• Journal of Advanced Navigation Technology
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• v.20 no.3
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• pp.175-181
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• 2016

This paper introduces a heave compensation system for offshore crane when it gets unexpected disturbances and external force. The dynamic model consists of crane assumed to be the rigid body, hydraulic driven winch, elastic rope and payload. To keep the payload from moving up and down, PD control algorithm is applied. By using the control, the oscillating amplitude of the payload is reduced. Also by using the estimated values involved with time-delay, the relative motion of payload in heave direction is dramatically shortened. This paper shows using the control algorithm with estimated value having time-delay 0.1 second is enough to heave compensation system.

• Journal of the Earthquake Engineering Society of Korea
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• v.8 no.3
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• pp.43-52
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• 2004

This paper describes a method of evaluating seismic system performance of highway transportation network in California. The basic element that plays a crucial role in this study is the fragility information of highway bridges in Caltrans' (California Department of Transportation) freeway network. The bridge fragility information is expressed as a function of the ground motion intensity, such as peak ground acceleration (PGA) or peak ground velocity (PGV). Network damage was evaluated under the 1994 Northridge earthquake and scenario earthquakes. A probabilistic model was developed to determine the effect of repair of bridge damage on the improvement of the network performance as days passed after the event. As an example, the system performance degradation measured in terms of an index, “Drivers Delay”, is calculated for the Los Angeles area transportation system, and losses due to Drivers Delay with and without retrofit were estimated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.3
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• pp.603-610
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• 1998

This paper develops a 7 DOF vehicle model to study the effects of the active suspension on ride. The model is used to derive a control law for the active suspension using a full state linear optimal control technique. A wheelbase preview type active suspension is also considered in the control law derivation. The time delay between wheelbases is approximated using Pade approximation technique. The ride model is extended to a 14 DOF handling model. The 14 DOF handling model includes lateral, longitudinal, yaw and four wheel spin motions in addition to the 7 DOF ride model. A control law which is derived considering only ride related parameters is used to study the effects of the active suspension on a vehicle handling. J-turn maneuver simulation results show that the active suspension has a slower response in lateral acceleration and yaw rate, a bigger steady state lateral acceleration and an oversteer tendency. Lane changing maneuver simulation results show that the active suspension has a little bigger lateral acceleration but a much smaller roll angle and roll motion. Braking maneuver simulation results show that the active suspension has a much smaller pitch angle and pitch motion.

• Journal of the Korea Society of Computer and Information
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• v.4 no.4
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• pp.101-112
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• 1999

In this paper variable bit rate VBR Moving Picture Experts Group (MPEG) coded full-motion video traffic is modeled by a nonlinear time-series process. The threshold autoregressive (TAR) process is of particular interest. The TAR model is comprised of a set of autoregressive (AR) processes that are switched between amplitude sub-regions. To model the dynamics of the switching between the sub-regions a selection of amplitude dependent thresholds and a delay value is required. To this end, an efficient and accurate TAR model construction algorithm is developed to model VBR MPEG-coded video traffic. The TAR model is shown to accurately represent statistical characteristics of the actual full-motion video trace. Furthermore. in simulations for the bit-loss rate actual and TAR traces show good agreement.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.295-306
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• 2007

It is well known that mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agents. Most of the past research results are thus based on the probabilistic completeness. However, the practicality and effectiveness of the solution from the probabilistic completeness is significantly reduced by heavy computational burden. In this paper, we propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents, for the case of general shaped paths in agent movement. First, to reduce the computation time, an extended collision map is developed and utilized for detecting potential collisions and obtaining collision-free solutions for multi-agents. Second, a priority for multi-agents is considered for successive and interactive modifications of the agent movements with lower priority. Various solutions using speed reduction and time delay of the relevant agents are investigated and compared in terms of the computation time. A practical implementation is finally provided for three different types of agents to emphasize the effectiveness of the proposed interactive approach to multi-agent planning problems.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.1-11
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• 2021

