• Proceedings of the KIEE Conference
• /
• 1987.11a
• /
• pp.425-429
• /
• 1987

This paper describes a collision avoidance method for planning safe trajectories for multi-robot system in common work space. Usually objects have been approximated to convex polyhedra in most previous researches, but in case using such the approximation method it is difficult to represent objects analytically in terms of functions and also to describe tile relationship between the objects. In this paper, in order to solve such problems a modeling method which approximates objects to cylinder ended by hemispheres and or sphere is used and the maximum distance functions is defined which call be calculated simply. Using an objective function with inequality constraints which are related to minimum distance functions, work range and maximum allowable angular velocities of the robots, tile collision avoidance for two robots is formulated to a constrained function optimization problem. With a view to solve tile problem a penalty function having simple form is defined and used. A simple numerical example involving two PUMA-type robots is described.

• Journal of the Society of Naval Architects of Korea
• /
• v.41 no.2
• /
• pp.61-69
• /
• 2004

In this study, flow around rudder is analyzed by utilizing the numerical calculation, and the rudder open water test is performed to validate the calculation. The aim of this study is to design the new rudder shape to improve manoeuvring performance. In first, flow around two-dimensional rudder section is analyzed to understand the characteristics of section profile. And the calculation for all-movable rudders is performed and compared with results of rudder open water test. It is hard to numerically predict the drag force because the value is sensitive to the turbulence modeling and grid spacing near the wall. However, the lift force is predicted well. And we can prove that concave profile of the rudder section produce more lift and torque than convex one as a experiment. However PANEL method that ignore viscous effect cannot distinguish the difference of them. So, we can look for the numerical tool to be developed the new rudder shape.

• ETRI Journal
• /
• v.45 no.3
• /
• pp.379-393
• /
• 2023

Underwater communication (UWC) is widely used in coastal surveillance and early warning systems. Precise channel estimation is vital for efficient and reliable UWC. The sparse direct-adaptive filtering algorithms have become popular in UWC. Herein, we present an improved adaptive convex-combination method for the identification of sparse structures using a reweighted normalized leastmean-square (RNLMS) algorithm. Moreover, to make RNLMS algorithm independent of the reweighted l₁-norm parameter, a modified sparsity-aware adaptive zero-attracting RNLMS (AZA-RNLMS) algorithm is introduced to ensure accurate modeling. In addition, we present a quantitative analysis of this algorithm to evaluate the convergence speed and accuracy. Furthermore, we derive an excess mean-square-error expression that proves that the AZA-RNLMS algorithm performs better for the harsh underwater channel. The measured data from the experimental channel of SPACE08 is used for simulation, and results are presented to verify the performance of the proposed algorithm. The simulation results confirm that the proposed algorithm for underwater channel estimation performs better than the earlier schemes.

• Journal of Korean Society for Geospatial Information Science
• /
• v.20 no.4
• /
• pp.117-125
• /
• 2012

Although many studies have been conducted to extract buildings from airborne lidar data, most of them assume that all the boundaries of a building are straight line segments. This makes it difficult to model building boundaries containing curved segments correctly. This paper aims to model buildings containing curved segments as combination of straight lines and arcs. First, two sets of boundary points are extracted by adaptive convex hull algorithm and local convex hull algorithm with a larger radius. Then, arc segments are determined by average spacing of boundary points and intersection ratio of perpendicular lines. Finally, building boundary is modeled through regularization of least squares line or circle fitting. The experimental results showed that the proposed method can model the curved building boundaries as arc segments correctly by completeness of 69% and correctness of 100%. The approach will be utilized effectively to create automatically digital map that meets the conditions of the Korean digital mapping.

• Wind and Structures
• /
• v.32 no.4
• /
• pp.355-369
• /
• 2021

Shape optimization of tall buildings is an efficient approach to mitigate wind-induced effects. Several studies have demonstrated the potential of shape modifications to improve the building's aerodynamic properties. On the other hand, it is well-known that the cross-section geometry has a direct impact in the floor area availability and subsequently in the building's profitability. Hence, it is of interest for the designers to find the balance between these two design criteria that may require contradictory design strategies. This study proposes a surrogate-based multi-objective optimization framework to tackle this design problem. Closed-form equations provided by the Eurocode are used to obtain the wind-induced responses for several wind directions, seeking to develop an industry-oriented approach. CFD-based surrogates emulate the aerodynamic response of the building cross-section, using as input parameters the cross-section geometry and the wind angle of attack. The definition of the building's modified plan shapes is done adopting the reduced basis approach, advancing the current strategies currently adopted in aerodynamic optimization of civil engineering structures. The multi-objective optimization problem is solved with both the classical weighted Sum Method and the Weighted Min-Max approach, which enables obtaining the complete Pareto front in both convex and non-convex regions. Two application examples are presented in this study to demonstrate the feasibility of the proposed strategy, which permits the identification of Pareto optima from which the designer can choose the most adequate design balancing profitability and occupant comfort.

• Journal of the Semiconductor & Display Technology
• /
• v.20 no.4
• /
• pp.171-176
• /
• 2021

Die-to-wafer (D2W) hybrid bonding in the multilayer semiconductor manufacturing process is one of wafer direct bonding, and various studies are being conducted around the world. A noteworthy point in the current die-to-wafer process is that a lot of voids occur on the bonding surface of the die during bonding. In this study, as a suggested method for removing voids generated during the D2W hybrid bonding process, a flexible mechanism for implementing convex for die bonding to be applied to the bond head is proposed. In addition, modeling of flexible mechanisms, analysis/design/control/evaluation of static/dynamics properties are performed. The proposed system was controlled by capacitive sensor (lion precision, CPL 290), piezo actuator (P-888,91), and dSpace. This flexure mechanism implemented a working range of 200 ㎛, resolution(3σ) of 7.276nm, Inposition(3σ) of 3.503nm, settling time(2%) of 500.133ms by applying a reverse bridge type mechanism and leaf spring guide, and at the same time realized a maximum step difference of 6 ㎛ between die edge and center. The results of this study are applied to the D2W hybrid bonding process and are expected to bring about an effect of increasing semiconductor yield through void removal. In addition, it is expected that it can be utilized as a system that meets the convex variable amount required for each device by adjusting the elongation amount of the piezo actuator coupled to the flexible mechanism in a precise unit.

