• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.56-61
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• 2000

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which result in the trajectory tracking error in the joint control system. The control performance of a redundant manipulator under independent joint control can be improved by minimizing this joint disturbance torque in resolving the kinematic redundancy. A 3 DOF planar robot is studied as an example, and the dynamic programming method is used to find the globally optimal joint trajectory that minimize the joint disturbance torque over the entire motion. The resulting solution is compared with the solution obtained by the conventional joint torque minimization, and it is shown that joint disturbance can be reduced using the kinematic redundancy.

• Journal of Positioning, Navigation, and Timing
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• 제11권3호
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• pp.209-215
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• 2022

As intelligent autonomous driving vehicle development has become a big topic around the world, accurate reference dynamics estimation has been more important than before. Current systems generally use speed and heading information sensed from a distant point as a vehicle reference dynamic, however, the dynamics between different points are not same especially during rotating motions. In order to estimate properly estimate the reference dynamics from the information such as velocity and heading sensed at a point distant from the reference point such as center of gravity, this study proposes estimating reference dynamics from any location in the vehicle by combining the Bicycle and Ackermann models. A test system was constructed by implementing multiple GNSS/INS equipment on an Robot Operating System (ROS) and an actual car. Angle and speed errors of 10° and 0.2 m/s have been reduced to 0.2° and 0.06 m/s after applying the suggested method.

• 한국공간구조학회논문집
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• 제24권2호
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• pp.75-82
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• 2024

Since atypical high-rise buildings are vulnerable to gravity loads and seismic loads, various structural systems must be applied to ensure the stability of the structure. In this study, the authors selected a 60-story twisted-shaped structure among atypical high-rise structures as an analytical model to investigate its structural behavior concerning the outrigger system. The structural analyses were performed varying the number of installed layers and the arrangement of the outrigger system, as well as the placement of the mega column, as design variables. The analysis revealed that the most effective position for the outrigger was 0.455H from the top layer, consistent with previous studies. Additionally, connecting outriggers and mega columns significantly reduced the displacement response of the model. From an economic standpoint, it is deemed efficient to connect and install outriggers and mega columns at the structure's ends.

• 한국유체기계학회 논문집
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• 제19권5호
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• pp.50-60
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• 2016

A design methodology of the modeled test facility to conserve an injection performance of a passive safety injection system is proposed. This safety injection system is composed of a core makeup tank and a safety injection tank. Individual tanks are connected with pressure balance line on the top side and injection line on the bottom side. It is important to conserve the scaled initial injection flow rate and total injection time since this system can be operated by small gravity head without any active pumps. Differential pressure distribution of the injection line induced by the gravity head is determined by the vertical length and elevation of each tank. However, the total injection time is adjustable by the flow resistance coefficient of the injection line. The scaling methodology for the tank and flow resistance coefficient is suggested. A key point of this test facility design is a scaling analysis for the flow resistance coefficient. The scaling analysis proposed on this paper is based on the volume scaling law with the same vertical length to the prototype and can be extended to a model with a reduced vertical length. A set of passive injection test were performed for the tanks with the same volume and the different length. The test results on the initial flow rate and total injection time showed the almost same injection characteristics and they were in good agreement with the design values.

• 한국지반공학회논문집
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• 제33권1호
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• pp.17-30
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• 2017

옹벽 중 일반적으로 많이 사용되고 있는 L형 옹벽은 배면에 공간이 많이 필요하고, 중력식 옹벽은 단면이 크다. 이러한 단점을 보완하고 역학적 안정성을 높이기 위해 AER옹벽이 개발되었다. 본 논문에서는 현장모형실험과 3D 수치해석을 통해 AER옹벽의 거동을 분석하였다. 그 결과, 기존 옹벽에 비해서 수평변위가 최대 67.84%가 감소하였고, 토압이 최대 73.19% 감소하여 AER옹벽의 높은 구조적인 안정성을 확인하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제37권6호
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• pp.623-630
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• 2013

본 연구는 기 개발된 인플래터블 카약(RPO-2)과 새롭게 개발된 인플래터블 카약(RD-FK-11, RD-FK-12)의 유체역학적인 성능평가를 위하여 경사시험과 선회시험은 해양공학수조에서 저항시험은 축소된 모형선을 제작하여 회류수조에서 수행되었다. 결론적으로 각각의 카약에 대한 다양한 성능시험결과 복원성 측면에서는 KONA가 유리하고, 선회력과 무게중심 측면에서는 RD-FK-12가 우수하고, 저항성능 측면에서는 RD-FK-11이 KONA와 RPO-2에 비해 우수하였다.

