• 로봇학회논문지
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• 제13권4호
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• pp.256-264
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• 2018

Unlike normal wheels, the Mecanum wheel enables omni-directional movement regardless of the orientation of a mobile robot. In this paper, a robust trajectory tracking control method is developed based on the dynamic model of the Mecanum wheel mobile robot in order that the mobile robot can move along the given path in the environment with disturbance. The method is designed using the impedance control to make the mobile robot to track the path, and the integral sliding mode control for robustness to disturbance. The good performance of the proposed method is verified using the MATLAB /Simulink simulation and also through the experiment on an actual Mecanum wheel mobile robot. In both the simulation and the experimentation, we make the mobile robot move along a reference trajectory while maintaining the robot's orientation at a constant angle to see the characteristics of the Mecanum wheel.

• 대한수학회보
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• 제58권2호
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• pp.349-364
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• 2021

This paper studies the optimal surrender policies for a variable annuity (VA) contract with a surrender option and a fixed insurance fee for guaranteed minimum maturity benefits (GMMB). In our proposed model, a policyholder pays the fixed insurance fee. Based on the integral transform techniques, we derive the analytic integral equations for the optimal surrender boundary and the value function of the VA contract that can be solved numerically by recursive integration method. We provide numerical values for the value function, the optimal surrender boundary, and the expected optimal surrender time.

• Kyungpook Mathematical Journal
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• 제62권3호
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• pp.557-581
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• 2022

The anisotropic-diffusion convection equation with exponentially variable coefficients is discussed in this paper. Numerical solutions are found using a combined Laplace transform and boundary element method. The variable coefficients equation is usually used to model problems of functionally graded media. First the variable coefficients equation is transformed to a constant coefficients equation. The constant coefficients equation is then Laplace-transformed so that the time variable vanishes. The Laplace-transformed equation is consequently written as a boundary integral equation which involves a time-free fundamental solution. The boundary integral equation is therefore employed to find numerical solutions using a standard boundary element method. Finally the results obtained are inversely transformed numerically using the Stehfest formula to get solutions in the time variable. The combined Laplace transform and boundary element method are easy to implement and accurate for solving unsteady problems of anisotropic exponentially graded media governed by the diffusion convection equation.

• 한국해안해양공학회지
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• 제3권4호
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• pp.223-234
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• 1991

본 연구에서는 경계적분 방법을 사용하여 기존에 문제점으로 지적되온 외해 경계조건을 임의의 가상 경계상에 용출점을 분포시키는 기법으로 처리하여 항만 입구의 방파제나 기타 구조물 등에 의하여 발생되는 파랑의 회절효과를 반영하였다. 또한 항내 에너지 손실효과는 부분 반사개념을 사용하여 해석하였다. 본 연구의 수치적 검증은 해석해를 구할 수 있는 직사각형 항만과 여러 반원형 항만에 대한 파랑응답 특성을 비교하였으며 그 결과는 잘 일치하였다. 또한 후포항에 대한 파고분포를 계산하여 수리 모형실험의 결과 및 시간의존 완경사 방정식을 이용한 수치모형의 결과와 비교하여 좋은 결과를 얻었다.

• 한국정밀공학회지
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• 제19권6호
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• pp.51-61
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• 2002

A tracking control scheme on the XY ball-screw drive system in the presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the Lund-Grenoble friction model to compensate effects of friction. The conventional VSC method that often has been used as a non-model-based friction controller has poor tracking performance in high-precision position tracking application since it cannot compensate the friction effect below a certain precision level completely. Thus to improve the precise position tracking performance, we propose the integral type VSC method combined with the friction-model-based observer. Then this control scheme has the high precise tracking performance compared with the non-model-baked VSC method and the PID control method with a similar observer. This fact is shown through the experiment on the XY ball-screw drive system with the nonlinear dynamic friction.