• Korean Journal of Optics and Photonics
• /
• v.28 no.5
• /
• pp.203-212
• /
• 2017

A scientific model refers to a conceptual system that can describe, explain, and predict a particular physical phenomenon. The co-construction of the scientific model is attracting attention as a new teaching and learning strategy in the field of science education and various studies. The evaluation and modification of models compared with the predicted models of data from the real world is the core of modeling strategy. However, there were only a limited data provided by the teacher in many studies of modeling comparing the students' predictions of their own models. Most of the students were not given the opportunity to evaluate the suitability of the model with the data in the real world. The purpose of this study was to develop a scientific model co-construction program that can evaluate the model by directly comparing the predicted models with the observed data from the real world. Through a collaborative discussion between teachers and researchers for 6 months, a 5-session scientific model co-construction program on the subject 'image formation by convex lenses' for second grade middle school students was developed. Eighty (80) students in 3 classes and a science teacher with 20 years of service from general public co-educational middle school in Gyeonggi-do participated in this 2-week program. After the class, students were asked about the helpfulness and difficulty of the class, and whether they would like to recommend this class to a friend. After the class, 95.8% of the students constructed the scientific model more than the model using the construction rule. Students had difficulties to identify principles or understand their friends, but the result showed that they could understand through model evaluation experiment. 92.5% of the students said that they would be more than willing to recommend this program to their friends. It is expected that the developed program will be applied to the school and contribute to the improvement of students' modeling ability and co-construction ability.

• Korean Institute of Interior Design Journal
• /
• v.26 no.3
• /
• pp.45-54
• /
• 2017

A social phenomenon that occurs in a physical space is said to be a complex system. However, space syntax, which is commonly employed by researchers to identify such social phenomena, has various limitations in interpreting their complexity. On the other hand, agent-based modeling considers a variety of factors including the personality of the agent, objective-oriented work flows, estimation according to time flows and better prediction of space use through diverse parameters depending the situation, as well as the characteristics of the space. The agent-based method thus has the potentials to be developed as an alternative to space syntax techniques. In particular, discrete event driven simulation(DEVS), which is part of the agent-based modeling method, embraces the concept of networks just like space syntax, which allows a possible theoretical linkage in the future. This study suggests a procedural model of agent-based DEVS reflecting two different connection methods, i.e. connections between adjacent areas and those of the entire space, and attempts to identify the relationship between the local and regional indices of space syntax. A number of spaces were selected as examples-one for a preliminary experiment and eight modified for the main experiment-and space syntax and DEVS were applied to each of them. The comparative analysis of the results led to the conclusions as follows: 1) Adjacent connections were closely related to local indices, while the whole-space approach to regional indices. Local integration shows both characteristics. 2) Observation of the time flow model indicated a faster convergence with the range of 1 to 3-fold of the total time of one lap, with the error of less than 10%. 3) The heat map analysis showed more obvious characteristics of using the space for the entire space rather than adjacent connections. 4) Space syntax shows higher eligibility than ABM.

• Structural Engineering and Mechanics
• /
• v.16 no.3
• /
• pp.327-340
• /
• 2003

Variations in system parameters due to uncertainties of parameters may result in system performance deterioration and create system internal stability problems. Uncertainties in structural modeling of structures are often considered to ensure that the control system is robust with respect to response errors. So the uncertain concept plays an important role in the analysis and design of the engineering structures. In this paper, the active control of the intelligent structures with the uncertainties is studied and a new method for analyzing the robustness of systems with the uncertainties is presented. Firstly, the system with uncertain parameters is considered as the perturbation of the system with deterministic parameters. Secondly, the feedback control law is designed on the basis of deterministic system. Thirdly, perturbation analysis and robustness analysis of intelligent structures with uncertainties are discussed when the feedback control law is applied to the original system and perturbed system. Combining the convex model of uncertainties with the finite element method, the analysis theory of the robustness of intelligent structures with the uncertainties can be developed. The description and computation of the robustness of intelligent structures with uncertain parameters is obtained. Finally, a numerical example of the application of the present method is given to show the validity of the method.

• Journal of Welding and Joining
• /
• v.21 no.3
• /
• pp.85-91
• /
• 2003

Narrow gap welding has many advantages over conventional V-grooved butt welding such as high productivity, small deformation and improved mechanical property of joints. With narrower groove gap, less arc heat input is expected will all the other advantages of narrow gap welding. The main defects of narrow gap welding include the lack of root fusion, convex bead surface and irregular surface, all of which have negative effects on the next welding pass. This paper suggests an up-and-down torch oscillation for ultra narrow gap welding with gap size of 5mm and investigates the proper welding conditions to fulfill the reliable and high welding quality. First, GMA welding model was suggested for ultra narrow gap welding system with Halmoy's model referenced for wire melting modeling. And the arc length in ultra narrow gap was defined. Secondly, based on the experimental results of up-and-down torch oscillation welding, phase shift of current and wire extension length were simulated for varying oscillation frequency to show that weld the bead shape in ultra narrow gap welding can be predicted. As the result, it was confirmed that reliable weld quality in ultra narrow gap welding can be achieved with up-and-down torch oscillation above 15Hz due to its ability to provide uniform heat input along the sidewall of gap.