• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.1062-1065
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• 2002

We have evaluated the ability of a time-delayed artificial neural network (TDANN) to predict muscle forces using only eletromyographic(EMG) signals. To achieve this goal, tendon forces and EMG signals were measured simultaneously in the gastrocnemius muscle of a dog while walking on a motor-driven treadmill. Direct measurements of tendon forces were performed using an implantable force transducer and EMG signals were recorded using surface electrodes. Under dynamic conditions, the relationship between muscle force and EMG signal is nonlinear and time-dependent. Thus, we adopted EMG amplitude estimation with adaptive smoothing window length. This approach improved the prediction ability of muscle force in the TDANN training. The experimental results indicated that dynamic tendon forces from EMG signals could be predicted using the TDANN, in vivo.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.85-101
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• 2020

The optimal parameters for the fluid-structure interaction analysis using the Smoothed Particle Hydrodynamics (SPH) for fluids and finite elements for structures, respectively, are explored, and the effectiveness of the simulations with those parameters is validated by solving several open surface fluid problems. For the optimization of the Equation of State (EOS) and the simulation parameters such as the time step, initial particle spacing, and smoothing length factor, a dam-break problem and deflection of an elastic plate is selected, and the least squares analysis is performed on the simulation results. With the optimal values of the pivotal parameters, the accuracy of the simulation is validated by calculating the exerted force on a moving solid column in the open surface fluid. Overall, the SPH-FEM coupled simulation is very effective to calculate the fluid-structure interaction. However, the relevant parameters should be carefully selected to obtain accurate results.

• 제어로봇시스템학회논문지
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• 제10권9호
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• pp.809-815
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• 2004

Researches on mobile robots have been mainly focused on the autonomous navigation and a lot of interesting results have been published so far. Most of applications are, however, fancy, unpractical, and very expensive to be used for 'UN-expensive' purpose. Well-known soccer robot may be an example of unpractical application. Un-autonomous mobile robot has, however, potential for a lot of practical applications. Especially, tele-operation of the un-autonomous mobile robot may the central issue of research. Major research topics for the tele-operated un-autonomous mobile robot include development of a force reflecting joystick for tele-operation and development of a sophisticated algorithm for smooth tele-operation. A new concept named fuzzy command smoothing algorithm is proposed in this paper in order to provide smooth motion to a tele-operated mobile robot. It gives smooth motion command to the mobile robot from possibly abrupt quick turn motion command of the joystick using fuzzy logic. Simulation results verify the usefulness of the proposed algorithm.

• Nuclear Engineering and Technology
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• 제54권9호
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• pp.3205-3214
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• 2022

The aim of this study is to provide a clear and accessible method to obtain accurate true-stress strain data, and to extend the limited material data beyond the ultimate tensile strength (UTS) for AISI 304L. AISI 304L is used for the outer construction for some types of nuclear transport packages, due to its post-yield ductility and high failure strain. Material data for AISI 304L beyond UTS is limited throughout literature. 3D digital image correlation (DIC) was used during a series of uniaxial tensile experiments. Direct method extracted data such as true strain and instantaneous cross-sectional area throughout testing such that the true stress-strain response of the material up to failure could be created. Post processing of the DIC data has a considerable effect on the accuracy of the true stress-strain data produced. Influence of subset size and smoothing of data was investigated by using finite element analysis to inverse model the force displacement response in order to determine the true stress strain curve. The FE force displacement response was iteratively adapted, using subset size and smoothing of the DIC data. Results were validated by matching the force displacement response for the FE model and the experimental force displacement curve.

• 전기학회논문지
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• 제60권5호
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• pp.1030-1035
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• 2011

The remote control of mobile robot is widely used to perform dangerous and complex tasks such as underwater exploration and cleaning of nuclear reactor. For this purpose, the obstacle avoidance process will proceed to ensure a safe drive. In this paper, we tested that mobile robot drive in which replaced a pipe with a box. After we measured the distance around the obstacle through a sensor of robot, we got the information that changed haptic force from the distance of the obstacle.

• 한국군사과학기술학회지
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• 제19권2호
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• pp.252-260
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• 2016

Unlike terrestrial transportation, marine transportation should consider environment factors in order to optimize path planning. This is because, ship's path planning is greatly influenced by real-time ocean environment-sea currents, wave and wind. Therefore, in this study, we suggest a ship path planning algorithm based on real-time ocean environment using not only $A^*$ algorithm but also path smoothing method. Moreover, in order to improve objective function value, we also consider ship's moving distance based on ship's location and real-time ocean environment data on grid map. The efficiency of the suggested algorithm is proved by comparing with $A^*$ algorithm only. This algorithm can be used as a reasonable automatics control system algorithm for unmaned ship.

