• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.2
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• pp.631-642
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• 2013

The standard CPT(Cone Penetration Test), which can be easily performed to investigate in-situ soil engineering properties, has been widely used. CPT are also widely being utilized in centrifuge model tests. In this study, a miniature cone with 10mm diameter was developed and its applicability in the centrifuge was evaluated. The developed miniature cone was equipped with a four degree-of-freedom in-flight robot. A series of cone penetration tests was performed under four centrifuge acceleration levels. As results, the cone resistances measured at the same confining stress within shallow penetration depth were affected by the centrifugal accelerations. The critical depth was proportional to the cone diameter and relative density. Cone resistances results below the critical depth and soil parameters obtained from the laboratory tests were compared with those by previously proposed empirical relations.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.973-978
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• 2005

In this paper, we investigate an improved mobile robot localization method using Kalman filter. The highlight of the paper lies in the formulation of combined Kalman filter and its application to mobile robot experiment. The combined Kalman filter is a kind of extended Kalman filter which has an extra degree of freedom in Kalman filtering recursion. It consists of the standard Kalman filter, i.e., the predictor-corrector and the perturbation estimator which reconstructs unknown dynamics in the state transition equation of mobile robot. The combined Kalman filter (CKF) enables to achieve robust localization performance of mobile robot in spite of heavy perturbation such as wheel slip and doorsill crossover which results in large odometric errors. Intrinsically, it has the property of integrating the innovation in Kalman filtering, i.e., the difference between measurement and predicted measurement and thus it is so much advantageous in compensating uncertainties which has not been reflected in the state transition model of mobile robot. After formulation of the CKF recursion equation, we show how the design parameters can be determined and how much beneficial it is through simulation and experiment for a two-wheeled mobile robot under indoor GPS measurement system composed of four ultrasonic satellites. In addition, we discuss what should be considered and what prerequisites are needed to successfully apply the proposed CKF in mobile robot localization.

• Smart Structures and Systems
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• v.14 no.1
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• pp.17-37
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• 2014

In this study, four widely accepted and used variants of Evolution Strategies (ES) are adapted and applied to the output-error state-space identification problem. The selection of ES is justified by prior strong indication of superior performance to similar problems, over alternatives like Genetic Algorithms (GA) or Evolutionary Programming (EP). The ES variants that are being tested are (i) the (1+1)-ES, (ii) the $({\mu}/{\rho}+{\lambda})-{\sigma}$-SA-ES, (iii) the $({\mu}_I,{\lambda})-{\sigma}$-SA-ES, and (iv) the (${\mu}_w,{\lambda}$)-CMA-ES. The study is based on a six-degree-of-freedom (DOF) structural model of a shear building that is characterized by light damping (up to 5%). The envisaged analysis is taking place through Monte Carlo experiments under two different excitation types (stationary / non-stationary) and the applied ES are assessed in terms of (i) accurate modal parameters extraction, (ii) statistical consistency, (iii) performance under noise-corrupted data, and (iv) performance under non-stationary data. The results of this suggest that ES are indeed competitive alternatives in the non-linear state-space estimation problem and deserve further attention.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.101-104
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• 2004

This paper addresses uncertainty issues encountered recently in measuring head vibration using the conventional 6-axis or 9-axis bite-bar Those conventional bite-bars are shown to present insufficient information to measure a complete 6 degree-of-freedom motion of head vibration. In order to overcome such limit, a theoretical measurement model that consists of four 3-axis linear accelerometers is suggested (Theoretical backgrounds presented in this paper shall have been addressed in the international congress of ICA 2004 in this April). It is shown to enable the direct measurement of three angular acceleration components and six angular velocity-dependent nonlinear terms. In audition to the three linear acceleration terms, those nine angular motion-dependent ones are found to make it possible to evaluate the general head vibration for a given position. To examine the feasibility of the proposed method, a newly designed 12-axis bite-bar was developed. Detailed experimental results obtained using the developed 12-axis bite-bar are illustrated in the presentation of this paper, which illustrates what amount of measurement accuracy provides. But, this paper provides more detailed experimental data and extended uncertainty factors.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.50 no.2
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• pp.147-153
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• 2014

