• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.1
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• pp.108-118
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• 2017

In this paper, the path tracking controller for a surface vessel based on the sliding mode control (SMC) with the switching law is proposed. In order to have no restriction on movement and improved tracking performance, the proposed control system is developed as follows: First, the kinematic and dynamic models in Cartesian coordinates are considered to solve the singularity problem at the origin. Second, the new multiple sliding surfaces are designed with the SMC and approach angle concept to solve the under-actuated property. Third, the switching control system is designed to improve tracking performance. To prove the stability of the proposed switching system under the arbitrary switching, the Lyapunov stability analysis method with the common Lyapunov function is used. Finally, the computer simulations are performed to demonstrate the performance, effectiveness and stability of the proposed tracking controller of a surface vessel.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.13 no.1
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• pp.47-54
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• 1993

For the numerical analysis of free oscillation characteristics in a harbor with general boundary and bottom topography, finite element method is applied. The governing Helmholtz equation is transformed into a generalized matrix eigenvalue problem using the standard finite element procedure. A computer code is developed for the numerical evaluation of natural frequencies and free oscillation modes. In the eigensolution process, a shifting strategy is devised for the treatment of numerical singularity. Scaling of coefficient matrix is also found to be effective for the alleviation of numerical ill-conditioning. For the test problems, firstly, analytical and numerical solutions are compared and validity of the code is obtained. Hence the method is successfully applicable for the real-world problems with general geometric boundaries and bottom topography.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.6
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• pp.895-903
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• 1987

This paper investigates the problem of cracks emanating from a circular hole in an orthotropic infinite plate. The mixed-mode stress intensity factors are obtained by using the modified mapping-collocation method. To investigate the effect of anisotropy and circular hole boundary on crack tip singularity, stress intensity factors are considered as functions of the normalized crack length for various types of laminated composite. The results indicate a strong dependence of the stress intensity factor on the material anisotropy and geometry.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.1
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• pp.49-55
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• 2017

This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.667-674
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• 1992

Recently advantages in composite and light weight material technique have led to the increased use of structural adhesives in various industries. In spite of such wide application of the adhesive joints, the evaluation method of fracture strength and design methodology of them, have not been established. In this study finite element method, theoretical and experimental analyses were investigated according to changes of lap length and adhesive for adhesive single-lap joint. As the results, the strength evaluation of adhesive joint by conventional nominal stress, was pointed out inadequate strength evaluation and design method regardless stress singularity, stress distribution and crack propagation in its adhesive layer. Also, it was examined the problems to apply fracture mechanics by means of static and fatigue test.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1995.10a
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• pp.19-24
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• 1995

단순한 형상의 소음기는 평면파이론에 의해 비교적 간단하게 음향성능을 해석적으로 구할 수 있다. 그러나 소음기의 형상이 복잡해지거나 해석하고자 하는 주파수의 범위가 평면파의 차단주파수 이상이 될 경우 소음기 내부의 음장이 평면파에서 벗어나게 되어 평면파 이론에 의한 해석은 실제와 상당한 오차가 발생하게 되므로 음장에 대한 3차원 해석이 필요하다. 이론적으로 3차원 문제를 해석할 수 있는 경우는 형상이 극히 단순한 경우에 국한되므로 유한요소법(FEM), 경계요소법(BEM)과 같은 수치해석적인 방법이 이용되고 있다. 경계요소법은 적분 커넬(kernel)의 특이성(singularity) 문제가 있지만 대상 영역의 경계면만을 이산화함으로써 모델링에 소요되는 시간과 노력을 절약할 수 있으므로 음향문제 해석에 있어서 효율적인 방법이라고 할 수 있다. 본 연구의 목적은 3차원 경계요소법 프로그램을 개발하고 평면파이론에 의한 해석이 어려운 여러가지 형태의 소음기에 대한 음향성능을 예측하고 실험으로 검증하는것이다. 특히, 단일영역으로 해석이 불가능한 다공형 소음기에 영역분할법을 적용하여 계산하고 결과를 검토하였다.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.4
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• pp.440-451
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• 1985

This study is concerned with the analysis of cutting force system acting on ball-nose end mill in three-dimensional surface machining process. Conical tipped circular cutting edge element model and free surface machining process types are proposed to apply oblique cutting theory, and then derived equations are used for numerical approach of cutting force curves by matrix method. This approach has a good agreement with experimental results both in magnitude and shape within the range of 15 percent, which was conformed on 6061-T6 aluminum workpiece having twofold curvatured surface. From the cutting load variation to edge location, it is confirmed that circular cutting edge shapes has a better cutting ability than that of straight and both have a singularity near a tool point. It is also verified that what kind of machining condition is recommendable for three-dimensional machining process in connection with deflection of the cutter to workpiece and tool point wearing or system stability.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.21 no.1
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• pp.45-50
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• 2013

In this study, lumped-vortex element method and thin airfoil theory were used to analyze aerodynamic characteristics of airfoils with relative motion that had camber lines of NACA $44{\times}{\times}$ airfoil in 2-dimensional unsteady incompressible potential flow. Velocity disturbance due to airfoil was calculated by lumped-vortex element model and force distribution on airfoil by unsteady Bernoulli's equation. Variables in relative motion were considered the period p, the amplitude of flapping $A_f$ and pitching $A_p$, and the phase difference between flapping and pitching ${\phi}_p$ and the angle of attack ${\alpha}$. Due to movement of an airfoil, dag was induced in 2-dimensional unsteady incompressible potential flow. The numerical results show that the aerodynamic characteristics of the airfoil with flapping and pitching at the same time are illustrated. Especially the mean lift coefficient became smaller, but drag coefficient became larger.

• Korean Institute of Interior Design Journal
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• v.18 no.3
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• pp.47-56
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• 2009

This research aims to analyze the characteristics of the architectural space of Rem Koolhaas based on the spatial discourse of Gilles Deleuze, a philosopher of post-structuralism which comprehends pluralism accepting even contingency and uncertainty beyond deterministic attitudes of structuralism that has led the western discourses since the 19th century. First of all, this research will reflect on Deleuze's spatial concept through literatures and extract the characteristics related to architectural spaces. Then, on the basis of these characteristics, it will analyze the characteristics which were applied to the interior space of the recent architectural works of Rem Koolhaas to find out how Deleuze's spatial dicourse was embodied. Among Deleuze's speculations, the characteristics which falls under the spatial discourse were classified into three categories; degree between the striated space and the smooth one, the space of events and singularity, and the space of the multiple sense. These analysis words are used to look into the correlations among the specific practicing methods embodied in the architecture of Kookhaas. In conclusion, in the architectural space of Rem Koolhaas, it was found that the characteristics of Gilles Deleuze's spatial discourse of post-structuralism were embodied by the methods such as (1) Space of continuous transition, (2) Space of the $multiplicit{\acute{e}}$ accepting contingent events, (3) Space of the multiple sense, and (4) Space of movement.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.22 no.4
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• pp.315-322
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• 2009

This paper presents a novel numerical method based on the extended moving least squares finite difference method(MLS FDM) for solving 1-D Stefan problem. The MLS FDM is employed for easy numerical modelling of the moving boundary and Taylor polynomial is extended using wedge function for accurate capturing of interfacial singularity. Difference equations for the governing equations are constructed by implicit method which makes the numerical method stable. Numerical experiments prove that the extended MLS FDM show high accuracy and efficiency in solving semi-infinite melting, cylindrical solidification problems with moving interfacial boundary.