• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.319-328
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• 2010

This paper proposes a robust adaptive fuzzy tracking control scheme for a nonholonomic mobile robot with external disturbances as well as parameter uncertainties in the robot kinematics, the robot dynamics, and the actuator dynamics. In modeling a mobile robot, the actuator dynamics is integrated with the robot kinematics and dynamics so that the actuator input voltages are the control inputs. The presented controller is designed based on a FBFN (Fuzzy Basis Function Network) to approximate an unknown nonlinear dynamic function with the uncertainties, and a robust adaptive input to overcome the uncertainties. When the controller is designed, the different parameters for two actuator models in the actuator dynamics are taken into account. The proposed control scheme does not require the kinematic and dynamic parameters of the robot and actuators accurately. It can also alleviate the input chattering and overcome the unknown friction force. The stability of the closed-loop control system including the kinematic control system is guaranteed by using the Lyapunov stability theory and the presented adaptive laws. The validity and robustness of the proposed control scheme are shown through a computer simulation.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.160.2-160.2
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• 2014

Recently silicon has attracted intense interest as a promising anode material of lithium-ion batteries due to its extremely high capacity of 4200 mA/g (for Li4.2Si) that is much higher than 372 mAh/g (for LiC6) of graphite. However, it seriously suffers from large volume change (even up to 300%) of the electrode upon lithiation, leading to its pulverization or mechanical failure during lithiation/delithiation processes and the rapid capacity fading. To overcome this problem, Si nanowires have been considered. Use of such Si nanowires provides their facile relaxation during lithiation/delithiation without mechanical breaking. To design better Si electrodes, a study to unveil atomic-scale mechanisms involving the volume expansion and the phase transformation upon lithiation is critical. In order to investigate the lithiation mechanism in Si nanowires, we have developed a reactive force field (ReaxFF) for Si-Li systems based on density functional theory calculations. The ReaxFF method provides a highly transferable simulation method for atomistic scale simulation on chemical reactions at the nanosecond and nanometer scale. Molecular dynamics (MD) simulations with the ReaxFF reproduces well experimental anisotropic volume expansion of Si nanowires during lithiation and diffusion behaviors of lithium atoms, indicating that it would be definitely helpful to investigate lithiation mechanism of Si electrodes and then design new Si electrodes.

• Ocean Systems Engineering
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• v.10 no.3
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• pp.267-287
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• 2020

The dropped objects are identified as one of the top ten causes of fatalities and serious injuries in the oil and gas industry. It is of importance to understand dynamics of dropped objects under water to accurately predict the motion of dropped objects and protect the underwater structures and facilities from being damaged. In this paper, we study non-dimensionalization of two-dimensional (2D) theory for dropped cylindrical objects. Non-dimensionalization helps to reduce the number of free parameters, identify the relative size of effects of force and moments, and gain a deeper insight of the essential nature of dynamics of dropped cylindrical objects under water. The resulting simulations of dimensionless trajectory confirms that drop angle, trailing edge and drag coefficient have the significant effects on dynamics of trajectories and landing location of dropped cylindrical objects under water.

• Ocean Systems Engineering
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• v.10 no.4
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• pp.399-414
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• 2020

A floating bridge is an innovative solution for deep-water and long-distance crossing. This paper presents a curved floating bridge's dynamic behaviors under the wind, wave, and current loads. Since the present curved bridge need not have mooring lines, its deep-water application can be more straightforward than conventional straight floating bridges with mooring lines. We solve the coupled interaction among the bridge girders, pontoons, and columns in the time-domain and to consider various load combinations to evaluate each force's contribution to overall dynamic responses. Discrete pontoons are uniformly spaced, and the pontoon's hydrodynamic coefficients and excitation forces are computed in the frequency domain by using the potential-theory-based 3D diffraction/radiation program. In the successive time-domain simulation, the Cummins equation is used for solving the pontoon's dynamics, and the bridge girders and columns are modeled by the beam theory and finite element formulation. Then, all the components are fully coupled to solve the fully-coupled equation of motion. Subsequently, the wet natural frequencies for various bending modes are identified. Then, the time histories and spectra of the girder's dynamic responses are presented and systematically analyzed. The second-order difference-frequency wave force and slowly-varying wind force may significantly affect the girder's lateral responses through resonance if the bridge's lateral bending stiffness is not sufficient. On the other hand, the first-order wave-frequency forces play a crucial role in the vertical responses.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.4
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• pp.55-66
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• 1995

