• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.12
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• pp.19-29
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• 1997

This paper presents stable kinematic modeling and path planning and path tracking algorithms for the poisition control of 4-wheeled 2-d.o.f(degree of freedom) mobile robot. We drived the actuated inverse and sensed forward solution for the calculation of actuator velocity and robot velocities. the deal-reckoning algorithm is introduced to calculate the position of WMR in real time. The gaussian functions are applied to control and to design the smooth orientation angle of WMR and the path planning algorithm for obstacle avoidance is prosed. We composed feedback control system to compensate for error because of uncertainty kinematic modeling and measurement noise. The simulation resutls show that the proposed kinematkc modeling and path planning and feedback control algorithms are useful.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.831-836
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• 1994

This paper presents rational modeling and analysis method for complex structures with various structural joints. For modeling of structural joint, a general modeling technique is newly proposed by flexibility influence coefficient and inverse of flexibility matrix and static reduction concept which is applied to the retained DOFs(degrees of freedom) of detailed finite element model of struction joints. By this method,joint model with contact surface. which can not be reduced by the general reduction theory such as Guyan reduction theory ,can be reduced effectively. And in this method, the nonlinearity of the contact surface can be linearized within a proper range and the boundary effects of joint region can be excluded. Using the proposed method, screwed joint,glued joint and bolted joint are analyzed. And the effectiveness of the proposed method is verified by experiments.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.8
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.1
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• pp.45-51
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• 2002

In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Journal of the Korean Society of Propulsion Engineers
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• v.14 no.3
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• pp.16-22
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• 2010

The gas turbine engine performance relies greatly on its component performance characteristics. Generally, engine manufacturers do not provide engine purchasers the component performance characteristics which can be obtained by lots of experimental tests at various operating conditions and big amount of expenses. In previous works the component maps have mostly been generated by scaling from a similar component map. However this scaling method has large error at off design points, specially in high altitude operation. Therefore this work proposes an inverse modeling method that can generate components maps of PT6A-67A turboprop engine using performance data provided by the engine manufacturer. In addition, evaluation can be made through comparison between performance analysis results using the performance simulation program including the generated compressor map and performance data.

• Journal of the Korean earth science society
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• v.23 no.1
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• pp.87-96
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• 2002

Aeromagnetic and gravity data were analyzed to delineate the subsurface structure of the Yeongdong basin and its related fault movement in the Okcheon fold belt. The aeromagnetic data of the total intensity (KIGAM, 1983) were reduced to the pole and three dimensional inverse modeling, which considers topography of the survey area in the modeling process, were carried out. The apparent susceptibility map obtained by three dimensional magnetic inversion, as well as the observed aeromagnetic anomaly itself, show clearly the gross structural trend of the Yeongdong basin in the direction on between $N30^{\circ}E$ and $N45^{\circ}E$. Gravity survey was carried out along the profile, of which the length is about 18.2 km across the basin. Maximum relative Bouguer anomaly is about 7 mgals. Both forward and inverse modeling were also carried out for gravity analysis. The magnetic and gravity results show that the Yeongdong basin is developed by the force which had created the NE-SW trending the magnetic anomalies. The susceptibility contrast around Yeongdong fault is apparent, and the southeastern boundary of the basin is clearly defined. The basement depth of the basin appears to be about 1.1 km beneath the sea level, and the width of the basin is estimated to be 7 km based on the simultaneous analysis of gravity and magnetic profiles. There exists an unconformity between the sedimentary rocks and the gneiss at the southeastern boundary, which is the Yeongdong fault, and granodiorite is intruded at the northwestern boundary of the basin. Our results of gravity and magnetic data analysis support that the Yeongdong basin is a pull-apart basin formed by the left-stepping sinistral strike-slip fault, which formed the Okcheon fold belt.

• Korean Journal of Remote Sensing
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• v.24 no.5
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• pp.483-496
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• 2008

Qualified ground control points (GCPs) are required to construct a digital elevation model (DEM) from a pushbroom stereo pair. An inverse geolocation algorithm for extracting GCPs from ERS SAR data and the SRTM DEM was recently developed. However, not all GCPs established by this method are accurate enough for direct application to the geometric correction of pushbroom images such as SPOT, IRS, etc, and thus a method for selecting and removing inaccurate points from the sets of GCPs is needed. In this study, we propose a method for evaluating GCP accuracy and winnowing sets of GCPs through orientation modeling of pushbroom image and validate performance of this method using SPOT stereo pair of Daejon City. It has been found that the statistical distribution of GCP positional errors is approximately Gaussian without bias, and that the residual errors estimated by orientation modeling have a linear relationship with the positional errors. Inaccurate GCPs have large positional errors and can be iteratively eliminated by thresholding the residual errors. Forty-one GCPs were initially extracted for the test, with mean the positional error values of 25.6m, 2.5m and -6.1m in the X-, Y- and Z-directions, respectively, and standard deviations of 62.4m, 37.6m and 15.0m. Twenty-one GCPs were eliminated by the proposed method, resulting in the standard deviations of the positional errors of the 20 final GCPs being reduced to 13.9m, 8.5m and 7.5m in the X-, Y- and Z-directions, respectively. Orientation modeling of the SPOT stereo pair was performed using the 20 GCPs, and the model was checked against 15 map-based points. The root mean square errors (RMSEs) of the model were 10.4m, 7.1m and 12.1m in X-, Y- and Z-directions, respectively. A SPOT DEM with a 20m ground resolution was successfully constructed using a automatic matching procedure.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2002.03a
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• pp.125-132
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• 2002

In this study, a numerical method is developed for nonlinear analysis for soil-pile-structure interaction system in time domain. Finite elements considering material nonlinearity are used for the near field and boundary elements for the far field. In the near field, frame elements are used for modeling a pile and plane-strain elements for surrounding soil and superstructure. In. the far field, boundary element formulation using the dynamic fundamental solution is adopted and coupled with the near field. Transformation of stiffness matrices of boundary elements into time domain is performed by inverse FFT. Stiffness matrices in the near field and far field are coupled. Newmark direct time integration method is applied. Developed soil-pile-structure interaction analysis method is verified with available literature and commercial code. Also, parametric studies by developed numerical method are performed. And seismic response analysis is performed using actual earthquake records.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.9 s.180
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• pp.2334-2343
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• 2000

This paper proposes an efficient beam-shell modeling technique for the free vibration analysis of a T-joint thin-walled beam structure. Except a small portion of a T-joint which is modeled by shell elements, the structure is modeled by thin-walled beam elements that can describe warping and distortion. In order to match the shell and thin-walled beam elements at the interface of the dissimilar elements, a technique based on a pseudo inverse matrix is formulated. This paper also examines the role of the thin-walled element taking into account the distortion and warping deformation degrees of freedom in predicting accurately the dynamic characteristics of a T-joint thin-walled structure.

• Communications for Statistical Applications and Methods
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• v.23 no.2
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• pp.147-161
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• 2016

This paper introduces the four parameter new generalized inverse Weibull distribution and investigates the potential usefulness of this model with application to reliability data from engineering studies. The new extended model has upside-down hazard rate function and provides an alternative to existing lifetime distributions. Various structural properties of the new distribution are derived that include explicit expressions for the moments, moment generating function, quantile function and the moments of order statistics. The estimation of model parameters are performed by the method of maximum likelihood and evaluate the performance of maximum likelihood estimation using simulation.