• Smart Structures and Systems
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• 제30권3호
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• pp.273-286
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• 2022

In recent years, vision-based monitoring has received great attention. However, structural identification using vision-based displacement measurements is far less established. Especially, simultaneous identification of structural systems and unknown excitation using vision-based displacement measurements is still a challenging task since the unknown excitations do not appear directly in the observation equations. Moreover, measurement accuracy deteriorates over a wider field of view by vision-based monitoring, so, only a portion of the structure is measured instead of targeting a whole structure when using monocular vision. In this paper, the identification of structural system and excitations using vision-based displacement measurements is investigated. It is based on substructure identification approach to treat of problem of limited field of view of vision-based monitoring. For the identification of a target substructure, substructure interaction forces are treated as unknown inputs. A smoothing extended Kalman filter with unknown inputs without direct feedthrough is proposed for the simultaneous identification of substructure and unknown inputs using vision-based displacement measurements. The smoothing makes the identification robust to measurement noises. The proposed algorithm is first validated by the identification of a three-span continuous beam bridge under an impact load. Then, it is investigated by the more difficult identification of a frame and unknown wind excitation. Both examples validate the good performances of the proposed method.

• 한국자동차공학회논문집
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• 제10권2호
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• pp.150-158
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• 2002

Through experimental works, the damping force vibration problem was investigated, which results from valve and surge pressure in the oil return line of the hydraulic circuit of an active suspension system in a passenger cu. Experiments were carried out under passive system, where an orifice valve was closed and non-active system, where an orifice valve was opened, using a pressure control valve controlled by solenoid. The effects of parameters of the valve overlap and accumulator on smoothing surge pressure was elucidated. It was proved that the apparent variation of damping force due to the overlap amount of pressure control valve is the most important factor to control the damping force variation. The procedure of the experimental works shows the development process of a proportional pressure control valve in the hydraulics system of an active suspension system of passenger car.

• 천문학회지
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• 제27권1호
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• pp.13-29
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• 1994

We have constructed a 3-dim hydrodynamics code called BTSPH. The fluid dynamics part of the code is based on the smoothed particle hydrodynamics (SPH), and for its Poisson solver the binary tree (BT) scheme is employed. We let the smoothing length in the SPH algorithm vary with space and time, so that resolution of the calculation is considerably enhanced over the version of SPH with fixed smoothing length. The binary tree scheme calculates the gravitational force at a point by collecting the monopole forces from neighboring particles and the multipole forces from aggregates of distant particles. The BTSPH is free from geometric constraints, does not rely on grids, and needs arrays of moderate size. With the code we have run the following set of test calculations: one-dim shock tube, adiabatic collapse of an isothermal cloud, small oscillation of an equilibrium polytrope of index 3/2, and tidal encounter of the polytrope and a point mass perturber. Results of the tests confirmed the code performance.

• 한국정보전자통신기술학회논문지
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• 제12권2호
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• pp.113-119
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• 2019

우리는 선행연구로 다기능 마찰력 측정기를 개발해 왔고 본 논문에서는 적응화 평활화 방법을 적용하여 마찰력 측정기의 성능을 개선하고자 하였으며, 스크래치 테스트를 통해 시편에 대한 마찰력과 마찰면의 모니터링 기능을 심도 있게 분석하였다. 일반적으로 강판을 가공하여 사용하고자 할 때 마찰을 줄이기 위해서 윤활유를 사용하지만, 윤활유는 환경오염의 큰 원인이기 때문에 본 연구에서는 윤활강판을 사용하였다. 특히, 윤활강판의 마찰계수는 유기, 무기 등의 시편의 종류 및 코팅층의 상태에 따라 변화하기 때문에 합금화 용융아연도금강판과 같은 다양한 시편에 대한 정밀한 실험을 통해 분석하였다. 이를 토대로 적응화 평활화법을 이용하여 잡음이 제거된 정확한 마찰계수를 측정할 수 있는 측정기의 성능을 향상시킬 수 있음을 검증하였다. 그 결과로서 마찰계수 0.16에 대하여 적응화 평활화법을 이용한 경우 저감률이 0.0417%임을 보였다.