• Journal of the Korea Convergence Society
• /
• v.11 no.5
• /
• pp.175-182
• /
• 2020

The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

• Journal of English Language & Literature
• /
• v.57 no.3
• /
• pp.473-493
• /
• 2011

This paper aims, first, to trace the trajectory of Sebastian Barry's dramatic works in terms of retrieving the hidden (hi)stories of his family members, and second, to analyze his most successful play to date in both critical and commercial senses, The Steward of Christendom, in terms of the tension or even rupture between Irish national history and the dramatic representation of it. If contemporary Irish drama as a whole can be seen as an act of mirroring up to nation, Barry's is a refracting than reflecting act. Whereas modern Irish drama tends to have helped, however inadvertently, consolidate the nation-state by imagining Ireland through its other (either in the form of the British empire or the Protestant Unionist north), Barry's drama aims at cracking the surface homogeneity of Irish identity by re-imagining "ourselves" (a forgotten part of which is a community of southern Catholic loyalists). Furthermore, the "ourselves" re-imagined in Barry's drama is more fractured than unified, irreducible in its multiplicity than acquiescent in its singularity. The playwright's foremost concern is to retrieve the lives of "history's leftovers, men and women defeated and discarded by their times" and re-member those men and women who have been expunged from the imagined community of the Irish nation. This he does by endowing "every life" with "an after-life" and "every demon" with "a fairy tale." The Steward of Christendom is Barry's dramatic attempt to bestow upon the historically demonized Thomas Dunne, an Irish policeman in the British Empire, his fairy-tale redemption.

• Geomechanics and Engineering
• /
• v.36 no.4
• /
• pp.355-366
• /
• 2024

The original elastoplastic Hardening Soil model is formulated actually partly under hexagonal pyramidal Mohr-Coulomb failure criterion, and can be only used in specific stress paths. It must be completely generalized under Mohr-Coulomb criterion before its usage in engineering practice. A set of generalized constitutive equations under this criterion, including shear and volumetric yield surfaces and hardening laws, is proposed for Hardening Soil model in principal stress space. On the other hand, a Mohr-Coulumb type yield surface in principal stress space comprises six corners and an apex that make singularity for the normal integration approach of constitutive equations. With respect to the isotropic nature of the material, a technique for processing these singularities by means of Koiter's rule, along with a transforming approach between both stress spaces for both stress tensor and consistent stiffness matrix based on spectral decomposition method, is introduced to provide such an approach for developing generalized Hardening Soil model in finite element analysis code ABAQUS. The implemented model is verified in comparison with the results after the original simulations of oedometer and triaxial tests by means of this model, for volumetric and shear hardenings respectively. Results from the simulation of oedometer test show similar shape of primary loading curve to the original one, while maximum vertical strain is a little overestimated for about 0.5% probably due to the selection of relationships for cap parameters. In simulation of triaxial test, the stress-strain and dilation curves are both in very good agreement with the original curves as well as test data.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.21 no.2
• /
• pp.131-136
• /
• 1985

The calculation of the resulting fluid motion is an important problem of ship hydrodynamics. For a partially immersed body the condition of constant pressure at the free surface can be linearized. The resulting linear boundary-value problem for the velocity potential is the Neumann-Kelvin problem. The two-dimensional Neumann-Kelvin problem is studied for the half-immersed circular cylinder by Ursell. Maruo introduced a slender body approach to simplify the Neumann-Kelvin problem in such a way that the integral equation which determines the singularity distribution over the hull surface can be solved by a marching procedure of step by step integration starting at bow. In the present pater for the two-dimensional Neumann-Kelvin problem, it has been suggested that any solution of the problem must have singularities in the corners between the body surface and free surface. There can be infinitely many solutions depending on the singularities in the coroners.

• Geophysics and Geophysical Exploration
• /
• v.12 no.4
• /
• pp.361-366
• /
• 2009

Layered-earth Green's functions in electormagnetic (EM) surveys play a key role in modeling the response of exploration targets. They are computed through the Hankel transforms of analytic kernels. Computational precision depends upon the choice of algebraically equivalent forms by which these kemels are expressed. Since three-dimensional (3D) modeling can require a huge number of Green's function evaluations, total computational time can be influenced by computational time for the Hankel transform evaluations. Linear digital filters have proven to be a fast and accurate method of computing these Hankel transforms. In EM modeling for 3D inversion, electric fields are generally evaluated by the secondary field formulation to avoid the singularity problem. In this study, three components of electric fields for five different sources on the surface of homogeneous half-space were derived as primary field solutions. Moreover, reflection coefficients in TE and TM modes were produced to calculate EM responses accurately for a two-layered model having a sea layer. Accurate primary fields should substantially improve accuracy and decrease computation times for Green's function-based problems like MT problems and marine EM surveys.

• Korea Science and Art Forum
• /
• v.20
• /
• pp.315-326
• /
• 2015

This study has started from a curiosity about how the concept and characteristics of mise en abyme, which is one of meta-discourse in the contemporary aesthetics and has affected every aspect of modern philosophy, art, and culture, are expressed in modern architecture. 'Mise en abyme' is a technique mainly used by writers of the nouveau roman after it was introduced first in the work of novelist Andre Gide; this technique of artistic expression has been extended across the whole contemporary art and has become the meta-discourse which essentially makes its appearance in the art after postmodernism. 'Mise en abyme', meaning endless formation of image between two mirrors, got involved with discourse of the various philosophers of the time such as Deleuze and Derrida, and was also expressed in the language of architecture by modern architects who have been influenced by their philosophy. In this context, the technique of mise en abyme which is mostly used in art has a relation to methods of space expression of architects. This research studied the characteristics of mise en abyme which show in the expressional method of the modern architecture based on the relationship between the technique of mise en abyme and the modern method of architectural expression. Moreover, on the basis of this an analysis was carried out on architectural works of Jean Nouvel, who uses de-materialization and singularity as the architectural language. Through the research it was confirmed that the characteristics of expression of mise en abyme in architecture are embodied in material of the surface which forms buildings' exterior, or expressed by using reflection and graphical factors. Through analysis this study allows the chance to see that even though the means and field for expressing mise en abyme are different, the characteristics of the fundamental concept are shared among them, and to think about the meaning in the technique of mise en abyme as one yardstick to understand modern architecture in modern times with no specific mainstream.