Performance of a NACA 63₄-021 hydrofoil in motion under and in close proximity of a free surface for a large range of angles of attack is studied. Lift and drag coefficients of the hydrofoil at different submergence depths are investigated both numerically and experimentally, for 0° ≤ AoA ≤ 30° at a Reynolds number of 10⁵. The results of the numerical study are in good agreement with the experimental results. The agreement confirms the new finding that for a submerged hydrofoil operating at high angles of attack close to a free surface, the interaction between the hydrofoil-motion induced waves on the free surface and the hydrofoil results in mitigation of the flow separation characteristics on the suction side of the foil and delay in stall, and improvement in hydrofoil performance. In comparing with a baseline case, results suggest a 55% increase in maximum lift coefficient and 90% average improvement in performance for, based on the lift-to-drag ratio, but it is also observed significant decrease of lift-to-drag ratio at lower angles of attack. Flow details obtained from combined finite volume and volume of fluid numerical methods provide insight into the underlying enhancement mechanism, involving interaction between the hydrofoil and the free surface.

• Journal of Biomedical Engineering Research
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• v.21 no.4
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• pp.363-372
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• 2000

The present study investigated flow dynamics of a straight elastic blood vessel under sinusoidal flow conditions in order to understand influence of wall motion and impedance phase angle(time delay between pressure and flow waveforms) on wall shear stress distribution using computational fluid dynamics. For the straight elastic tube model considered in the our method of computation. The results showed that wall motion induced additional terms in the axial velocity profile and the pressure gradient. These additional terms due to wall motion reduced the amplitude of wall shear stress and also changed the mean wall shear stress. Te trend of the changes was very different depending on the impedance phase angle. As the wall shear stress increased. As the phase angle was reduced from 0$^{\circ}$to -90$^{\circ}$for ${\pm}$4% wall motion case, the mean wall shear stress decreased by 10.5% and the amplitude of wasll shear stress increased by 17.5%. Therefore, for hypertensive patients vulnerable state to atherosclerosis according to low and oscillatory shear stress theory.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.31-37
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• 2011

Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot's head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.

• Journal of Korea Game Society
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• v.9 no.5
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• pp.105-115
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• 2009

This article proposes a design and implementation methodology of a gesture-based interface for augmented reality games. The topic of gesture-based augmented reality games is a promising area in the immersive future games using human body motions. However, due to the instability of the current motion recognition technologies, most previous development processes have introduced many ad hoc methods to handle the shortcomings and, hence, the game architectures have become highly irregular and inefficient This article proposes an efficient development methodology for gesture-based augmented reality games through prototyping a table tennis game with a gesture interface. We also verify the applicability of the prototyping mechanism by implementing and demonstrating the augmented reality table tennis game. In the experiments, the implemented prototype has stably tracked real rackets to allow fast movements and interactions without delay.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.3
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• pp.1195-1211
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• 2016

The emerging video coding standard High Efficiency Video Coding (HEVC) has shown almost 40% bit-rate reduction over the state-of-the-art Advanced Video Coding (AVC) standard but at about 40% computational complexity overhead. The main reason for HEVC computational complexity is the inter prediction that accounts for 60%-70% of the whole encoding time. In this paper, we propose several fast coding unit (CU) encoding schemes based on the Merge mode and motion estimation information to reduce the computational complexity caused by the HEVC inter prediction. Firstly, an early Merge mode decision method based on motion estimation (EMD) is proposed for each CU size. Then, a Merge mode based early termination method (MET) is developed to determine the CU size at an early stage. To provide a better balance between computational complexity and coding efficiency, several fast CU encoding schemes are surveyed according to the rate-distortion-complexity characteristics of EMD and MET methods as a function of CU sizes. These fast CU encoding schemes can be seamlessly incorporated in the existing control structures of the HEVC encoder without limiting its potential parallelization and hardware acceleration. Experimental results demonstrate that the proposed schemes achieve 19%-46% computational complexity reduction over the HEVC test model reference software, HM 16.4, at a cost of 0.2%-2.4% bit-rate increases under the random access coding configuration. The respective values under the low-delay B coding configuration are 17%-43% and 0.1%-1.2%.