This paper presents an explicit pole-assignment adaptive servocontrol shceme and its application to cutting force regulation for feedrate maximization. The controller structure of the suggested adaptive control scheme is based on robust control theory. This controller structure is then combined with an on-line model estimation algorithm. The whole scheme is applied to a milling process control. The results of real time cutting experimental studies show that the asymptotic regulation of milling peak cutting forces can be achieved with robust- ness against the time varying perturbations to the process model parameters, which are caused by nonlinear cutting dynamics.

• Journal of the Semiconductor & Display Technology
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• v.6 no.4
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• pp.1-4
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• 2007

Carbon nanotube oscillators encapsulating copper nanowire were investigated by molecular dynamics simulations. The excess forces due to the carbon-carbon van der Waals interactions are higher than the excess force due to carbon-copper interactions. And the masses of copper atoms are higher than those of carbon atoms. So, the carbon atoms are easier accelerated than the copper atoms. When the encapsulated copper nanowire deforms the encapsulating nanotube, the frequency can not be estimated by the mass-frequency dependence in classical oscillation theory.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.315-319
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• 2004

Static and dynamic responses of micro cantilever beam structures undertaking electrostatic forces are obtained employing Galerkin's method based on Euler beam theory. Variations of static and dynamic responses as well as resonant frequencies are estimated for several sets of beam properties and applied voltages. It is shown that the applied voltage influences the deflection and the modal characteristics significantly. Such information can be usefully employed for the design of MEMS structures.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2004.05a
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• pp.63-66
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• 2004

The responses of hypothetical silicon nanotubes under torsion have been investigated using an atomistic simulation based on the Tersoff potential. A torque, proportional to the deformation within Hooke's law, resulted in the ribbon-like flattened shapes and eventually led to a breaking of hypothetical silicon nanotubes. Each shape change of hypothetical silicon nanotubes corresponded to an abrupt energy change and a singularity in the strain energy curve as a function of the external tangential force, torque, or twisted angle. The dynamics of silicon nanotubes under torsion can be modelled in the continuum elasticity theory.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.26 no.5
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• pp.359-371
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• 2013

This paper is the first paper among two papers which constitute the paper about the rigid body dynamic analysis on the spent nuclear disposal canister under accidental drop and impact on to the ground. This paper performed the general theoretical study on the rigid body dynamic analysis. Through this study the impulsive force which is occurring in the spent nuclear fuel disposal canister under accidental drop and impact to the ground and required for the structural safety design of the canister is intended to be theoretically formulated. The main content of the theoretical study is about the equation of motion in the multibody dynamics. On the basis of this study the impulsive force which is occurring in the multibody in the case of collision between multibody is theoretically formulated. The application of this theoretically formulated impulsive force to computing the impulsive force occurring in the spent nuclear fuel disposal canister under accidental drop and impact to the ground is investigated.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.5
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• pp.2140-2149
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• 2013

Managing uncertainty or discontinuity in an innovation is still a challenge to most companies. For sustainable corporate survival over the long term, one of the problems caused by discontinuous innovation is the innovator's dilemma. In specific, the dynamics between discontinuous innovation and incumbents inspires the interestof researchers and managers. This paper employs catastrophe theory as a theoretical basis to explain the driving force of new discontinuous change. In other words, we extract the control variables overcoming innovation dilemma by interpreting the dynamics of corporate strategy for discontinuous innovation from the perspective of catastrophe theory. First, we define four types of discontinuity such as technology discontinuity, product discontinuity, business discontinuity, and consumer preference discontinuity. Second, we analyze the dynamics of the competition between companies by interpreting the cases of discontinuous innovation. This analyzing process enables us to identify the control variable which can, in advance, respond to the discontinuous situation.