• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.11a
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• pp.73-78
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• 2004

The deep seabed mining system is generally composed of surface vessel, lifting system, buffer, flexible pipe and miner. The milling system is regarded as a large-scale system in which each subsystem is interconnected to other one. In order to control a large-scale system, a decentralized control approaches have been proposed recently. In this paper, as a basic study on application of decentralized control, firstly, the mining system is simplified modeled, where the lifting system and buffer is regarded as a spherical pendulum and tile flexible pipe is as a two-dimension linear spring. Based on the derived model, the system characteristics and the feasibility of decentralized control are analyzed.

• Journal of the Korea Computer Graphics Society
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• v.14 no.4
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• pp.7-18
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• 2008

To realistically produce fluids such as smoke for the visual effects in the films or animations, we need two main processes: a physics-based modeling of smoke and a rendering of smoke simulation data, based on light transport theory. In the computer graphics community, the physics-based fluids simulation is generally adopted for smoke modeling. Recently, the interest of the particle-based Lagrangian simulation methods is increasing due to the advantages at simulation time, instead of the grid-based Eulerian simulation methods which was widely used. As a result, because the smoke rendering technique depends heavily on the modeling method, the research for rendering of the particle-based smoke data still remains challenging while the research for rendering of the grid-based smoke data is actively in progress. This paper focuses on realistic rendering technique for the smoke particles produced by Lagrangian simulation method. This paper introduces a technique which is called particle map, that is the expansion and modification of photon mapping technique for the particle data. And then, this paper suggests the novel particle map technique and shows the differences and improvements, compared to previous work. In addition, this paper presents irradiance map technique which is the pre-calculation of the multiple scattering term in the volume rendering equation to enhance efficiency at rendering time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.10
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• pp.1427-1435
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• 2010

A mixed finite element model was developed using the classical plate theory to analyze the nonlinear bending of a plate. The appropriate weight functions for the constraints integrated over the domain were determined by the Lagrange multiplier method by using the principle of minimum virtual energy; which provides the constitutive relations between force-like variables and strains. All of detail terms of element wise coefficient matrices and associate tangent matrices to be used in the Newton iterative method are presented. Then, the linear solutions of the current model and those of the traditional displacement model under the SS (simple support) boundary conditions were compared with the existing analytical solution. The post-processed images of the nonlinear results of the force-like variables are presented to show the continuity of the solutions at the joint of the element boundaries. Finally, the converged nonlinear finite element solutions of the current model are compared with those of existing traditional displacement model.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.1
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• pp.13-22
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• 1990

A general analysis method is proposed for analysis of the superposed structures with geometric and material nonlinearities. It is presumed that no friction occurs between structures. It utilizes a shell element for the geometric and material nonlinearities and imposes various deformation constraints for the contact and interaction between structures. To show the reliability and effectiveness of this method, superposed cantilevers for which exact solutions can be obtained and holddown spring assemblies which are now used in PWR reactors are chosen as analysis models. The results of analyses were compared with exact solution in the case of cantilevers and with test results in the case of holddown spring assemblies. The analysis results obtained by this method showed good agreement with the reference values.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.5
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• pp.1139-1144
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• 2012

The ration of payload to weight of industrial robot amounts form 1:10 to 1:30. Compared with man who have a ration of 3:1, it is very low. One of the goals for the next generation of robots will be a ration. This might be possible only by developing lightweight robots. When two-link flexible arm is rotated about an joint axis, transverse vibration may occur. In this paper, vibration dynamics of flexible arm is modeled by using Bernoulli-Euler beam theory and Lagrange equation. Using the fact that matrix $\dot{D}-2C$ is skew symmetric, new controllers which have a simplified structure with less computational burden is proposed by using Lyapunov stability theory. We propose deterministic and adaptive control laws for two link flexible arm, and the validity of the proposed control scheme is shown in computer simulation for two-link flexible arm.

