• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.602-608
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• 2011

In this study, a method of designing a neurointerface using neural network (NN) is proposed for controlling nonholonomic mobile robots. According to the concept of virtual master-slave robots, in particular, a partially stable inverse dynamic model of the master robot is acquired online through the NN by applying a feedback-error learning method, in which the feedback controller is assumed to be based on a PD compensator for such a nonholonomic robot. The NN for the online feedback-error learning can composed that the input layer consists of six units for the inputs $x_i$, i=1~6, the hidden layer consists of two hidden units for hidden outputs $o_j$, j=1~2, and the output layer consists of two units for the outputs ${\tau}_k$, k=1~2. A tracking control problem is demonstrated by some simulations for a nonholonomic mobile robot with two-independent driving wheels. The initial q value was set to [0, 5, ${\pi}$].

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.4
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• pp.439-447
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• 2011

Longitudinal cracks due to traffic truck loadings that are caused by local deformations of steel orthotropic bridge decks are sometimes observed in the wearing surface. So, underlying causes of the longitudinal pavement crack induced by structural behaviors of steel decks are investigated in this study. For this purpose, The rational finite element model of the steel deck and the pavement having the box girder is developed and a parametric study is performed by varying thickness or elastic modulus ratios of both the steel deck plate and the pavement. As a result, a large tensile strain above the webs of the u-rib and the box girder, which becomes the main cause of the cracks of the pavement, is detected from variation of the normal strain component of the wearing surface in the transverse direction.

• Structural Engineering and Mechanics
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• v.54 no.5
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• pp.1017-1044
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• 2015

This study aimed to investigate the random vibration characteristic of train-slab track-bridge interaction system subjected to both track irregularities and earthquakes by use of pseudo-excitation method (PEM). Each vehicle subsystem was modeled by multibody dynamics. A three-dimensional rail-slab- girder-pier finite element model was created to simulate slab track and bridge subsystem. The equations of motion for the entire system were established based on the constraint condition of no jump between wheel and rail. The random load vectors of equations of motion were formulated by transforming track irregularities and seismic accelerations into a series of deterministic pseudo-excitations according to their respective power spectral density (PSD) functions by means of PEM. The time-dependent PSDs of random vibration responses of the system were obtained by step-by-step integration method, and the corresponding extreme values were estimated based on the first-passage failure criterion. As a case study, an ICE3 high-speed train passing a fifteen-span simply supported girder bridge simultaneously excited by track irregularities and earthquakes is presented. The evaluated extreme values and the PSD characteristic of the random vibration responses of bridge and train are analyzed, and the influences of train speed and track irregularities (without earthquakes) on the random vibration characteristic of bridge and train are discussed.

• Journal of the Korean Society for Railway
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• v.12 no.2
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• pp.291-301
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• 2009

This paper presents the optimal design and analysis method of the train overhaul maintenance facility based on the simulation. Because the train is composed of a coach or more, we design the simulation model after analyzing the operation of train into train, coach, coach's body parts and wheel parts and soon. In simulation analysis, we consider the critical (dependent) factors and design (independent) parameters for the selection of alternatives and optimal design. Therefore, Multi Criteria Decision Making (MCDM) is proposed for the selection of alternatives and optimal method in order to find the optimal design factors. The case study for the above approach is used for the electronic locomotive overhaul maintenance facility. This paper provides a comprehensive framework for the train overhaul maintenance facility design using the simulation, MCDM and optimal methods. Therefore, the method developed for this research can be adopted for other enhancements in different but comparable situation.

• Journal of Korean Biological Nursing Science
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• v.17 no.1
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• pp.37-43
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• 2015

Purpose: Stress, depending on its intensity and duration, results in either adaptive or maladaptive physiological and psychological changes in humans. Also, it was found that stressful experiences increase the signs of behavioral despair in rodents. On the other hand, exercise and melatonin treatment is believed to have many beneficial effects on health. Thus, this study was designed to evaluate the anti-depressant effects of physical activity and melatonin against chronic stress-induced depression in rats. Methods: Adult male Sprague-Dawley(SD) rats(200-250g, 7 weeks of age) were subjected to depression induced by chronic stress. Chronic depression was induced with forced-swim stress (FSS) and repeated change of light-dark cycle for 4 weeks. In the last 2 weeks, some rats were confined in a cage enriched with a running wheel, seesaw and chewed a ball from 19:00 to 07:00 every day. Melatonin was injected intra-peritoneally (I.P), and the rats received intraperitoneal injections of melatonin (15 mg/kg). The Forced Swim Test (FST) was performed to evaluate the immobility behaviors of rats for a 5 min test. Results: It was found that, the immobility time in FST was significantly (p<.05) lower in physical exercise ($M=58.83{\pm}22.73$) and melatonin ($M=67.33{\pm}37.73$) than in depressive rats ($M=145.93{\pm}63.16$) without physical activity. Also, TPH positive cell in dorsal raphe was significantly (p<.05) higher in exercise ($M=457.38{\pm}103.21$) and melatonin ($M=425.38{\pm}111.56$) than in depressive rats ($M=258.25{\pm}89.13$). Conclusion: This study suggests that physical activity and melatonin produces antidepressant-like effect on stress-induced depression in rats. So, physical exercise and melatonin may be a good intervention in depression patients.