The purpose of this paper is to examine the roll damping characteristics by bilge keels on the fishing vessel. Unlike other degree of freedom motions, roll motion is highly nonlinear. However the quantitative evaluation of roll damping combined with waves is very important for the fishing vessel. To reduce roll motion, roll motion stabilizers such as a bilge keel is used due to easy made and cheap cost rather than anti-rolling tank and fin-stabilizer. Authors paid attention to the shape of bilge keel and waves to grasp the roll damping for the fishing vessel and studied about the difference of tendencies of roll angle following the shapes of bilge keel. The model ship was the offshore large purse seiner and four types of bilge keel were used. The data from the experiments were provided and analyzed to investigate the rolling characteristics of the model ship being affected by the wave height, wave period and bilge keel shape. The results of the study showed that three types of the bilge keel have little effective, but only one has an effect on the roll damping. So bilge keel shape and its attachment method need to be a future study for the practical use in fishing vessel.

• Smart Structures and Systems
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• v.33 no.2
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• pp.145-163
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• 2024

The evaluation of dynamic characteristics of bridges under operational traffic loads is a crucial aspect of bridge structural health monitoring. In the vehicle-bridge interaction (VBI) system, the vibration responses of bridge exhibit time-varying characteristics. To address this issue, an accurate time-frequency analysis method that combines the autoregressive power spectrum based empirical wavelet transform (AR-EWT) and local maximum synchrosqueezing transform (LMSST) is proposed to identify the time-varying instantaneous frequencies (IFs) of the bridge in the VBI system. The AR-EWT method decomposes the vibration response of the bridge into mono-component signals. Then, LMSST is employed to identify the IFs of each mono-component signal. The AR-EWT combined with the LMSST method (AR-EWT+LMSST) can resolve the problem that LMSST cannot effectively identify the multi-component signals with weak amplitude components. The proposed AR-EWT+LMSST method is compared with some advanced time-frequency analysis techniques such as synchrosqueezing transform (SST), synchroextracting transform (SET), and LMSST. The results demonstrate that the proposed AR-EWT+LMSST method can improve the accuracy of identified IFs. The effectiveness and applicability of the proposed method are validated through a multi-component signal, a VBI numerical model with a four-degree-of-freedom half-car, and a VBI model experiment. The effect of vehicle characteristics, vehicle speed, and road surface roughness on the identified IFs of bridge are investigated.

• Journal of the Society of Naval Architects of Korea
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• v.43 no.1 s.145
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• pp.15-21
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• 2006

Recently, the attention to large container ships whose size is greater than 10,000 TEU container ship has been increased due to their increasing demand. The large container ship has twin skegs because of the engine capacity and large beam-draft ratio. In this paper, the maneuvering characteristics of a container ship with twin skegs were investigated through 4DOF(four degree of freedom) HPMM(Horizontal Planar Motion Mechanism) test and computer simulation. A mathematical model for maneuvering motion with 4DOF of twin skegs system was established to include effects of roll motion on the maneuvering motion. And to obtain roll-coupling hydrodynamic coefficients of a container ship, 4DOF HPMM system of MOERI which has a roll moment measurement system was used. HPMM tests were carried out for a 12,000 TEU class container ship with twin skegs at scantling load condition. Using the hydrodynamic coefficients obtained, simulations were made to predict the maneuvering motion. Rudder forces of twin-rudders were measured at the angles of drift and rudder. The neutral rudder angles with drift angles of ship was quite different with those of single skeg ship. So other treatment of flow straightening coefficient $\gamma_R$ was used and the simulation results was compared with general simulation result. The treatment of experimental result at static drift and rudder test was very important to predict the maneuverability of a container ship with twin skegs.

