• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.1
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• pp.62.1-62.1
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• 2018

Galaxies in the cluster environment interact with the intracluster medium (ICM), losing the interstellar medium (ISM) and alternating their evolution. Observational evidences of the extraplanar ISM stripped by the ICM's ram pressure are prevalent in HI imaging studies of cluster galaxies. However, current theoretical understanding of the ram pressure stripping (or ICM-ISM interaction in general) is still limited mainly due to the lack of numerical resolution at ISM scales in large-scale simulations. Especially, self-consistent modeling of the turbulent, multiphase ISM is critical to understand star formation in galaxies interacting with the ICM. To achieve this goal, we utilize the TIGRESS simulation suite, simulating a local patch of galactic disks with high resolution to resolve key physical processes in the ISM, including cooling/heating, self-gravity, MHD, star formation, and supernova feedback. We then expose the ISM disk to ICM flows and investigate the evolution of star formation rate and the properties of the ISM. By exploring ICM parameter space, we discuss an implication of the simple ram pressure stripping condition (so called the Gunn-Gott condition) to the realistic ISM.

• Steel and Composite Structures
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• v.26 no.1
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• pp.55-66
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• 2018

In this paper, the response of an underground fibreglass reinforced plastic (FRP) composite pipe system subjected to realistic loading scenarios that may be experienced by an actual buried pipeline is investigated. The model replicates an arbitrary site with a length of buried pipeline, passing through a $90^{\circ}$ bend and into a valve pit. Various loading conditions, which include effects of pipe pressurization, differences in response between stainless steel and fibreglass composite pipes and severe loss of bed-soil support are studied. In addition to pipe response, the resulting soil stresses and ground settlement are also analysed. Furthermore, the locations of potential leakage and burst have also been identified by evaluating the contact pressures at the joints and by comparing stresses to the pipe hoop and axial failure strengths.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• Bulletin of the Society of Naval Architects of Korea
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• v.30 no.2
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• pp.44-52
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• 1993

선박에 있어서 철의장품은 종류와 수량이 다양하고 형상이 불규칙하여 대부분의 사업장에서 설계 전산화가 이루어지지 못하고 있는 실정이다. 의장설계실에서는 이를 전산화하기 위하여 먼저 철의장품의 표준을 제정 및 극대화하고 설계작업절차와 물량의 흐름을 전산과 연계하여 체계화 및 표준화하였다. 또한 선박의 전구역에 설치되는 철의장품들을 관련 양식과 함께 국제표준을 근거로 BASICA CADDS, SURFACE DESING, SDDP(structural Design ＆ Detailing Package) SOFTWARE를 이용하여 2차원(2-dimension) 및 3차원(3-dimension) 데이터베이스(database)화 하였으며 이를 POP-UP MENU를 이용, 쉽게 선택함으로써 모델링(modeling) 작업시수를 대폭 감소 시켰으며, 그래픽(graphic)에서 추출한 의장품의 데이터(data)를 의장품의 표준정보 FILE과 연계하여 라벨(LABEL) 및 치수(DIMENSION)를 기입하여 배치도를 추출하고 의장품의 제작, 설치, 계산 및 관리에 소요되는 설치도, 제작도 및 관련 보고서인 BOM(bill of material), PML(pallet material list), 의장제작품 LIST, COG(center of gravity), 관리점 등을 자동추출 및 관리전산망(PC-lan)과 연계할 수 있는 DECOM(철의장 전산설계 전용 package)을 89년에 개 발하여 의장설계에 적용하여 왔으며 ORACLE사의 RDBMS(relational database management system)를 도입하여 이를 보완하므로써 정보의 일관화 및 공유화가 가능하게 되었다. 그 결과 설계 M/H절감, 생산성 향상, 자재 및 관련 정보 전달에 혁신적인 변화 향상을 가져오게 되었다.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2309-2311
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• 1998

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbance link. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional link attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling a proposed inverted pendulum is consisted of a state feedback control and a fuzzy logic controller. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. In these case, the change of the angle and COG of an upper link is compensated with on-line. Simulations with a mathematical model are conducted to show the validity of the proposed controller.