• Journal of Advanced Navigation Technology
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• v.4 no.2
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• pp.103-113
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• 2000

There are several methods in the mathematical modeling of a satellite with flexible appendages. In this paper, the hybrid Lagrange's equations of motion using assumed modes method are derived. The assumed modes method is one of approximate methods which have shorter calculation time due to low-dimension compare with FEM. These consist of three-equations about angular velocities and two-equations about flexible deformations, and physically represent interaction between hub and solar panel. In an attitude control, a control law is designed to minimize a given performance index considering not only control input but also vibration suppression. For these purpose, this paper applies LQG and LQG/LTR schemes to this model and finally show the capability for attitude control including vibration suppression. Especially, this paper shows the method of assumption as nonsingular system through singular value division for LQG/LTR design.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.9
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• pp.775-783
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• 2017

In this paper, an impulsive rendezvous problem by using minimum energy of spacecraft in different orbits is addressed. In particular, the orbits considered in this paper are the general orbits including the elliptic orbit, while most of the orbits considered in the literature have been restricted within co-planar or circular orbits. The constraints for solving this optimization problem are the Kepler's equation formulated with the universal variable, and the final position and velocity of two spacecraft. Also, the Lagrange coefficients, sometimes called as f and g solution, are used to describe the orbit transfer. The proposed method technique is demonstrated through numerical simulation by considering the minimum energy, and both the minimum energy and the wait time, respectively. Finally, it is also verified by comparing with the Hohmann transfer known as the minimum energy trajectory. Although a closed-form solution cannot be obtained, it shows that the suggested technique can provide a new insight to solve various orbital transfer problems.

• Journal of Aerospace System Engineering
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• v.11 no.6
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• pp.26-33
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• 2017

We propose a variable frame structure connected with telescopic mast-shaped shaft for a robot displaying outstanding ability to cross obstacles, and for effective traction control. The wireless control system was built to extend and contract a deployable mechanism, which is shaped into a hoberman sphere assembled with frame structures. In order to develop important parameters for efficient locomotion, we derived an Euler-Lagrange equation for the spherical robot. According to the equation, the DC motor was selected. A prototype mechanism was tested and a Finite-Element Analysis (FEA) was conducted in parallel. Using these data, we constructed a deployable spherical robot with structural stability. The deployable robot moved at a speed of 0.85 m/s from 520 mm to 650 mm.

• Journal of the Korea institute for structural maintenance and inspection
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• v.25 no.3
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• pp.21-30
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• 2021

Architectural cultural properties suffer a lot of damage due to various environmental factors. In order to preserve damaged cultural properties, preventive preservation and long-term preservation management are becoming more important. Therefore, research on a scientific non-destructive testing method applicable to regular inspection is required. For related research, DangGan with a high flag-pole shape was selected as the subject of study among various cultural properties. Among the preserved DangGans, a basic study was conducted on the analysis technique to evaluate the structural stability by selecting Treasure No. 49 Naju SeokDangGan. An idealized model was presented and a multi-degree of freedom equation of motion was derived. In addition, an equation for estimating the critical stiffness value for each joint position is presented.

• Geophysics and Geophysical Exploration
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• v.11 no.1
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• pp.68-77
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• 2008

We have developed an inversion algorithm for loop-loop electromagnetic (EM) data, based on the localised non-linear or extended Born approximation to the solution of the 2.5D integral equation describing an EM scattering problem. Source and receiver configuration may be horizontal co-planar (HCP) or vertical co-planar (VCP). Both multi-frequency and multi-separation data can be incorporated. Our inversion code runs on a PC platform without heavy computational load. For the sake of stable and high-resolution performance of the inversion, we implemented an algorithm determining an optimum spatially varying Lagrangian multiplier as a function of sensitivity distribution, through parameter resolution matrix and Backus-Gilbert spread function analysis. Considering that the different source-receiver orientation characteristics cause inconsistent sensitivities to the resistivity structure in simultaneous inversion of HCP and VCP data, which affects the stability and resolution of the inversion result, we adapted a weighting scheme based on the variances of misfits between the measured and calculated datasets. The accuracy of the modelling code that we have developed has been proven over the frequency, conductivity, and geometric ranges typically used in a loop-loop EM system through comparison with 2.5D finite-element modelling results. We first applied the inversion to synthetic data, from a model with resistive as well as conductive inhomogeneities embedded in a homogeneous half-space, to validate its performance. Applying the inversion to field data and comparing the result with that of dc resistivity data, we conclude that the newly developed algorithm provides a reasonable image of the subsurface.