrust pad through the spring and damper element. The global matrix equation obtained by assembling the finite element equations of each substructure is transformed to the state-space matrix-vector equation, and the associated eigen value problem is solved by using the restarted Arnoldi iteration method. The validity of this research is verified by comparing the numerical results of the natural frequencies with the experimental ones. Also the effect of supporting structures to the natural modes of the total HDD system is rigorously analyzed.