• Journal of Astronomy and Space Sciences
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• v.35 no.4
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• pp.263-277
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• 2018

This paper presents a vision-based relative pose estimation algorithm and its validation through both numerical and hardware experiments. The algorithm and the hardware system were simultaneously designed considering actual experimental conditions. Two estimation techniques were utilized to estimate relative pose; one was a nonlinear least square method for initial estimation, and the other was an extended Kalman Filter for subsequent on-line estimation. A measurement model of the vision sensor and equations of motion including nonlinear perturbations were utilized in the estimation process. Numerical simulations were performed and analyzed for both the autonomous docking and formation flying scenarios. A configuration of LED-based beacons was designed to avoid measurement singularity, and its structural information was implemented in the estimation algorithm. The proposed algorithm was verified again in the experimental environment by using the Autonomous Spacecraft Test Environment for Rendezvous In proXimity (ASTERIX) facility. Additionally, a laser distance meter was added to the estimation algorithm to improve the relative position estimation accuracy. Throughout this study, the performance required for autonomous docking could be presented by confirming the change in estimation accuracy with respect to the level of measurement error. In addition, hardware experiments confirmed the effectiveness of the suggested algorithm and its applicability to actual tasks in the real world.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.221-229
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• 2022

Sliding mode control (SMC) is a robust control method to control a robot arm with nonlinear properties. A high switching gain of SMC causes chattering problems, although the SMC allows the adequate control performance by giving high switching gain, without the exact robot model containing nonlinear and uncertainty terms. In order to solve this problem, SMC with sliding perturbation observer (SMCSPO) has been researched, where the method can reduce the chattering by compensating the perturbation, which is estimated by the observer, and then choosing a lower switching control gain of SMC. However, optimal gain tuning is necessary to get a better tracking performance and reducing a chattering. This paper proposes a method that the Q-learning automatically tunes the control gains of SMCSPO with an iterative operation. In this tuning method, the rewards of reinforcement learning (RL) are set minus tracking errors of states, and the action of RL is a change of control gain to maximize rewards whenever the iteration number of movements increases. The simple motion test for a 7-DOF robot arm was simulated in MATLAB program to prove this RL tuning algorithm. The simulation showed that this method can automatically tune the control gains for SMCSPO.

• Smart Structures and Systems
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• v.33 no.6
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• pp.385-398
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• 2024

To improve the accuracy of time-frequency analysis (TFA) and instantaneous frequency (IF) extraction of structural dynamic response signals, this paper improves the spline-kernelled chirplet transform, and a new form of modified spline-kernelled chirplet transform (MSCT) based on revised Gaussian window function and energy concentration principle is put forward. The effectiveness of the proposed method is verified by numerical examples of single-component signal, multicomponent signal, single-degree-of-freedom Duffing nonlinear system and two-layer shear frame structure model. Then, a time-varying cable test is designed to collect the acceleration response signals under linear changing tension, and the IF extraction of these signals is performed by using MSCT, which further verifies the effectiveness and accuracy of this method. Through numerical simulation and experimental verification, it is proved that the proposed method can effectively extract the IF of nonlinear structure and time-varying structure.

• The Journal of Engineering Geology
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• v.18 no.4
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• pp.359-369
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• 2008

For the design and effective management of underground storage caverns, preliminary investigation on the hydrogeologic parameters around caverns and analysis on the groundwater flow must be carried out. The data collection is very imporatnat task for the hydrogeologic design so various hydraulic tests have been performed. When analyzing the injection/fall off test data, existing graphical method to estimate the parameters in Theis' equation is widely used. However this method has some sources of error when estimating parameters by means of human faults. Therefore the method of estimating parameters by means of statistical methods such as regression type is evaluated as a useful tool. In this study, nonlinear regression analysis for the Theis' equation is suggested and applied to the estimation of parameters for the real field interference data around underground storage caverns. Damping parameter which reduce the iteration numbers and inhance the convergence is also introduced.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.10 no.2
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• pp.91-102
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• 1990

The representative tests in this study are performed at a selected site which has the soil layers to analyze the safety and economy of the dynamic analysis for the variable soil conditions. Crosshole test and downhole test of small strain level tests and triaxial test of large strain level test are performed in the soil layers, and in the rock layers, crosshole test and downhole in-situ tests and laboratory sonic test are performed to measure the dynamic shear modulus, damping ratio, and Poisson$\acute{s}$ ratio of the soil and the rock. The correlations between the dynamic soil properties from the tests and the basic soil properties are determined through the regression analysis. The representative design value of the soil is determined by probability analysis of the test results. It is determined from the nonlinear stress-strain model in soils, and the value at small strain level is computed in rocks according to the distribution of the type of soils and the affecting variables. The constitutive value is systematized to be utilized in the analysis of the test results, and computation of the input soil data.

