• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.359-364
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• 2012

Real-Time Traversability should be analyzed from the equiped sensors' data in real time for autonomous outdoor navigation. However, it is difficult to find out such traversability that considers the terrain roughness and the vehicle dynamics especially in case of skid type vehicle. The traversability based on real time dynamic analysis was proposed to solve such problem but in navigation with strait driving path. To adapt the method into the navigation with curved driving path, a path following controller should be incorporated into the dynamic model even though it cause the real time problem. In this paper, a dynamic model is proposed to solve the real time problem in the traversability analysis based on real time dynamic simualtion. The dynamic model contains the control dummy which is connected to the vehicle body with a universal joint to follow the curved path without controller. Simulation and experimental results on $6{\times}6$ articulated unmanned ground vehicle demonstrate the method's effectiveness and applicability into the traversability analysis on terrain with bumps.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.323-325
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• 2009

In this paper, we present simulation results of Dynamic Matrix Control(DMC) to a boiler steam temperature. In order to control of steam temperature, we choose the input-output variables and generate the step response model by each input variable's step test. After that, the control structure executes on-line control with optimization using step response model. Proposed controller is applied to the APESS(Doosan company's boiler model simulator) and it is observed that the simulation results show satisfactory performance of proposed control.

• Earthquakes and Structures
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• v.6 no.2
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• pp.163-179
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• 2014

Dynamic test with scaled model of a group of intake towers was performed to study the dynamic interaction between water and towers. The test model consists of intake tower or towers, massless foundation near the towers and part of water to simulate the dynamic interaction of tower-water-foundation system. Models with a single tower and 4 towers were tested to find the different influences of the water on the tower dynamic properties, seismic responses as well as dynamic water-tower interaction. It is found that the water has little influence on the resonant frequency in the direction perpendicular to flow due to the normal force transfer role of the water in the contraction joints between towers. By the same effect of the water, maximum accelerations in the same direction on 4 towers tend to close to each other as the water level increased from low to normal level. Moreover, the acceleration responses of the single tower model are larger than the group of towers model in both directions in general. Within 30m from the surface of water, hydrodynamic pressures were quite close for a single tower and group of towers model at two water levels. For points deeper than 30m, the pressures increased about 40 to 55% for the group of towers model than the single tower model at both water levels. In respect to the pressures at different towers, two mid towers experienced higher than two side towers, the deeper, the larger the difference. And the inside hydrodynamic pressures are more dependent on ground motions than the outside.

• Ocean and Polar Research
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• v.26 no.2
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• pp.323-332
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• 2004

This paper concerns about a study on dynamic responses of tracked vehicle on soft cohesive soil. For dynamic analyses of tracked vehicle, two different models were adopted, i.e. a single-body model and a multi-body model. The single-body vehicle model was assumed as a rigid body with 6-dof. The multi-body vehicle was modeled by using a commercial software, RecurDyn-LM. For the both models properties of cohesive soft soil were modeled by means of three relationships: pressure to sinkage, shear displacement to shear stress, and shear displacement to dynamic sinkage. Traveling performances of the two tracked vehicle models were compared through dynamic analyses in time domain.

• Journal of Information Processing Systems
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• v.12 no.1
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• pp.46-56
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• 2016

Dynamic textures are videos that exhibit a stationary property with respect to time (i.e., they have patterns that repeat themselves over a large number of frames). These patterns can easily be tracked by a linear dynamic system. In this paper, a model that identifies the underlying linear dynamic system using wavelet coefficients, rather than a raw sequence, is proposed. Content based threshold filtering based on Set Partitioning in a Hierarchical Tree (SPIHT) helps to get another representation of the same frames that only have low frequency components. The main idea of this paper is to apply SPIHT based threshold filtering on different bands of wavelet transform so as to have more significant information in fewer parameters for singular value decomposition (SVD). In this case, more flexibility is given for the component selection, as SVD is independently applied to the different bands of frames of a dynamic texture. To minimize the time complexity, the proposed model is implemented on a graphics processing unit (GPU). Test results show that the proposed dynamic system, along with a discrete wavelet and SPIHT, achieve a highly compact model with better visual quality, than the available LDS, Fourier descriptor model, and higher-order SVD (HOSVD).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.146-153
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• 1996

A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.

• Journal of the Korean Geosynthetics Society
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• v.19 no.2
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• pp.35-46
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• 2020

In this study, the dynamic response characteristics of the embankment model were analyzed using shaking table experiments. Laminar shear box was used to minimize the boundary effect of the model. The ratio of the vertical length to horizontal length of the slopes were 1:1, 1:1.5, and 1:2. The sensor array which is consist of 12 accelerometers was used to measure acceleration time-histories at each location of the slope model. The dynamic response characteristics of the models were analyzed for sine wave, sinesweep wave, and artificial earthquake wave in this study. The experimental results show that the dynamic response of the embankment model is increased with the slope angle. Furthermore, the experimental setup used in this study was verified with the comparative analysis between experimental results and 1-D analytical simulation on the flat ground model.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1991.10a
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• pp.69-72
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• 1991

The purpose of this study is to develop the reliability-based dynamic load model for bridges. Analytial procedure to calculate the dynamic load is developed. Truck traffic is simulated using Monte Carlo method. Static and dynamic loads(deflections) are plotted on the normal probability paper to estimate the mean maximum dynamic load in bridge lifetime. The results may be served as a basis for new LRFD bridge design code.

• The Journal of Korean Association of Computer Education
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• v.17 no.6
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• pp.103-113
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• 2014

This study designed and implemented a query model for consecutive analyses of dynamic multivariate graph data. First, the query model consists of two procedures; setting the discriminant function, and determining an alteration method. Second, the query model was implemented as a query system that consists of a query panel, a graph visualization panel, and a property panel. A Node-Link Diagram and the Force-Directed Graph Drawing algorithm were used for the visualization of the graph. The results of the queries are visually presented through the graph visualization panel. Finally, this study used the data of worldwide import & export data of small arms to verify our model. The significance of this research is in the fact that, through the model which is able to conduct consecutive analyses on dynamic graph data, it helps overcome the limitations of previous models which can only perform discrete analysis on dynamic data. This research is expected to contribute to future studies such as online decision making and complex network analysis, that use dynamic graph models.

• Coupled systems mechanics
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• v.12 no.1
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• pp.83-102
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• 2023

First introduced in 2016, the dynamic foundation model is an interesting topic in which the foundation is described close to reality by taking into account the influence of the foundation mass in the calculation of oscillation and is an important parameter that should be considered. In this paper, a follow-up investigation is conducted with the object of the Mindlin plate on a nonlinear dynamic foundation under moving loads. The base model includes nonlinear elastic springs, linear Pasternak parameters, viscous damping, and foundation mass. The problem is formulated by the finite element analysis and solved by the Newmark-β method. The displacement results at the center of the plate are analyzed and discussed with the change of various parameters including the nonlinear stiffness, the foundation mass, and the load velocity. The dynamic response of the plate sufficiently depends on the foundation mass.