• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• 제3권1호
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• pp.8-13
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• 2000

The singularity system to represent two circular cylinders poised under different ambient flow fields is considered in the present research. The singularity system, being composed of a series of singularities, has to be truncated for numerical calculations. A rational criterion to determine how many terms of this series should be retained to maintain the prescribed accuracy is provided through analysis of the converging property of the series. A particular emphasis is put to how to deal with the discrete vortex model of a boundary layer, this possibility being the basis for the development of a tool to simulate vortex shedding from a structure composed of two circular cylinders. The principle to obtain the present singularity system can be applied to more-than-cylinders structure. Only th series become much more complex with increase of the number of cylinders.

• 대한수학회지
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• 제58권2호
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• pp.419-437
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• 2021

We prove that every minimal symplectic filling of the link of a quotient surface singularity can be obtained from its minimal resolution by applying a sequence of rational blow-downs and symplectic antiflips. We present an explicit algorithm inspired by the minimal model program for complex 3-dimensional algebraic varieties.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.86-100
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• 2008

Most of the previously employed dynamic modeling approaches, including Natural Orthogonal Complement Algorithm, have limitations on their application to the mobile robot, specifically at singular configurations. Also, in their dynamic modeling of mobile robots, wheel dynamics is usually ignored assuming that its dynamic effect is negligibly small. As a remedy for this, a singularity-free operational space dynamic modeling approach based on Lagrange's form of the D' Alembert principle is proposed, and the singularity-free characteristic of the proposed dynamic modeling is discussed in the process of analytical derivation of the proposed dynamic model. Then an accurate dynamic model taking into account the wheel dynamics of the omni-directional mobile robot is derived, and through simulation it is manifested that the effect of the wheel dynamics on the whole dynamic model of the mobile robot may not be negligible, but rather in some cases it is significantly large, possibly affecting the operational performances of dynamic model-based control algorithms. Lastly, the importance of its accurate dynamic model is further illustrated through impulse analysis and its simulation for the mobile robot.

• 대한조선학회논문집
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• 제54권3호
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• pp.250-257
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• 2017

It is desirable to have a way to predict the pressure drag due to various appendages attached to stern. As a mathematical model for these, a sphere and a singularity behind it, both in the uniform flow can be considered. We may use the Butler's sphere theorem to find the Stokes' stream function when the resulting flow is axisymmetric, and then the extended Lagally's theorem to get the force upon the sphere due to the singularity. Assuming the separation distance between the sphere and the singularity is small, the leading order approximation for the force is obtained and it is found out that if the separation distance and the square root of the strength of the dipole are of the same order, the effect of the image of the dipole with respect to the sphere is the most important.

• 전산구조공학
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• 제10권2호
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• pp.131-138
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• 1997

이 논문에서는, 균일한 횡방향 인장변형률이 작용하는 조건에서 강체모재들을 결합하고 있는 점탄성 접착재층의 계면모서리에 발생하는 응력 특이성을 조사하고있다. Williams방법을 응용하여 라플라스 변형공간에서 특성방정식을 구하였고, 주어진 점탄성 모델에 대해서 변형공간에서의 특성방정식을 시간공간으로 해석적으로 전환하였다. 시간 공간에서의 특이차수는 수치적으로 계산하였다. 계면을 따라 발생하는 응력의 특성을 조사하는데 시간영역 경계요소법을 적용하였다. 수치해석 결과에 의하면, 특이차수는 시간이 경과함에 따라 커지는 반면에, 자유모서리 응력확대계수는 시간에 따라 이완되는 특성을 보여주고 있다.

• 로봇학회논문지
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• 제12권1호
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• pp.42-54
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• 2017

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.

• 대한수학회논문집
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• 제17권2호
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• pp.349-361
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• 2002

The ill-posed elliptic wave propagation problems can be transformed into well-posed initial value problems of the reflection and transmission operators characterizing the material structure of the given model by the combination of wave field splitting and invariant imbedding methods. In general, the derived scattering operator equations are of first-order in range, nonlinear, nonlocal, and stiff and oscillatory with a subtle fixed and movable singularity structure. The phase space and path integral analysis reveals that construction and reconstruction algorithms depend crucially on a detailed symbol analysis of the scattering operators. Some information about the singularity structure of the scattering operator symbols is presented and analyzed in the transversely homogeneous limit.

• Nuclear Engineering and Technology
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• 제39권3호
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• pp.221-230
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• 2007

Wavelet theory was applied to detect a singularity in a reactor power signal. Compared to Fourier transform, wavelet transform has localization properties in space and frequency. Therefore, using wavelet transform after de-noising, singular points can easily be found. To test this theory, reactor power signals were generated using the HANARO(a Korean multi-purpose research reactor) dynamics model consisting of 39 nonlinear differential equations contaminated with Gaussian noise. Wavelet transform decomposition and de-noising procedures were applied to these signals. It was possible to detect singular events such as a sudden reactivity change and abrupt intrinsic property changes. Thus, this method could be profitably utilized in a real-time system for automatic event recognition(e.g., reactor condition monitoring).

• 한국유체기계학회 논문집
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• 제17권4호
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• pp.19-29
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• 2014

In addition to the development of micro hydro turbine, the challenge in micro hydro turbine design as sustainable hydro devices is focused on the optimization of turbine runner blade which have decisive effect on the turbine performance to reach higher efficiency. A multi-objective optimization method to optimize the performance of runner blade of propeller turbine for micro turbine has been studied. For the initial design of planar blade cascade, singularity distribution method and the combination of the Bezier curve parametric technology is used. A non-dominated sorting genetic algorithm II(NSGA II) is developed based on the multi-objective optimization design method. The comparision with model test show that the blade charachteristics is optimized by NSGA-II has a good efficiency and load distribution. From model test and scale up calculation, the maximum prototype efficiency of the runner blade reaches as high as 90.87%.

• 대한수학회보
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• 제54권5호
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• pp.1471-1483
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• 2017

We classify three-dimensional non-normal semi-terminal singularities.