• Computers and Concrete
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• v.15 no.1
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• pp.89-101
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• 2015

In this paper, Artificial Neural Networks (ANN) and Multiple Linear Regression (MLR) models were discussed to determine the compressive strength of clinker mortars cured for 1, 2, 7 and 28 days. In the experimental stage, 1288 mortar samples were produced from 322 different clinker specimens and compressive strength tests were performed on these samples. Chemical properties of the clinker samples were also determined. In the modeling stage, these experimental results were used to construct the models. In the models tricalcium silicate ($C_3S$), dicalcium silicate ($C_2S$), tricalcium aluminate ($C_3A$), tetracalcium alumina ferrite ($C_4AF$), blaine values, specific gravity and age of samples were used as inputs and the compressive strength of clinker samples was used as output. The approximate reasoning ability of the models compared using some statistical parameters. As a result, ANN has shown satisfying relation with experimental results and suggests an alternative approach to evaluate compressive strength estimation of clinker mortars using related inputs. Furthermore MLR model showed a poor ability to predict.

• Ocean Systems Engineering
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• v.8 no.1
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• pp.21-32
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• 2018

Due to the escalation in hydrocarbon consumption, the offshore industry is now looking for advanced technology to be employed for deep sea exploration. Riser system is an integral part of floating structure used for such oil and gas extraction from deep water offering a system of drill twines and production tubing to spread the exploration well towards the ocean bed. Thus, the marine risers need to be precisely employed. The incorporation of the strengthening material, fiber reinforced polymer (FRP) for deep and ultra-deep water riser has drawn extensive curiosity in offshore engineering as it might offer potential weight savings and improved durability. The design for FRP strengthening involves the local design for critical loads along with the global analysis under all possible nonlinearities and imposed loadings such as platform motion, gravity, buoyancy, wave force, hydrostatic pressure, current etc. for computing and evaluating critical situations. Finite element package, ABAQUS/AQUA is the competent tool to analyze the static and dynamic responses under the offshore hydrodynamic loads. The necessities in design and operating conditions are studied. The study includes describing the methodology, procedure of analysis and the local design of composite riser. The responses and fatigue damage characteristics of the risers are explored for the effects of FRP strengthening. A detail assessment on the technical expansion of strengthening riser has been outlined comprising the inquiry on its behavior. The enquiry exemplifies the strengthening of riser as very potential idea and suitable in marine structures to explore oil and gas in deep sea.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2017.05a
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• pp.266-267
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• 2017

A numerical investigation of the stage separation behavior of two-body vehicle focusing on its flow characteristics were carried out. For this simulation, separation of a booster from vehicle was modeled by a chimera grid system and calculated by using commercial code, CFD-FASTRAN$^{TM}$. Consideration of a spring force, gravity and relative acceleration of a booster was the essential factor that simulates the realistic situation. In this study, It was validated that the booster separation time decreases with increase in flight mach number and angle of attack. In view of the results so far achieved, it was expected that the dynamics modeling and boundary condition set up applied in this study will be helpful in a estimation of a safe stage separation and event sequence of flight test.

• Structural Engineering and Mechanics
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• v.28 no.6
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• pp.727-747
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• 2008

In the framework of the SPEAR (Seismic PErformance Assessment and Rehabilitation) research Project, an under-designed three storey RC frame structure, designed to sustain only gravity loads, was subjected, in three different configurations 'as-built', Fiber Reinforced Polymer (FRP) retrofitted and rehabilitated by reinforced concrete (RC) jacketing, to a series of bi-directional pseudodynamic (PsD) tests under different values of peak ground acceleration (PGA) (from a minimum of 0.20g to a maximum of 0.30g). The seismic deficiencies exhibited by the 'as-built' structure after the test at PGA level of 0.20g were confirmed by a post - test assessment of the structural seismic capacity performed by a nonlinear static pushover analysis implemented on the structure lumped plasticity model. To improve the seismic performance of the 'as-built' structure', two rehabilitation interventions by using either FRP laminates or RC jacketing were designed. Assumptions for the analytical modeling, design criteria and calculation procedures along with local and global intervention measures and their installation details are herein presented and discussed. Nonlinear static pushover analyses for the assessment of the theoretical seismic capacity of the structure in each retrofitted configuration were performed and compared with the experimental outcomes.