• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

• 한국자동차공학회논문집
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• 제3권3호
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• pp.66-78
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• 1995

In this paper, we address vehicle modeling and dynamic analysis of four wheel steering systems (4WS). 4WS is one of the devices used for the improvement of vehicle maneuverability and stability. All research done here is based on a production vehicle from a manufacturer. To study actual system response, a three dimensional, full vehicle model was created. In past research of this type, simple, two dimensional, bicycle vehicle models were typically used. First, we modelled and performed a dynamic analysis on a conventional two wheel steering(2WS) vehicle. The modeling and analysis for this model and subsequent 4WS vehicles were performed using ADAMS(Automatic Dynamic Analysis of Mechanical Systems) software. After the original vehicle model was verified with actual experiment results, the rear steering mechanism for the 4WS vehicle was modelled and the rear suspension was changed to McPherson-type forming a four wheel independent suspension system. Three different 4WS systems were analyzed. The first system applied a mechanical linkage between the front and rear steering mechanisms. The second and third systems used, simple control logic based on the speed and yaw rate of the vehicle. 4WS vehicle proved dynamic results through double lane change test.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2002년도 제18회 학술발표대회 논문초록집
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• pp.10-13
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• 2002

Pogo is the instability resulting from the interaction between rocket structure and propulsion system of liquid propellant rocket. The coupling of structure and propulsion system can lead to severe problem in rocket. For the analysis of pogo, a time-invariant linearized mathematical model is developed for a selected flight time. Propulsion system is modeled using element representations for each components. The constitutive equation of propulsion system is a homogeneous second-order equation form in the Laplace domain. Rocket structure is modeled using FEM. From the results of modal analysis of structure, the behavior of structure can be represented. System equations for coupling structure and propulsion system are composed of all propulsion system equations and vehicle motion equations reacting on the vehicle by each component of propulsion system. The stability is obtained by the eigen solution of system matrix. The optimization of the design variables such as size, place of accumulator for suppressing pogo instability is carried out. This article of study can be used to determine the degree of stability, and guide the design of pogo suppression system.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2010년도 춘계학술대회 논문집
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• pp.1464-1469
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• 2010

In this paper, the dynamic stability evaluation of special bridge for high speed railway under ground excitation is performed. The mass, damping, stiffness matrices of bridge are derived from the modal frequencies and mode shape vectors which can be obtained by commercial program. And the high speed train is modeled as multi-single d.o.f models for the sake of vehicle-bridge interaction analysis. In the vehicle-bridge interaction analysis, the vertical directional interaction is only considered. As a numerical example, the 3 span Extradosed bridge which is expected to be installed in Ho-Nam high speed railroad is considered. The analysis results show that the example bridge satisfies the criteria of dynamic stability.

• International Journal of Aerospace System Engineering
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• 제6권1호
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• pp.1-7
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• 2019

In the present study, structural safety and stability on the main wing and tail planes of the 1.2 ton WIG(Wing in Ground Effect) flight vehicle, which will be a high speed maritime transportation system for the next generation, was performed. The carbon-epoxy composite material was used in design of wing structure. The skin-spar with skin-stressed structural type was adopted for improvement of lightness and structural stability. As a design procedure for this study, the design load was estimated with maximum flight load. From static strength analysis results using finite element method of the commercial codes. From the stress analysis results of the main wing, it was confirmed that the upper skin structure between the second rib and the third rib was unstable for the buckling load. Therefore in order to solve this problem, three stiffeners at the buckled region were added. After design modification, even though the weight of the wing was a little bit heavier than the target weight, the structural safety and stability was satisfied for design requirements.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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• pp.262-266
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• 2014

Military vehicle equipped with an antenna and a shelter for operating radar has a vibration exposure during driving time. This vibration would have influence on structure of military vehicle critically. In this paper, driving stability of the military vehicle is obtained through the vibration response analysis. And, vibration level of the military vehicle satisfied the military vibration specification through analysis and comparing the MIL-STD-810G. PSD and Grms data obtained by road test can be used for vibration test specification of cabinets and electronic equipment in shelter.

• 한국항공운항학회지
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• 제13권3호
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• pp.34-42
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• 2005

The objectives of the study are to present simple physical and mathematical models of liquid fuel in the tank of an aerospace vehicle such launch vehicle or missile and to investigate its dynamic stability for a parameter space. In this paper, liquid in the container is modeled as multi-mass system subject to parametric excitations, and a stability diagram for determination of stable-unstable regions of the motion is obtained by using an analytical method. Also, computer simulations are conducted at various parameter points to verify the analytical results, and time histories of motion are compared to explain the effect of variation of parameters of the system.

• 대한전기학회논문지
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• 제39권1호
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• pp.92-106
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• 1990

Active compliance is often used in the control of robot manipulators for the implementation of complex tasks such as assembly, multi-finger fine motion, legged-vehicle adaptive control,etc. This technique balances the interactive force between the manipulator tip and its working environment with its position and velocity errors to achieve the operation of a damped spring. This paper investigates the effecft of passive compliance on system stability with regard to force feedback implementation for actively compliant motion. Usually it is understood that accurate position control require a stiff system. However, theoretical examination of control experiments on a legged suspension vehicle suggests that, if the control includes discrete-time force feedback, some passive compliance is necessssary at the legs of the vehicle for system stability. This can be an important factor to bl considered in manipulator design and control. A theoretical analysis, numerical simulation, and experimental result, confirming the above conclusion, are introduced in this paper.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 추계학술대회 논문집
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• pp.1622-1627
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• 2008

A suspension is a core part, determining running stability and riding quality of vehicles and its stiffness is essential parameters in the process of vehicle designing. Suspension stiffness shall be adjusted to meet requirements of running stability and curve running performance, as adding stiffness to primary suspension for running stability in high-speed running results running performance degradation in curved track. The purpose of the report lies in utilization of usable data for optimization of suspension via analyzing running performance through changing stiffness of railway vehicle suspension.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.842-846
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• 2005

A brake disk and a pad are important parts that affect the braking stability of a railway vehicle. Especially, because a brake disk stops the vehicle using conversion of the kinetic energy to frictional energy, thermal fatigue cracks are generated by the cyclic thermal load, as frictional heat, on a frictional surface and these cracks cause the fracture of a brake disk. Therefore, many researches for the thermal stress must be performed to improve the efficiency of brake disk and ensure the braking stability. In this study, we performed the thermal stress analysis for a ventilated brake disk with 3-D analysis model. For that, we simplified the shape of a ventilated hole to minimize problems that could be occurred in analysis process. Thermal stress analysis was performed in case that pressure distributions on a frictional surface is constant and is not. To determine pressure distributions of irregular case, pressure distribution analysis for a frictional surface was carried out. Finally using the results that were obtained through pressure distribution analysis, we carried out thermal stress analysis of each case and investigated the results of thermal stress analysis.