• The Journal of Advanced Prosthodontics
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• v.12 no.2
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• pp.49-54
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• 2020

PURPOSE. The purpose of this study was to compare the performance of Accura to that of the T-scan for indicating occlusal contacts. MATERIALS AND METHODS. Twenty-four subjects were selected. Their maxillary dental casts were scanned with a model scanner. The Stereolithography files of the casts were positioned to align with the occlusal plane. Occlusal surfaces of every tooth were divided into three to six anatomic regions. T-scan and Accura recordings were made during two masticatory cycles. The T-scan and Accura images were captured at the maximum bite force and overlapped to the cast. Photographs of interocclusal records were used as the reference during overlap. The occlusal contacts were counted to compare the T-scan and Accura. McNemar's test was used for statistical significance and the corresponding P-values were calculated from a chi-square distribution with one degree of freedom. The accuracy, sensitivity, specificity, positive predictive value (PPV) and negative predictive value (NPV) of Accura were calculated relative to the T-scan values as a control. RESULTS. No statistical differences (P>.05) were found between the T-scan and Accura methods. The accuracy of Accura was 75.8%, sensitivity was 82.1%, specificity was 60.1%, PPV was 82.9%, and NPV was 60.1%. CONCLUSION. Accura could be another possible option as a computerized occlusal analysis system for indicating occlusal contacts at maximum intercuspation.

• Journal of the Society of Naval Architects of Korea
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• v.52 no.6
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• pp.471-477
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• 2015

When a ship sails in a seaway, the resistance on a ship increases due to incident waves and winds. The magnitude of added resistance amounts to about 15–30% of a calm-water resistance. An accurate prediction of added resistance in waves, therefore, is essential to evaluate the performance of a ship in a real sea state and to design an optimum hull form from the viewpoint of the International Maritime Organization (IMO) regulations such as Energy Efficiency Design Index (EEDI) and Energy Efficiency Operational Indicator (EEOI). The present study considers added resistance problem of AFRAMAX-class tankers with the conventional bow and Ax-bow shapes. Added resistance due to waves is successfully calculated using 1) a three-dimensional time-domain seakeeping computations based on a Rankine panel method (three-dimensional panel) and 2) a commercial CFD program (STAR-CCM+). In the hydrodynamic computations of a three-dimensional panel method, geometric nonlinearity is accounted for in Froude-Krylov and restoring forces using simple wave corrections over exact wet hull surface of the tankers. Furthermore, a CFD program is applied by performing fully nonlinear computation without using an analytical formula for added resistance or empirical values for the viscous effect. Numerical computations are validated through four degree-of-freedom model-scale seakeeping experiments in regular head waves at the deep towing tank of Hyundai Heavy Industries.

• International Journal of Automotive Technology
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• v.4 no.4
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• pp.181-191
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• 2003

Since the nonlinearity and uncertainties which inherently exist in vehicle system need to be considered in active suspension control law design, this paper proposes a new control strategy for active vehicle suspension systems by using a combined control scheme, i.e., respectively using a genetic algorithm (GA) based self-tuning PID controller and a fuzzy logic controller in two loops. In the control scheme, the PID controller is used to minimize vehicle body vertical acceleration, the fuzzy logic controller is to minimize pitch acceleration and meanwhile to attenuate vehicle body vertical acceleration further by tuning weighting factors. In order to improve the adaptability to the changes of plant parameters, based on the defined objectives, a genetic algorithm is introduced to tune the parameters of PID controller, the scaling factors, the gain values and the membership functions of fuzzy logic controller on-line. Taking a four degree-of-freedom nonlinear vehicle model as example, the proposed control scheme is applied and the simulations are carried out in different road disturbance input conditions. Simulation results show that the present control scheme is very effective in reducing peak values of vehicle body accelerations, especially within the most sensitive frequency range of human response, and in attenuating the excessive dynamic tire load to enhance road holding performance. The stability and adaptability are also showed even when the system is subject to severe road conditions, such as a pothole, an obstacle or a step input. Compared with conventional passive suspensions and the active vehicle suspension systems by using, e.g., linear fuzzy logic control, the combined PID and fuzzy control without parameters self-tuning, the new proposed control system with GA-based self-learning ability can improve vehicle ride comfort performance significantly and offer better system robustness.