• Journal of the Korean Institute of Navigation
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• v.20 no.2
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• pp.1-13
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• 1996

Most of the ShipHandling Simulators of full-mission-bridge system need vast area to install and even PC-based maneuvering simulators are often equipped with Steering Wheel or Engine Telegraphe etc. of data input interface, which necessarily makes the user face with excessive financial burden. These have been one of the obstacles for the officers, captains, pilots and students in access to maneuvering simulation whenever they want to try it in advance prior to actual ship maneuvering. Subsequently, all the officers and captains come to have little chances to train themselves until they arualified as a pilot after a long period of time of realship maneuvering practice on board, which means they have to control they have to control their own ship at sea without clear understanding on her maneuverability when they are forced to do it on the way. And these lack of capability for maneuvering have used so often to result in marine casualties of collision with other ships or pier facilities while maneuvering in harbor. To prevent those accidents by means of enhancing their maneuvering ability, PC-based DeskTop Simulator that allows anyong to access readily at anytime is needed and in conformation to such demand this simulator has been developed. The Software this simulator written in Turbo Pascal Ver. 5.0 has adopted MMG mathmatical model theoretically in part and also it was designed to make it possible that all numeric data inputs and outputs with graphic presentation for maneuvering operation be carried out just only with keyboard and monitor console. With the Simulation software, all the officers, captains, pilots and even students who has a proper computer at hand are expected to be able to make an attempt to simulate the maneuvering of their ownship or any other types of them at any port in which they want to do it.

• Journal of Drive and Control
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• v.13 no.1
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• pp.18-26
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• 2016

This research is conducted to develop an automatic steering system for parallel parking, and the performance of the system was evaluated by parallel parking a conventional vehicle. The automatic steering system consisted of MDPS (motor driven power steering) to control steering, ESC (electronic stability control) to acquire wheel speed, ultrasonic sensors to recognize the parking space, and a controller to communicate and handle data. The parallel parking process using the automatic steering control consisted of parking space recognition, parking path generation, and parking path tracking. The path for parallel parking was generated based on a kinematic model of a conventional vehicle, and a PI controller was used to control the steering angle for path tracking. Parallel parking using the automatic steering control was conducted according to vehicle speed conditions. The results show that the errors on the x-axis and y-axis were below 0.54 m and 0.14 m, respectively, and the error on the steering angle was less than $1^{\circ}$. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.

• Geomechanics and Engineering
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• v.19 no.2
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• pp.153-165
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• 2019

A case study of monitoring and analysis of surface settlement induced by tunneling of Tabriz metro line 2 (TML2) is presented in this paper. The TML2 single tunnel has been excavated using earth pressure balanced TBM with a cutting-wheel diameter of 9.49 m since 2015. Presented measurements of surface settlements, were collected during the construction of western part of the project (between west depot and S02 station) where the tunnel was being excavated in sand and silt, below the water table and at an average axis depth of about 16 m. Settlement readings were back-analyzed using Gaussian formula, both in longitudinal and transversal directions, in order to estimate volume loss and settlement trough width factor. In addition to settlements, face support and tail grouting pressures were monitored, providing a comprehensive description of the EPB performance. Using the gap model, volume loss prediction was carried out. Also, COB empirical method for determination of the face pressure was employed in order to compare with field monitored data. Likewise, FE simulation was used in various sections employing the code Simulia ABAQUS, to investigate the efficiency of numerical modelling for the estimating of the tunneling induced-surface settlements under such a geotechnical condition. In this regard, the main aspects of a mechanized excavation were simulated. For the studied sections, numerical simulation is not capable of reproducing the high values of in-situ-measured surface settlements, applying Mohr-Coulomb constitutive law for soil. Based on results, for the mentioned case study, the range of estimated volume loss mostly varies from 0.2% to 0.7%, having an average value of 0.45%.

• Elastomers and Composites
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• v.43 no.1
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• pp.25-30
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• 2008

A bushing is a device used in automotive suspension systems to reduce the load transmitted from the wheel to the frame of the vehicle. A bushing is a hollow cylinder, which is bonded to a solid steel shaft at its inner surface and a steel sleeve at its outer surface. The relation between the force and moment applied to the shaft and the relative deformation and rotational angle of a bushing exhibits features of viscoelasticity. Since a moment-rotational angle relation for a bushing is important for multibody dynamics numerical simulations, the simple relation between the moment and rotational angle has been derived from experiment. It is shown that the predictions by the proposed moment-rotational angle relation are in very good agreement with the experimental results.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.6D
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• pp.895-904
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• 2008

CWR (Continuous Welded Rail) may be broken when a temperature drop below the neutral temperature changes in axial force, causing tensile fracture and rail gap, in winter. Rail-breaks may lead to the damage of the rail and wheel by dynamic load, and the reduction of running safety if not detected before the passage of a train. In this study, the track and train coupled model with open gap for dynamic interaction analysis, is proposed. Linear track and train systems is coupled by the nonlinear Herzian contact spring and the complete system matrices of total track-train system is constructed. And the interaction phenomenon considering open gap, was defined by assigning the irregularity functions between the two sides of a gap. Time history analysis, which have an iteration scheme such as $Newmark-{\beta}$ method based on Modified Newton-Raphson methods, was performed to solve the nonlinear equation. Finally, numerical studies are performed to assess the effect of various parameters of system, apply to various speeds, open gap size and the support stiffness of rail.