• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.971-980
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• 2010

In this paper, we present a navigation control algorithm for mobile robots that move in environments having static and moving obstacles. The algorithm includes a global and a local path-planning algorithm that uses $D^*$ search algorithm, a fuzzy logic for determining the immediate level of danger due to collision, and a fuzzy logic for evaluating the required wheel velocities of the mobile robot. To apply the $D^*$ search algorithm, the two-dimensional space that the robot moves in is decomposed into small rectangular cells. The algorithm is verified by performing simulations using the Python programming language as well as by using the dynamic equations for a two-wheeled mobile robot. The simulation results show that the algorithm can be used to move the robot successfully to reach the goal position, while avoiding moving and unknown static obstacles.

• Wind and Structures
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• v.6 no.5
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• pp.387-402
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• 2003

In the past decades, much effort has been made towards the study of single-mode-based vibration controls with dynamic energy absorbers such as single or multiple Tuned Mass Dampers(TMDs). With the increase of bridge span length and the tendency of the bridge cross-section being more slender and streamlined, multi-mode coupled vibrations as well as their controls have become very important for large bridges susceptible to strong winds. As a simple but effective device, the TMD system especially the semi-active one has become a promising option for such coupled vibration controls. However, despite various studies of optimal controls of single-mode-based vibrations with TMDs, research on the corresponding controls of the multi-mode coupled vibrations is very rare so far. For the development of a semi-active control strategy to suppress the multi-mode coupled vibrations, a comprehensive parametric analysis on the optimal variables of this control is substantial. In the present study, a multi-mode control strategy named "three-row" TMD system is discussed and the general numerical equations are developed at first. Then a parametric study on the optimal control variables for the "three-row" TMD system is conducted for a prototype Humen Suspension Bridge, through which some useful information and a better understanding of the optimal control variables to suppress the coupled vibrations are obtained. This information lays a foundation for the design of semi-active control.

• Structural Engineering and Mechanics
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• v.27 no.6
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• pp.713-739
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• 2007

Nowadays computers can perform symbolic computations in addition to mere number crunching operations for which they were originally designed. Symbolic computation opens up exciting possibilities in Structural Mechanics and engineering. Classical areas have been increasingly neglected due to the advent of computers as well as general purpose finite element software. But now, classical analysis has reemerged as an attractive computer option due to the capabilities of symbolic computation. The repetitive cycles of simultaneous - equation sets required by the finite element technique can be eliminated by solving a single set in symbolic form, thus generating a truly closed-form solution. This consequently saves in data preparation, storage and execution time. The power of Symbolic computation is demonstrated by six examples by applying symbolic computation 1) to solve coupled shear wall 2) to generate beam element matrices 3) to find the natural frequency of a shear frame using transfer matrix method 4) to find the stresses of a plate subjected to in-plane loading using Levy's approach 5) to draw the influence surface for deflection of an isotropic plate simply supported on all sides 6) to get dynamic equilibrium equations from Lagrange equation. This paper also presents yet another computationally efficient and accurate numerical method which is based on the concept of derivative of a function expressed as a weighted linear sum of the function values at all the mesh points. Again this method is applied to solve the problems of 1) coupled shear wall 2) lateral buckling of thin-walled beams due to moment gradient 3) buckling of a column and 4) static and buckling analysis of circular plates of uniform or non-uniform thickness. The numerical results obtained are compared with those available in existing literature in order to verify their accuracy.

• Geomechanics and Engineering
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• v.19 no.5
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• pp.463-472
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• 2019

The mode perturbation method (MPM) is suitable and efficient for solving the eigenvalue problem of a nonuniform soil deposit whose property varies with depth. However, results of the MPM do not always converge to the exact solution, when the variation of soil deposit property is discontinuous. This discontinuity is typical because soil is usually made up of sedimentary layers of different geologic materials. Based on the energy integral of the variational principle, a new mode perturbation method, the energy-based mode perturbation method (EMPM), is proposed to address the convergence of the perturbation solution on the natural frequencies and the corresponding mode shapes and is able to find solution whether the soil properties are continuous or not. First, the variational principle is used to transform the variable coefficient differential equation into an equivalent energy integral equation. Then, the natural mode shapes of the uniform shear beam with same height and boundary conditions are used as Ritz function. The EMPM transforms the energy integral equation into a set of nonlinear algebraic equations which significantly simplifies the eigenvalue solution of the soil layer with variable properties. Finally, the accuracy and convergence of this new method are illustrated with two case study examples. Numerical results show that the EMPM is more accurate and convergent than the MPM. As for the mode shapes of the uniform shear beam included in the EMPM, the additional 8 modes of vibration are sufficient in engineering applications.

