• Smart Structures and Systems
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• 제12권6호
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• pp.641-659
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• 2013

In this paper is studied the influence of the uncertain mass distribution over the floors on the choice of the optimal parameters of a hybrid control system for tall buildings subjected to wind load. In particular, an optimization procedure is developed for the robust design of a hybrid control system that is based on an enhanced Monte Carlo simulation technique and the genetic algorithm. The large computational effort inherent in the use of a MC-based procedure is reduced by the employment of the Latin Hypercube Sampling. With reference to a tall building modeled as a multi degrees of freedom system, several numerical analyses are carried out varying the parameters influencing the floors' masses, like the coefficient of variation of the distribution and the correlation between the floors' masses. The procedure allows to obtain optimal designs of the control system that are robust with respect to the uncertainties on the distribution of the dead and live loads.

• Smart Structures and Systems
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• 제13권1호
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• pp.137-154
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• 2014

Servohydraulic shaking tables are being increasingly used in the field of earthquake engineering. They play a critical role in the advancement of the research state and remain one of the valuable tools for seismic testing. Recently, the National Earthquake Engineering Research Center, CGS, has acquired a 6.1m x 6.1 m shaking table system which has a six degree-of-freedom testing capability. The maximum specimen mass that can be tested on the shaking table is 60 t. This facility is designed specially for testing a complete civil engineering structures, substructures and structural elements up to collapse or ultimate limit states. It can also be used for qualification testing of industrial equipments. The current paper presents the main findings of the experimental shake-down characterization testing of the CGS shaking table. The test program carried out in this study included random white noise and harmonic tests. These tests were performed along each of the six degrees of freedom, three translations and three rotations. This investigation provides fundamental parameters that are required and essential while elaborating a realistic model of the CGS shaking table. Also presented in this paper, is the numerical model of the shaking table that was established and validated.

• 한국산업융합학회 논문집
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• 제23권6_1호
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• pp.889-896
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• 2020

We describe a new approach to the analyze the control performance of robotic manipulator based on the monitoring system. The structure of monitoring simulator is consist of seven modes such as control state mode, coordinate mode, input/output mode, program mode, parameters mode, and track mode. The applied control algorithme consists of an time varying feed-forward and feedback controller. The proposed scheme is simple in structure, fast in computation, and suitable for real-time implimemtation. Moreover, this scheme does not require any accurate dynamic modeling and values of parameters. Performance of the proposed monitoring system is illustrated by simulation and experiment for robot manipulator with six degrees of freedom.

• 한국정밀공학회지
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• 제32권6호
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• pp.553-562
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• 2015

This paper presents a strategy and an algorithm for levitation control of an over-actuated passive maglev tray system. The passive maglev tray system has more actuators than its degrees of freedom. The actuators of the system are switching when the tray travels longitudinally. Furthermore, the levitation forces of the actuators are non-homogeneous because the actuation devices are not in the moving platform. These characteristics make a limit in using conventional control approaches for levitation. For smooth actuator switching, the actuator force generation should be dependent on longitudinal positions of the tray. To enable constant pose tracking, this research introduces a control strategy and a control algorithm based on integral controllers on virtual variables. The states of the tray are estimated using a Kalman filter and fed to the proposed controller. The performances of the proposed control strategy and the algorithm are validated through tests.

• 대한기계학회논문집A
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• 제27권6호
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• pp.938-945
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• 2003

In the present study, the inverse perturbation method is applied to the structural damage detection in conjunction with a system condensation technique. The system condensation technique is adopted to r esolve the problem due to the incomplete measurement of the degrees-of-freedom (DOFs) in a natural mode. However, the numerical difficulty may arise in the system condensation when the DOFs to be measured are not properly selected. Thus, the issue of sensor placement for structural damage detection, in the framework of the condensation technique-based inverse perturbation method, is considered in this study. Also, a methodology to measure the number of sensors required to obtain reliable damage detection is proposed and then verified through some illustrative example problem.

