• Journal of the Korean Society for Precision Engineering
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• v.13 no.11
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• pp.132-142
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• 1996

This paper presents a technique to model and control a manipulator which has a flexible link and moves in a vertical plane. The flexible link is modeled as an Euler-Bernoulli Beam. Elastic deformation of the flexible link is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. This paper presents a simple technique to improve the correctness of the developed model. The final model including the shortening effect due to elastic deformation correlates very well with experimental results. The free body motion simulation shows that two assumed modes for the representation of the elastic deformation is proper in terms of the model size and correctness. A control algorithm is developed using PID control technique. The proportional, integral and derivative control gains are determined based on dominant pole placement method with a rigid one-link manipulator. A position control simulation shows that the control algorithm can be used to control the position and residual oscillation of the flexible one-link manipulator effectively.

• Advances in nano research
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• v.14 no.1
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• pp.45-65
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• 2023

This paper aimed to investigate the nonclassical size dependent free vibration behavior of regularly squared cutout viscoelastic nanobeams. The nonlocal strain gradient elasticity theory is modified and adopted to incorporate the viscoelasticity effect. The Kelvin Voigt viscoelastic model is adopted to model the linear viscoelastic constitutive response. To explore the influence of shear deformation effect due to cutout, both Euler Bernoulli and Timoshenko beams theories are considered. The Hamilton principle is utilized to derive the dynamic equations of motion incorporating viscoelasticity and size dependent effects. Closed form solutions for the resonant frequencies for both perforated Euler Bernoulli nanobeams (PEBNB) and perforated Timoshenko nanobeams (PTNB) are derived considering different boundary conditions. The developed procedure is verified by comparing the obtained results with the available results in the literature. Parametric studies are conducted to show the influence of the material damping, the perforation, the material and the geometrical parameters as well as the boundary and loading conditions on the dynamic behavior of viscoelastic perforated nanobeams. The proposed procedure and the obtained results are supportive in the analysis and design of perforated viscoelastic NEMS structures.

• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.10-17
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• 2023

Recently, robots have been actively utilized for logistics and delivery services in various places such as restaurants, hotels, and hospitals. In addition, it provides a safer environment, convenience, and cost efficiency to the customers. However, when it comes to autonomous delivery in a multi-floor environment, the task is still challenging. Especially for wheeled mobile robots, it is necessary to deal with elevators to perform the last-mile delivery services. Therefore, we present a multi-floor route planning algorithm that enables a wheeled mobile robot to traverse an elevator for the delivery service. In addition, an elevator boarding mission algorithm was developed to perceive the drivable region within the elevator and generate a feasible path that is collision-free. The algorithm was tested with real-world experiments and was demonstrated to perform autonomous postal delivery service in a multi-floor building. We concluded that our study could contribute to building a stable autonomous driving robot system for a multi-floor environment.

• Ocean Systems Engineering
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• v.13 no.1
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• pp.57-77
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• 2023

In the present study, the total hydrodynamic pressure exerted by the fluid on walls of rectangular tanks due to horizontal excitations of different frequencies, is investigated by pressure based finite element method. Fluid within the tanks is invisid, compressible and its motion is considered to be irrotational and it is simulated by two dimensional eight-node isoparametric. The walls of the tanks are assumed to be rigid. The total hydrodynamic pressure increases with the increase of exciting frequency and has maximum value when the exciting frequency is equal to the fundamental frequency. However, the hydrodynamic pressure has decreasing trend for the frequency greater than the fundamental frequency. Hydrodynamic pressure at the free surface is independent to the height of fluid. However, the pressure at base and mid height of vertical wall depends on height of fluid. At these two locations, the hydrodynamic pressure decreases with the increase of fluid depth. The depth of undisturbed fluid near the base increases with the increase of depth of fluid when it is excited with fundamental frequency of fluid. The sloshing of fluid with in the tank increases with the increase of exciting frequency and has maximum value when the exciting frequency is equal to the fundamental frequency of liquid. However, this vertical displacement is quite less when the exciting frequency is greater than the fundamental frequency.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.06a
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• pp.213-213
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• 2022

