• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.179-184
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• 1993

In this paper, an optimal motion control scheme is proposed for robot manipulators. A simple explicit solution to the Hamilton-Jacobi equation is presented. The optimization of motion control is based on the mininization of the torque term affecting the kinetic energy and the augmented error which has the first-order stable dynamics for the position and velocity tracking error. In the presence of parametric uncertainty, an adaptive control scheme using the optimal principle is proposed. The global stability of the closed-loop system is guaranteed by the Lyapunov stability approach, The effectiveness and feasibility of the proposed control schemes are shown by simulation results.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.13 no.4
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• pp.267-280
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• 2009

In this paper we investigate a simple two-level additive Schwarz preconditioner for the P1 symmetric interior penalty Galerkin method of the Poisson equation on rectangular meshes. The construction is based on the decomposition of the global space of piecewise linear polynomials into the sum of local subspaces, each of which corresponds to an element of the underlying mesh, and the global coarse subspace consisting of piecewise constants. This preconditioner is a direct combination of the block Jacobi iteration and the cell-centered finite difference method, and thus very easy to implement. Explicit upper and lower bounds for the maximum and minimum eigenvalues of the preconditioned matrix system are derived and confirmed by some numerical experiments.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.2
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• pp.44-53
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• 2007

A three-dimensional viscous flow solver has been developed for the prediction of the aerodynamic performance of hovering helicopter rotor blades using unstructured hybrid meshes. The flow solver utilized a vertex-centered finite-volume scheme that is based on the Roe's flux-difference splitting with an implicit Jacobi/Gauss-Seidel time integration. The eddy viscosity are estimated by the Spalart- Allmaras one-equation turbulence model. Calculations were performed at three operating conditions with varying tip Mach number and collective pitch setting for the Caradonna-Tung rotor in hover. Additional computations are made for the UH-60A rotor in hover. Reasonable agreements were obtained between the present results and the experiment in both blade loading and overall rotor performance. It was demonstrated that the present vertex-centered flow solver is an efficient and accurate tool for the assessment of rotor performance in hover.

• Structural Engineering and Mechanics
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• v.48 no.2
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• pp.241-255
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• 2013

The receding contact problem for two elastic layers whose elastic constants and heights are different supported by two elastic quarter planes is considered. The lower layer is supported by two elastic quarter planes and the upper elastic layer is subjected to symmetrical distributed load whose heights are 2a on its top surface. It is assumed that the contact between all surfaces is frictionless and the effect of gravity force is neglected. The problem is formulated and solved by using Theory of Elasticity and Integral Transform Technique. The problem is reduced to a system of singular integral equations in which contact pressures are the unknown functions by using integral transform technique and boundary conditions of the problem. Stresses and displacements are expressed depending on the contact pressures using Fourier and Mellin formula technique. The singular integral equation is solved numerically by using Gauss-Jacobi integration formulation. Numerical results are obtained for various dimensionless quantities for the contact pressures and the contact areas are presented in graphics and tables.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.25-28
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• 2008

An aerodynamic calculation in hover of KUH main rotor blade is performed using a three-dimensional unstructured hybrid mesh viscous flow solver. The flow solver utilizes a vertex-centered finite-volume scheme that is based on the Roe's flux-difference splitting with an implicit Jacobi/Gauss-Seidel time integration. The eddy viscosity are estimated by the Spalart-Allmaras one-equation turbulence model. A solution-adaptive mesh refinement technique is used for efficient capturing of the tip vortex. Calculations are performed at several operating conditions with varying collective pitch setting for KUH main rotor blade in hover. Good agreements are obtained between the present and other results using HOST and CAMRAD II in overall rotor performance. It is demonstrated that the present vertex-centered flow solver is an efficient and accurate tool for the assessment of rotor performance in hover.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.1
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• pp.65-72
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• 2006

A variable structure controller with an optimized sliding surface is proposed for slew maneuver of a rigid spacecraft. Rodrigues parameters are chosen to represent the spacecraft attitude. The quadratic type of performance index is used to design the sling surface. For optimization of the sliding surface, a Hamilton- Jacobi-Bellman equation is formulated and it is solved through the numerical algorithm using Galerkin approximation. The solution denotes a nonlinear sliding surface, on which the trajectory of the system satisfies the optimality condition approximately. Simulation result demonstrates that the proposed controller is effectively applied to the slew maneuver of a rigid spacecraft.