• 물과 미래
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• 제28권6호
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• pp.159-168
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• 1995

본 논문에서는 2차원 경계요소법 수치모형을 이용하여 급경사에서 고립파의 처오름과 진행과정을 연구하였다. 먼저 수치모형을 상대적으로 완만한 경사에 적용하여 처오름 높이를 산정하여 기존의 수리모형실험의 결과, 수치해 및 해석해 등과 비교하여 수치모형의 정확도를 검증하였다. 경계요소법에 의한 수치해는 전체적으로 기존의 자료 등과 잘 일치하였다. 다음에 수치모형을 급경사 지형에 적용하여 처오름 높이를 산정한다. 경계요소법은 완경사 뿐만 아니라 급경사에서도 고립파의 최대 처오름 높이 산정에 매우 효율적이며, 경계요소법에 의한 결과는 인공수로의 제방 또는 방파제의 설계에 이용될 수 있을 것이다. 마지막으로, 급경사에서의 고립파의 파고를 계산하여 Green의 법칙에 의한 결과와 비교하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.628-633
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• 1994

A new Riemannian geometric model for the controlled plant is proposed by imbedding the control vector space in the state space, so as to reduce the dimension of the model. This geometric model is derived by replacing the orthogonal straight coordinate axes on the state space of a linear system with the curvilinear coordinate axes. Therefore the integral manifold of the geometric model becomes homeomorphic to that of fictitious linear system. For the lower dimensional Riemannian geometric model, a nonlinear optimal regulator with a quadratic form performance index which contains the Riemannian metric tensor is designed. Since the integral manifold of the nonlinear regulator is determined to be homeomorphic to that of the linear regulator, it is expected that the basic properties of the linear regulator such as feedback structure, stability and robustness are to be reflected in those of the nonlinear regulator. To apply the above regulator theory to a real nonlinear plant, it is discussed how to distort the curvilinear coordinate axes on which a nonlinear plant behaves as a linear system. Consequently, a partial differential equation with respect to the homeomorphism is derived. Finally, the computational algorithm for the nonlinear optimal regulator is discussed and a numerical example is shown.

• Nuclear Engineering and Technology
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• 제50권5호
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• pp.654-664
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• 2018

Self-pressurization analysis of the natural circulation integral nuclear reactor through a new dynamic model is studied. Unlike conventional pressurized water reactors, this reactor type controls the system pressure using saturated coolant water in the steam dome at the top of the pressure vessel. Self-pressurization model is developed based on conservation of mass, volume, and energy by predicting the condensation that occurs in the steam dome and the flashing inside the chimney using the partial differential equation. A simple but functional model is adopted for the steam generator. The obtained results indicate that the variable measurement is consistent with design data and that this new model is able to predict the dynamics of the reactor in different situations. It is revealed that flashing and condensation power are in direct relation with the stability of the system pressure, without which pressure convergence cannot be established.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 1999년도 춘계종합학술대회
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• pp.394-397
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• 1999

임팩트이온화는 고전계하에서 고에너지를 지닌 캐리어간 산란으로써 전자전송해석에 필수적인 요소이다. 그러나 포물선 또는 비포물선 E-k관계는 고에너지에서 실제 밴드구조와 매우 상이한 결과를 나타내므로 임팩트이온화에 대한 정화한 모델은 풀밴드 E-k관계와 페르미의 황금법칙을 이용하여 제시하고 있다. 본 연구에서는 풀밴드를 이용하여 실리콘 임팩트이온화율에 영향을 미치는 상태밀도와 에너지밴드구조 관계, overlap integral의 에너지에 대한 변화를 조사 분석하였다. 실리콘의 에너지밴드구조를 구하기 위하여 경험적 의사포텐셜방법을 사용하였으며 상태밀도를 구하기 위하여 사면체방법을 사용하였다. 또한 임팩트이온화율을 구하기 위하여 페르미의 황금법칙들 사용하였다. 결과적으로 상태밀도는 에너지증가에 따라 단조 증가하는 임팩트이온화율과 달리 에너지밴드구조에 따라 변화하였다. 그러나 overlap integral은 에너지증가에 따라 큰 값을 갖는 분포가 증가함으로써 임팩트이온화율에 직접 영향을 미치는 것을 알 수 있었다.

• Journal of the Optical Society of Korea
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• 제18권6호
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• pp.706-713
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• 2014

An enhanced 360-degree integral-floating three-dimensional display system using a hexagonal lens array and a hidden point removal operator is proposed. Only the visible points of the chosen three-dimensional point cloud model are detected by the hidden point removal operator for each rotating step of the anamorphic optics system, and elemental image arrays are generated for the detected visible points from the corresponding viewpoint. Each elemental image of the elemental image array is generated by a hexagonal grid, due to being captured through a hexagonal lens array. The hidden point removal operator eliminates the overlap problem of points in front and behind, and the hexagonal lens array captures the elemental image arrays with more accurate approximation, so in the end the quality of the displayed image is improved. In an experiment, an anamorphic-optics-system-based 360-degree integral-floating display with improved image quality is demonstrated.