• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1993.04a
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• pp.52-56
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• 1993

An efficient method is presented for determining transient responses of locally nonlinear structures using substructure eigenproperties and Lagrange multiplier technique. The method is based upon the mode synthesis formulation procedure, but does not construct the equations of motion of the combined whole structure compared with the conventional methods. For modal bases of each linear substructure, either fixed or free interface modes can be employed. The transient analysis is based upon the recurrence discrete-time state equations and offers the simplicity of the Euler integration method without requiring small time increment and iterative solution procedure. Numerical examples reveal that the method is very accurate and efficient in calculating transient responses compared with the direct numerical integration method.

• Wind and Structures
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• v.4 no.2
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• pp.85-100
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• 2001

The mechanism of wind-induced ovalling vibrations of cylindrical shells is numerically investigated by using a vortex method. The subject of this paper is limited to a two-dimensional structure in the subcritical regime. The aerodynamic stability of the ovalling vibrations in the second to fourth circumferential modes is discussed, based on the results of a forced-vibration test. In the analysis, two modal configurations are considered; one is symmetric and the other is anti-symmetric with respect to a diameter parallel to the flow direction. The unsteady pressures acting on a vibrating cylinder are simulated and the work done by them for one cycle of a harmonic motion is computed. The effects of a splitter plate on the flow around the cylinder as well as on the aerodynamic stability of the ovalling vibrations are also discussed. The consideration on the mechanism of ovalling vibrations is verified by the results of a free-vibration test.

• Steel and Composite Structures
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• v.17 no.3
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• pp.321-338
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• 2014

In the present study, a new simple first-order shear deformation theory is presented for laminated composite plates. Moreover, the number of unknowns of this theory is the least one comparing with the traditional first-order and the other higher-order shear deformation theories. Equations of motion and boundary conditions are derived from Hamilton's principle. Analytical solutions of simply supported antisymmetric cross-ply and angle-ply laminates are obtained and the results are compared with the exact three-dimensional (3D) solutions and those predicted by existing theories. It can be concluded that the proposed theory is accurate and simple in solving the static bending and free vibration behaviors of laminated composite plates.

• Steel and Composite Structures
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• v.25 no.4
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• pp.389-401
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• 2017

In this work, a new higher shear deformation theory (HSDT) is developed for the free vibration and buckling of functionally graded (FG) sandwich plates. The proposed theory presents a new displacement field by using undetermined integral terms. Only four unknowns are employed in this theory, which is less than the classical first shear deformation theory (FSDT) and others HSDTs. Equations of motion are obtained via Hamilton's principle. The analytical solutions of FG sandwich plates are determined by employing the Navier method. A good agreement between the computed results and the available solutions of existing HSDTs is found to prove the accuracy of the developed theory.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.448-451
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• 1995

A general task execution with hybrid impedance control method is addressed. The target impedance is expressed in the constraint frame. For the computational simplicity and the robustness improvement, disturbance observer scheme is used. To make stable contact with the environment, the large value of desired inertia gain for the force-controlled subspace is suggested. Numerical examples are given to show the performance of the proposed controller.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.624-630
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• 2007

The dynamic window approach(DWA) is a well known technique for reactive collision avoidance. It shows safe and efficient performance in real-world experiments. However, a robot can get stuck in local minima because no information about the connectivity of the free space is used to determine the motion. The global DWA can solve this problem of local minima by adding a navigation function. Even with the global DWA, it is still difficult for a robot to execute an abrupt change in its direction, for example, entering from the corridor to a doorway. This paper proposes a modified global DWA using the included angles of waypoints extracted from an optimal path. This scheme enables the robot to decelerate in advance before turning into the doorway. Therefore the robot can reach the goal position more safely and efficiently at high speeds.

• Journal of the Korean Society of Visualization
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• v.6 no.2
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• pp.20-27
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• 2008

The color sorting technique utilizing the image processing method is very applicable tool to analyze motion of a free-falling object in many agricultural and industrial research fields. In the present study, we have developed an image processing system and algorithm to sort good quality rice grains effectively from the bad ones. The system employs a high speed rate line-scan CCD camera with 2K-pixels and worked with a high speed DSP and FPGA in-line. It can accumulate acquired line-scan image data and visualize each grain image clearly. As a result, we can easily calculate the number of pixels occupied by grain(=grain size), gray level and its correct position by visualizing grain images rapidly.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.83-90
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• 2006

A robot manipulator is usually operated in two modes: free and constrained motion modes, depending on whether the robot is in contact with an environment or not. At the moment of contact, an impact occurs and can exert harmful effects to the robot or the object. In case of teleoperation, since a user may give an inadequately excessive velocity command to the slave due to insufficient visual information, the robot nay collide the object with an excessive speed and it possibly deteriorates the robot's performance causing vibrations and at worst, shortens its lifetime by its fracture. In this article, a new algorithm is proposed by introducing a command signal modification method on the basis of impedance control and validity of the proposed algorithm is demonstrated by performing simulations and experiments.

• Journal of Advanced Research in Ocean Engineering
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• v.4 no.3
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• pp.135-145
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• 2018

This paper deals with the added resistance of a ship in waves using computational fluid dynamics (CFD). The ship added resistance is one of the key considerations in the design of energy-efficient ship. In this study, the added resistance of a LNG carrier in head waves is computed using a CFD code to consider the nonlinearity and the viscous effects. The unsteady Reynolds Averaged Navier-Stokes equation (RANS) is numerically solved and the volume of fluid (VOF) approach is used to simulate the free surface flows. The length of incident wave varies from half the ship length to twice the ship length. To investigate the nonlinearity effect, both the linear wave condition and the nonlinear wave condition are considered. The heave and pitch motions are calculated along with the added resistance, and the wave contours are obtained. Grid convergence test is conducted thoroughly to achieve the converged motion and resistance values. The calculated results are compared and validated with experimental data.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.552-557
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• 2011

This paper presents experimental results on the energy-bounding approach to a rate-mode bilateral teleoperation control that can guarantee the robust system stability in variable time-delayed telecommunication environments. Previously, rate-mode energy bounding approach [15] was proposed and verified with experimental results using the simulated remote slave model. In this paper, a real experimental setup using an industrial robot (Denso) as a remote slave robot composed and conducted similar experiments with previous paper. In order to guarantee stability of the Denso when contacting with high impedance wall, velocity based impedance control modified by position based is used. Experimental results show that the rate-mode energy bounding approach can guarantee stable bilateral teleoperation system in the free and contact motion with variable time delay.