• Journal of the Earthquake Engineering Society of Korea
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• v.15 no.6
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• pp.67-80
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• 2011

This paper presents the results of shaking table tests on a 1:5 scale 10-story R.C. wall-type residential building model. The following conclusions are drawn based on the test results. (1) The model responded linear elastically under the excitations simulating an earthquake with a return period of 50 years, and showed a nonlinear response under the excitations simulating the design earthquake of Korea. (2) The model showed a significant strength drop under the maximum considered earthquake, with a return period of 2400 years. (3) The major portion of the resistance to lateral inertia forces came from the walls used for the elevator and stair case. (4) Finally, the damage and failure modes appear to be due to the flexural behavior of walls and slabs. A significant deterioration of stiffness and an elongation of the fundamental periods were observed under increased earthquake excitations.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.2409-2421
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• 2011

This paper will present hybrid tests to a one bay-one story steel frame structure under ground excitation. A structure used in this paper for hybrid test, to evaluate performance and behavior, is divided into two models; one is numerical model with one column element, and a truss or a beam element, the other is physical substructural model with one beam-column element. All tests considered one or three degrees of freedom to implement real-time hybrid test, and two control algorithms to control hardware are used; one using MATLAB/Simulink, the other using OpenSees, OpenFresco and xPCTarget. In addition, for real-time data communication between numerical and physical substructural models SCRAMNet was used. The results of hybrid tests were compared with one of numerical analysis of numerical model with fiber force-based beam-column elements using OpenSees. Real-time hybrid tests were implemented for the validation of control system with simple structure, and then it will be extended to hybrid test for higher nonlinear or complex structure later on.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.2
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• pp.357-367
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• 2017

Bending and axial forces simultaneously occur at the cross-section of a shotcrete lining reinforced with steel supports due to the tunnel geometry. The shotcrete has changing flexural stiffness depending on the axial forces and, as a result, severely nonlinear behavior. The mechanical properties of a shotcrete-steel composite also depend on the type of steel support. This study presents a fiber section element model considering the effect of axial force to evaluate the nonlinear behavior of a shotcrete-steel composite. Additionally, the model was used to analyze the effects of different types of steel supports on the load capacity. Furthermore, a modified hyperbolic model for ground reaction, including strain-softening, is proposed to account for the ground-lining interaction. The model was validated by comparing the numerical results with results from previous load test performed on arched shotcrete specimens. The changes in mechanical responses of the lining were also investigated. Results show a lining with doubly reinforcement rebar has similar load capacity as a lining with H-shaped supports. The use of more materials for the steel support enhances the residual resistance. For all types of steel reinforcement, the contribution of steel supports during peak load decreases as the ground becomes stiffer.

• International Journal of Control, Automation, and Systems
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• v.2 no.1
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• pp.83-91
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• 2004

The purpose of this paper is to obtain an accurate nonlinear system model to test various control schemes for a motion control system that requires high speed, robustness and accuracy. An industrial sewing machine equipped with a Brushless DC motor is considered. It is modeled by a neural network that is configured as an output-error dynamical system. The identified model is essentially a one step ahead prediction structure in which past inputs and outputs are used to calculate the current output. Using the model, a 2 degree-of-freedom PID controller to compensate the effects of disturbance without degrading tracking performance has been de-signed. In this experiment, it is not preferable for safety reasons to tune the controller online on the actual machinery. Experimental results confirm that the model is a good approximation of sewing machine dynamics and that the proposed control methodology is effective.

• Journal of the Society of Naval Architects of Korea
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• v.44 no.1 s.151
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• pp.1-7
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• 2007

Recently, researches to find rational mathematical model for prediction of capsizing have been progressed by ITTC. Lee(1997) developed a mathematical model which describes 6 DOF transient motions, such as capsizing, of a ship in regular waves. In this study a mathematical model for prediction of capsizing in following and quartering seas is developed based on Lee's model. And factors affecting prediction of capsizing are analyzed through comparing simulation results with experimental results. Present simulation results are compared with ITTC bench mark test results. In rolling tests with beam seas and tree runs with stern quartering seas, capsizing events are predicted well. But calculated roll angle is larger than experimental one. It is found that nonlinear manoeuvring coefficients don't affect the prediction of capsizing events.