본 논문은 슬로싱(Sloshing) 거동에 놓인 극저온 액체수소 화물창의 BOG 예측을 위한 CFD 해석 절차를 다루고 있다. 특히, 적재율(Filling Ratio)에 따라 달라지는 열 유입과 그에 따른 액체수소의 기화 경향을 파악하기 위한 목적으로 수행되었다. 액체수소와 기체수소의 혼재에 의한 다상 열유동(Multiphase-Thermal flow) 특성을 반영하고 유동에 따른 강제 대류 현상을 열유속에 반영하기 위한 CFD 해석을 수행하였다. 다상 유동 모델의 정확성을 검증하기 위하여 슬로싱 실험의 압력 계측 값과 해석의 압력 값 및 자유수면(Free surface) 형상을 비교하였다. 소형 C-Type 독립형 액화수소 탱크를 대상으로 슬로싱 유동과 BOG 발생을 수치적으로 예측하였다. 해석 과정에서 VOF(Volume of fraction) 모델과 Eulerian 모델을 모두 적용하여, 액체수소에 유입되는 열 유속(Heat flux)의 예측 정확성을 비교하였다. 슬로싱 유무에 따라 액체수소에 유입되는 열 유속을 비교하여 슬로싱 유동의 포함 여부에 따른 BOG 발생량의 변화를 제시하였으며, 최종적으로 액체수소의 충전율(Filling ratio) 별로 BOG 발생량의 경향성을 제시하였다.

• Korean Journal of Artificial Intelligence
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• v.11 no.4
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• pp.15-20
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• 2023

Machine learning is comprised of supervised learning, unsupervised learning and reinforcement learning as the type of data and processing mechanism. In this paper, as input and output are unclear and it is difficult to apply the concrete modeling mathematically, reinforcement learning method are applied for crawling robot in this paper. Especially, Q-Learning is the most effective learning technique in model free reinforcement learning. This paper presents a method to implement a crawling robot that is operated by finding the most optimal crawling method through trial and error in a dynamic environment using a Q-learning algorithm. The goal is to perform reinforcement learning to find the optimal two motor angle for the best performance, and finally to maintain the most mature and stable motion about EV3 Crawling robot. In this paper, for the production of the crawling robot, it was produced using Lego Mindstorms with two motors, an ultrasonic sensor, a brick and switches, and EV3 Classroom SW are used for this implementation. By repeating 3 times learning, total 60 data are acquired, and two motor angles vs. crawling distance graph are plotted for the more understanding. Applying the Q-learning reinforcement learning algorithm, it was confirmed that the crawling robot found the optimal motor angle and operated with trained learning, and learn to know the direction for the future research.

• Earthquakes and Structures
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• v.25 no.6
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• pp.455-467
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• 2023

This study focuses on demonstrating the effectiveness of vibration control of tuned rotary mass damper (TRMD) for reducing the bidirectional and torsional response of the irregular asymmetric structure with voided slabs under earthquake excitations. The TRMD arranged in plane of one-story eccentric structure is proposed as a distributed tuned rotary mass damper (DTRMD) system. Lagrange's equation is used to derive the equations of motion of the controlled system. The optimum position and number of TRMD are numerically investigated under harmonic excitation and the control effects of different distributions are discussed. Furthermore, a shaking table test is conducted under different excitation cases, including free vibration, forced vibration and seismic wave to investigate the absorption performance of the device. The numerical simulations of different distributions of the TRMDs show that the DTRMDs are more effective in reduction of the displacement response of the asymmetric structure under the same mass ratio, even when the degree of eccentricity becomes large. However, with small degree of eccentricity, the unreasonable asymmetrical arrangement may cause the increase of the peak value of the rotational angular displacement. Finally, the experimental investigations exhibit similar results of translational displacement of the structure. It is concluded that the vibration of the irregular asymmetric structure can be controlled more economically and effectively by reducing the mass ratio through reducing the quantity of TRMDs at the high stiffness end.