• Journal of the Society of Naval Architects of Korea
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• v.38 no.1
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• pp.1-8
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• 2001

The computations of the turbulent flow around the ship models with the free-surface effects were carried out. Incompressible Reynolds-Averaged Navier-Stokes equations were solved by using an explicit finite-difference method with the nonstaggered grid system. The method employed second-order finite differences for the spatial discretization and a four-stage Runge-Kutta scheme for the temporal integration. For the turbulence closure, a modified Baldwin-Lomax model was exploited. The location of the free surface was determined by solving the equation of the kinematic free-surface condition using the Lax-Wendroff scheme and a free-surface conforming grid was generated at each time step so that one of the grid boundary surfaces always coincides with the free surface. An inviscid approximation of the dynamic free-surface boundary condition was applied as the boundary conditions for the velocity and pressure on the free surface. To validate the computational method developed in the present study, the computations were carried out for beth Wigley and Series 60 $C_B=0.6$ ship model and the computational results showed good agreements with the experimental data.

• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.67-73
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• 2005

This paper describes depth, heading and speed control of an underwater vehicle that has four stern thrusters of which forces are coupled in the diving and, steering motion, as well as the speed of the vehicle. The optimal linear quadratic controller is designed based on a linearized- state space model, developed by combining the dynamic equations of speed, steering and diving motion. The designed controller gives provides an optimal thrust distribution, minimizing the given performance index to control speed, depth and heading simultaneously. To validate the performance of the controller, a simulation and tank-test are carried out with DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), developed by KORDI as a test-bed for testing new underwater technologies. Optimal gains of the controller are tuned, using a computer simulation environment with a nonlinear 6-DOF numerical DUSAUV model, developed by PMM (Planner Motion Mechanism) test. To verify the performance of the presented controller in experiment, a tank-test with DUSAUV is carried out in the ocean engineering basin in KORDI. The experimental results are also compared with the simulation results to investigate the accordance of the numerical and the real mode.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.8
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• pp.1727-1734
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• 2011

In this paper, a position control scheme of the ink droplet is presented for the high image quality and print speed ink jet printer. The proposed scheme estimates the impact position and compensates it by control of the jet strobe time based on the dynamic equations describing the moving trajectory of the ejected ink droplet. Compared to the conventional jet strobe control which is based on the simple synchronization with the position signal of the ink jet nozzle, the proposed control scheme provides more accurate impact position control while the carrier is moving with accelerated or decelerated speed as well as steady state speed with fluctuations. The availability of printing during the acceleration and deceleration states of the carrier moving enables the print speed up and the frame size down which means the cost down.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.68-80
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• 2002

An approach for composing a performance optimized computational code is suggested for latest microprocessors. The concept of the code optimization, called here as localization, is maximizing the utilization of the second level cache that is common to all the latest computer system, and minimizing the access to system main memory. In this study, the localized optimization of LU-SGS (Lower-Upper Symmetric Gauss-Seidel) code for the solution of fluid dynamic equations was carried out in three different levels and tested for several different microprocessor architectures most widely used in these days. The test results of localized optimization showed a remarkable performance gain up to 7.35 times faster solution, depending on the system, than the baseline algorithm for producing exactly the same solution on the same computer system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.7
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• pp.574-581
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• 2012

Because of the exposed blade, the UAV using the rotors entail the risks during operation. While a wrapped duct around the fan blades reduces risks, it is a higher thrust performance than the same power load rotor. In this paper, for applying advantages of a ducted fan, the tri-ducted fan air vehicle configuration is proposed. The vehicle has three ducted fans. Two of them are the same shape and size and the third one is the smaller. It is possible to control a rapid attitude stability using thrust vector control. The equations of motion of the tri-ducted fan were derived. Lyapunov control input was applied to the system and stable inputs were derived. A nonlinear simulation was fulfilled by using parameters of a prototype vehicle. It verified a stable attitude and analyzed results.

• Proceedings of the KOSOMBE Conference
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• v.1998 no.11
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• pp.271-272
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• 1998

Contrast-enhanced CT has an important role in the assessment of liver lesions. However, the optimal protocol to get most effective result is not clear. The main principle for deciding injection protocol is to optimize lesion detectability by rapid scanning when lesion-to-liver contrast is maximum. For this purpose, we developed a physiological model of contrast medium enhancement based on the compartment modeling and pharmacokinetics. Blood supply to liver was modeled in two paths. This dual supply character distinguishes the CT enhancement of liver from that of the other organs. The first path is by hepatic artery and the second is by portal vein. It is assumed that only hepatic artery can supply blood to hepatocellular carcinoma (HCC) compartment. It is known that this causes the difference of contrast enhancement between normal liver tissue and hepatic tumor. By solving differential equations for each compartment simultaneously using computer program Matlab, CT contrast-enhancement curves were simulated. Simulated enhancement curves for aortic, hepatic, portal vein, and HCC compartments were compared with mean enhancement curves from 24 patients exposed to the same protocols as simulation. These enhancement curves were in a good agreement. Furthermore, we simulated lesion-to-liver curves for various injection protocols, and analyzed the effects. These may help to optimize the scanning protocols for good diagnosis.