• Bulletin of the Korean Mathematical Society
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• v.56 no.6
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• pp.1467-1483
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• 2019

This paper analyzes a robust optimal reinsurance and investment strategy for an Ambiguity-Averse Insurer (AAI), who worries about model misspecification and insists on seeking robust optimal strategies. The AAI's surplus process is assumed to follow a jump-diffusion model, and he is allowed to purchase proportional reinsurance or acquire new business, meanwhile invest his surplus in a risk-free asset and a risky-asset, whose price is described by an Ornstein-Uhlenbeck process. Under the criterion for maximizing the expected exponential utility of terminal wealth, robust optimal strategy and value function are derived by applying the stochastic dynamic programming approach. Serval numerical examples are given to illustrate the impact of model parameters on the robust optimal strategies and the loss utility function from ignoring the model uncertainty.

• Steel and Composite Structures
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• v.21 no.6
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• pp.1389-1410
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• 2016

This paper proposes a hybrid of topological derivative-based level set method (LSM) and isogeometric analysis (IGA) for structural topology optimization. In topology optimization a significant drawback of the conventional LSM is that it cannot create new holes in the design domain. In this study, the topological derivative approach is used to create new holes in appropriate places of the design domain, and alleviate the strong dependency of the optimal topology on the initial design. Furthermore, the values of the gradient vector in Hamilton-Jacobi equation in the conventional LSM are replaced with a Delta function. In the topology optimization procedure IGA based on Non-Uniform Rational B-Spline (NURBS) functions is utilized to overcome the drawbacks in the conventional finite element method (FEM) based topology optimization approaches. Several numerical examples are provided to confirm the computational efficiency and robustness of the proposed method in comparison with derivative-based LSM and FEM.

• Journal of the Korean Mathematical Society
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• v.38 no.3
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• pp.595-611
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• 2001

Let Q(n,1) be the set of even unimodular positive definite integral quadratic forms in n-variables. Then n is divisible by 8. For A[X] in Q(n,1), the theta series $\theta$(sub)A(z) = ∑(sub)X∈Z(sup)n e(sup)$\pi$izA[X] (Z∈h (※Equations, See Full-text) the complex upper half plane) is a modular form of weight n/2 for the congruence group Γ$_1$(8) = {$\delta$∈SL$_2$(Z)│$\delta$≡()mod 8} (※Equation, See Full-text). If n$\geq$24 and A[X], B{X} are tow quadratic forms in Q(n,1), the quotient $\theta$(sub)A(z)/$\theta$(sub)B(z) is a modular function for Γ$_1$(8). Since we identify the field of modular functions for Γ$_1$(8) with the function field K(X$_1$(8)) of the modular curve X$_1$(8) = Γ$_1$(8)＼h(sup)* (h(sup)* the extended plane of h) with genus 0, we can express it as a rational function of j(sub) 1,8 over C which is a field generator of K(X$_1$(8)) and defined by j(sub)1,8(z) = $\theta$$_3$(2z)/$\theta$$_3$(4z). Here, $\theta$$_3$ is the classical Jacobi theta series.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.6
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• pp.1510-1517
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• 1995

A theoretical method is described to simulate the propagation of turbulent premixed flames in a closed vessel. The objective is to develop and test an efficient technique to predict the propagation speed of flame as well as the geometric structure of the flame surfaces. Flame is advected by the statistically generated turbulent flow field and propagates as a wave by solving twodimensional Hamilton-Jacobi equation. In the simulation of the unburned gas flow field, following turbulence properties were satisfied: mean velocity field, turbulence intensities, spatial and temporal correlations of velocity fluctuations. It is assumed that these properties are not affected by the expansion of the burned gas region. Predictions were compared with existing experimental data for flames propagating in a closed vessel charged with hydrogen/air mixture with various turbulence intensities and Reynolds numbers. Comparisons were made in flame radius growth rate, rms flame radius fluctuations, and average perimeter and fractal dimensions of the flame boundaries. Two dimensional time dependent simulation resulted in correct trends of the measured flame data. The reasonable behavior and high efficiency proves the usefulness of this method in difficult problems of flame propagation such as in internal combustion engines.