• Advances in nano research
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• v.16 no.4
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• pp.353-363
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• 2024

The incorporation of nanoplatelets in composite and polymeric materials represents a recent and innovative approach, holding substantial promise for diverse property enhancements. This study focuses on the application of nanocomposites in the production of sports equipment, particularly soccer balls, aiming to bridge the gap between theoretical advancements and practical implications. Addressing the longstanding challenge of suboptimal interaction between carbon nanofillers and epoxy resin in epoxy composites, this research pioneers inventive solutions. Furthermore, the investigation extends into unexplored territory, examining the integration of glass fiber/epoxy composites with nanoparticles. The incorporation of nanomaterials, specifically expanded graphite and graphene, at a concentration of 25.0% by weight in both the epoxy structure and the composite with glass fibers demonstrates a marked increase in impact resistance compared to their nanomaterial-free counterparts. The research transcends laboratory experiments to explore the practical applications of nanocomposites in the design and production of sports equipment, with a particular emphasis on soccer balls. Analytical techniques such as infrared spectroscopy and scanning electron microscopy are employed to scrutinize the surface chemical structure and morphology of the epoxy nanocomposites. Additionally, an in-depth examination of the thermal, mechanical, viscoelastic, and conductive properties of these materials is conducted. Noteworthy findings include the efficacy of surface modification of carbon nanotubes in preventing accumulation and enhancing their distribution within the epoxy matrix. This optimization results in improved interfacial interactions, heightened thermal stability, superior mechanical properties, and enhanced electrical conductivity in the nanocomposite.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.3
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• pp.629-634
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• 2024

The Korea Research Institute of Ships and Ocean Engineering (KRISO) has developed a test module that can vertically ascend and descend with a buoyancy engine to verify the performance of the developed buoyancy engine. The independent test module has been tested in the Ocean Engineering Basin(C.M.Lee et al., 2023). After that, more tests were performed in the Deep Ocean Engineering Basin and at sea. In the 50-meter depth pit test of the Deep Ocean Engineering Basin, there were no problems with the ascent and descent operations, but the buoyancy engine was not properly maintained due to various problems in the independent test module, resulting in a difference between the calculated results using the solution of the equations of motion and the actual measurement results. The East Sea test was conducted at a depth of approximately 110 meters north-east of Pohang, with a dive to 100 meters. The difference between the pressure sensor value and the calculated value was observed, but after checking the results of the underwater position tracking device(USBL, Ultra Short Base Line system), it was estimated that the difference was caused by the influence of the current.

• Structural Engineering and Mechanics
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• v.89 no.1
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• pp.13-22
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• 2024

The nonlinear snap-through buckling of functionally graded (FG) carbon nanotube reinforced composite (CNTRC) curved tubes is analytically investigated in this research. It is assumed that the FG-CNTRC curved tube is supported on a three-parameter nonlinear elastic foundation and is subjected to the uniformly distributed pressure and thermal loads. Properties of the curved nanocomposite tube are distributed across the radius of the pipe and are given by means of a refined rule of mixtures approach. It is also assumed that all thermomechanical properties of the nanocomposite tube are temperature-dependent. The governing equations of the curved tube are obtained using a higher-order shear deformation theory, where the traction free boundary conditions are satisfied on the top and bottom surfaces of the tube. The von Kármán type of geometrical non-linearity is included into the formulation to consider the large deflection in the curved tube. Equations of motion are solved using the two-step perturbation technique for nanocomposite curved tubes which are simply-supported and clamped. Closed-form expressions are provided to estimate the snap-buckling resistance of FG-CNTRC curved pipes rested on nonlinear elastic foundation in thermal environment. Numerical results are given to explore the effects of the distribution pattern and volume fraction of CNTs, thermal field, foundation stiffnesses, and geometrical parameters on the instability of the curved nanocomposite tube.