• Journal of Astronomy and Space Sciences
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• 제37권1호
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• pp.1-9
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• 2020

Frozen orbit is an attractive option for orbital design owing to its characteristics (its argument of pericenter and eccentricity are kept constant on an average). Solar sails are attractive solutions for massive and expensive missions. However, the solar radiation pressure effect represents an additional force on the solar sail that may greatly affect its orbital behavior in the long run. Thus, this force must be included as a perturbation force in the dynamical model for more accuracy. This study shows the calculations of initial conditions for a lunar solar sail frozen orbit. The disturbing function of the problem was developed to include the lunar gravitational field that is characterized by uneven mass distribution, third body perturbation, and the effect of solar radiation. An averaging technique was used to reduce the dynamical problem to a long period system. Lagrange planetary equations were utilized to formulate the rate of change of the argument of pericenter and eccentricity. Using the reduced system, frozen orbits for the Moon sail orbiter were constructed. The resulting frozen orbits are shown by two 3Dsurface (semi-major, eccentricity, inclination) figures. To simplify the analysis, we showed inclination-eccentricity contours for different values of semi-major axis, argument of pericenter, and values of sail lightness number.

• 대한조선학회논문집
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• 제57권4호
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• pp.230-240
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• 2020

The aim of this study was to investigate the manoeuvrability of a ship in different Center of Gravity (CG) conditions. Free Running Model Tests (FRMT), such as 35°turning circle tests, 20/20 zigzag manoeuvring tests, and 10/10 zigzag manoeuvring tests, were conducted in three GM and three trim conditions with 1/65.83 scaled KRISO Container Ship (KCS). The test results indicated that KCS in the lower GM condition and the trim by bow condition showed reduced advance and tactical diameter in turning circle tests and increased overshoot angles in zigzag tests, and those manoeuvring indices were strongly related with roll angle. In addition, sensitivity indices for three-axis CG position were suggested with prior research, and it showed that y-axis CG position significantly affected manoeuvrability of KCS due to the low GM. Therefore, in the case of KCS, it is evident that the roll angle during manoeuvre is closely related with manoeuvring indices.

• Structural Engineering and Mechanics
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• 제27권2호
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• pp.135-148
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• 2007

A new finite shear wall element model and a method for calculation of 3D multi-storied only shear walled or shear walled - framed structures using finite shear wall elements assumed ideal elasto - plastic material are developed. The collapse load of the system subjected to factored constant gravity loads and proportionally increasing lateral loads is calculated with a method of load increments. The shape functions over the element are determined as a cubic variation along the story height and a linear variation in horizontal direction because of the rigid behavior of the floor slab. In case shear walls are chosen as only one element in every floor, correct solutions are obtained by using this developed element. Because of the rigid behavior of the floor slabs, the number of unknowns are reduced substantially. While in framed structures, classical plastic hinge hypothesis is used, in nodes of shear wall elements when vertical deformation parameter is exceeded ${\varepsilon}_e$, this node is accepted as a plastic node. While the system is calculated with matrix displacement method, for determination of collapse safety, plastic displacements and plastic deformations are taken as additional unknowns. Rows and columns are added to the system stiffness matrix for additional unknowns.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2023년도 학술발표회
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• pp.38-38
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• 2023

Pleikrong reservoir with a concrete gravity dam that impound more than 1 billion cubic meter storage volume is one of the largest reservoir in Central Highland of Vietnam. Sedimentation is a major problem in this area and it becomes more severe due to the effect of climate change. Over time, it gradually reduces the reservoir storage capacity affecting to the reliability of water and power supply. This study aims to integrate the soil and water assessment tool (SWAT) model with 14 bias-corrected GCM/RCM models under two emissions scenarios, representative concentration pathway (RCP) 4.5 and 8.5 to estimate sediment inflow to Pleikrong reservoir in the long term period. The result indicated that the simulated total amount of sediment deposited in the reservoir from 2010 to 2018 was approximately 39 mil m³ which is a 17% underestimate compared with the observed value of 47 mil m³. The results also show the reduction in reservoir storage capacity due to sedimentation ranges from 25% to 62% by 2050, depending on the different climate change models. The reservoir reduced storage volume's rate in considering the impact of climate change is much faster than in the case of no climate change. The outcomes of this study will be helpful for a sustainable and climate-resilient plan of sediment management for the Pleikrongreservoir.