• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1669-1674
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• 2004

In this paper, a nonlinear information filter (IF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, a nonlinear IF is used in place of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.

• International Journal of Control, Automation, and Systems
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• 제2권3호
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• pp.310-318
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• 2004

In this paper, an unscented Kalman filter (UKF) for curvilinear motions in an interacting multiple model (IMM) algorithm to track a maneuvering vehicle on a road is investigated. Driving patterns of vehicles on a road are modeled as stochastic hybrid systems. In order to track the maneuvering vehicles, two kinematic models are derived: A constant velocity model for linear motions and a constant-speed turn model for curvilinear motions. For the constant-speed turn model, an UKF is used because of the drawbacks of the extended Kalman filter in nonlinear systems. The suggested algorithm reduces the root mean squares error for linear motions and rapidly detects possible turning motions.

• Earthquakes and Structures
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• 제3권5호
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• pp.629-647
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• 2012

Multiple acceleration sequences of earthquake ground motions have been observed in many regions of the world. Such ground motions can cause large damage to the structures due to accumulation of inelastic deformation from the repeated sequences. The dynamic analysis of inelastic structures under repeated acceleration sequences generated from simulated and recorded accelerograms without sequences has been recently studied. However, the characteristics of recorded earthquake ground motions of multiple sequences have not been studied yet. This paper investigates the gross characteristics of earthquake records of multiple sequences from an engineering perspective. The definition of the effective number of acceleration sequences of the ground shaking is introduced. The implication of the acceleration sequences on the structural response and damage of inelastic structures is also studied. A set of sixty accelerograms is used to demonstrate the general properties of repeated acceleration sequences and to investigate the associated structural inelastic response.

• Korean Journal of Mathematics
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• 제23권4호
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• pp.521-536
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• 2015

We investigate the nonlinear motions of discrete loaded cable with different periodic forcing. We present the numerical evidence of the nonlinear motions of the cable by solving initial value problems and obtaining the motions after a long time. There appeared to be various types of nonlinear oscillations over a wide range of frequencies and amplitudes for the periodic forcing term.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권3호
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• pp.700-714
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• 2014

This study aims to identify the relations between seakeeping characteristics and hull form parameters for YTU Gulet series with cruiser stern. Seakeeping analyses are carried out by means of a computer software which is based on the strip theory and statistical short term response prediction method. Multiple regression analysis is used for numerical assessment through a computer software. RMS heave-pitch motions and absolute vertical accelerations on passenger saloon for Sea State 3 at head waves are investigated for this purpose. It is well known that while ship weight and the ratios of main dimensions are the primary factors on ship motions, other hull form parameters ($C_P$, $C_{WP}$, $C_{VP}$, etc.) are the secondary factors. In this study, to have an idea of geometric properties on ship motions of gulets three different regression models are developed. The obtained outcomes provide practical predictions of seakeeping behavior of gulets with a high level of accuracy that would be useful during the concept design stage.

• 한국생산제조학회지
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• 제19권5호
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• pp.645-652
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• 2010

For free motions, vibration suppression of single flexible manipulators has been one of the hottest research topics. However, for cooperative motions of multiple flexible manipulators, a little effort has been devoted for the vibration suppression control. So, the aim of this paper is to develop a hybrid force/position control and vibration suppression control scheme for multiple cooperation flexible manipulators handling a rigid object. In order to clarify the discussion, the motions of dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with hybrid position/force control scheme. Finally, Experiments are performed, and a comparison of experimental results is given to clarify the validity of our control scheme.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 추계 학술발표회논문집
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• pp.376-383
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• 2003

For more rational and economical seismic design of long span bridges, it is essential to include in the analysis the effects of multiple input motions and structural or soil nonlinearity which are not considered in the current design practice. In this paper, the effects of these factors on the seismic behavior of long span bridges are studied. First, for the effect of multiple input motions, we take into account the differences in arrival times of seismic waves. To consider nonlinear soil properties we utilize SHAKE which is based on the equivalent linearization method. As a numerical example, a cable-stayed bridge is modelled using the analytical procedures described above. It is shown from the results that the these factors influence the seismic response of the bridge significantly and should never be neglected in design.

• 전산구조공학
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• 제6권4호
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• pp.67-72
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• 1993

주구조물의 여러층에 지지점을 가지는 부구조물의 응답스펙트럼 해석방법에 대하여 연구하였다. 본 연구에서는 지지점 입력간의 상관관계를 고려할 수 있으며, 실무에서 부구조물의 내진설계에 쉽게 적용할 수 있는 다중 응답스펙트럼 해석방법을 제시하였다. 다중 응답스펙트럼과 지지점 입력간의 상관계수 스펙트럼은 추계론적 진동이론을 이용하여 설계지반응답스펙트럼으로부터 직접 유도하였다. 예제해석 결과 본 연구에서 제안한 방법은 지지점 입력간의 상관관계를 고려하지 않는 통상의 다중 응답스펙트럼 해석방법보다 정확한 지진응답을 예측함을 알 수 있었다.

• International Journal of Control, Automation, and Systems
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• 제3권2호
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• pp.173-182
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• 2005

In this paper, a target tracking algorithm for tracking maneuvering vehicles is presented. The overall algorithm belongs to the category of an interacting multiple-model (IMM) algorithm used to detect multiple targets using fused information from multiple sensors. First, two kinematic models are derived: a constant velocity model for linear motions, and a constant-speed turn model for curvilinear motions. Fpr the constant-speed turn model, a nonlinear information filter is used in place of the extended Kalman filter. Being equivalent to the Kalman filter (KF) algebraically, the information filter is extended to N-sensor distributed dynamic systems. The model-matched filter used in multi-sensor environments takes the form of a federated nonlinear information filter. In multi-sensor environments, the information-based filter is easier to decentralize, initialize, and fuse than a KF-based filter. In this paper, the structural features and information sharing principle of the federated information filter are discussed. The performance of the suggested algorithm using a Monte Carlo simulation under the two patterns is evaluated.

• Journal of Mechanical Science and Technology
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• 제19권9호
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• pp.1742-1752
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• 2005

This paper presents a Multiple Target Tracking (MTT) Adaptive Cruise Control (ACC) system which consists of three parts; a multi-model-based multi-target state estimator, a primary vehicular target determination algorithm, and a single-target adaptive cruise control algorithm. Three motion models, which are validated using simulated and experimental data, are adopted to distinguish large lateral motions from longitudinally excited motions. The improvement in the state estimation performance when using three models is verified in target tracking simulations. However, the performance and safety benefits of a multi-model-based MTT-ACC system is investigated via simulations using real driving radar sensor data. The MTT-ACC system is tested under lane changing situations to examine how much the system performance is improved when multiple models are incorporated. Simulation results show system response that is more realistic and reflective of actual human driving behavior.