• 디지털산업정보학회논문지
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• 제8권1호
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• pp.1-7
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• 2012

In this paper Vehicle driving simulator have been used in the development and modification of models. A real-time simulation system and washout algorithm for an excavator have been developed for a driving simulator with six degrees of freedom. An interesting question, "how the 6 DOF Driving Simulator can be controlled optimally for the various tasks?" is not easy to be answered. This paper presents the hardware and software developed for a driving simulator of construction vehicle. A simulator can reduce cost and time a variety of driving simulations in the laboratory. Using its 6 DOF Simulator can move in various modes, and perform dexterous tasks. Driving simulators have begun to proliferate in the automotive industry and the associated research community. This effort involves the real-time dynamic of wheel-type excavator the design and manufacturing of the Stewart platform an integrated control system of the platform and three-dimensional graphic modeling of the driving environments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.39-42
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• 2000

Cutrent technological development toward miniaturization requires smaller components. These components usually generate complex multi-DOF motions other than simple 1-DOF motlon. Therefore it is essential to develop measurement methodology for 6-DOF motions. In this paper, a new 6-DOF measurement system for milli-struchlre is presented. This methodology basically employs the Optical Beam Deflection Method (OBDM) with a diffraction grating. A laser beam is emitted toward the difliaction grating which could be attached on the surface of a milli-structue and the incident ray is dif'||'&'||'acted in several directions. Among these difliacted beams, $0^{th}$ and $\pm$ $1^{th}4" order difkicted rays are detected by 4 Quadrant Photodiodes. From coordinate values fram each detector, we can get information for 6-DOF motions with lineariration method, Required resolutions for milli-struchue measurement are suh-micrometer in translation and arcsec in rotation. Experimental results indicate that proposed system has possibility to satisfy this requirement.

• 한국자동차공학회논문집
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• 제5권6호
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• pp.202-214
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• 1997

In automotive industries, one of major issues is the shifting shock, which is brought out when two clutches are engaged in an automatic transmission. The engagement and disengagement if two clutches means the variation of the D.O.F(degree of freedom) of system. Therefore to analyze the shifting performance, the variation of D.O.F should be considered in detail. Generally, the programs for analyzing the shifting transients have been developed as the problem-dependent codes because the artificial maris were usually used to indicate the change of shifting phase. To develop a software applicable to a general mechanism of transmissions, a self-determining algorithm of D.O.F must be applied. Through the experiences for the last several years, a generalized analysis software of shifting mechanism(so called by POTAS-MSM Version 2.0) has been developed. In this study, some major ideas of the software and the concept for the analysis of shifting characteristics are presented. In addition to that, this paper shows how to self -determine D.O.F of he multi-slipping systems using the stick-slip criterion on a single slipping mechanism. By using this software, the shifting characteristics of a vehicle are analyzed and compared with the experimental results.

• 한국운동역학회지
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• 제32권3호
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• pp.87-93
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• 2022

Objective: The purpose of this research was to investigate the age-related changes in whole-body motor variability during sit-to-stand (STS) task. It has been reported that children perform motor tasks less accurately with greater variability as compared to adults. However, it is still unknown how they utilize the abundant degrees of freedom and accomplish voluntary actions. Uncontrolled manifold (UCM) analysis has been used to partition motor variabilities into two independent variability components, task-relevant variability (V_ORT) and task-irrelevant variability (V_UCM). We investigated what differences exist between children and adults with respect to these two motor variability components in relation to motor development stages. Method: Ten 6-year-old children (height: 116.2 ± 4.3 cm, weight: 23.1 ± 3.9 kg, motor development assessment percentile score: 77.5 ± 18.6%), ten 10-year-old children (height: 138.7 ± 7.2 cm, weight: 35.8 ± 10.3 kg, motor development assessment percentile score: 73.9 ± 12.7%), and ten young adults (age: 23 ± 1.6 year-old, height: 164.3 ± 11.4 cm, weight: 60.8 ± 12.0 kg) participated in this study. Each participant performed STS ten times, and a motion capture system was used to capture the whole-body kinematics. Each segment centers of mass and the whole-body center of mass were calculated, and UCM analysis was used to quantify motor variabilities, V_ORT and V_UCM. One-way ANOVA was used for statistical analysis. Results: We found that children produced more motor variabilities in V_ORT and V_UCM in all three dimensions, anterior-posterior, medial-lateral, and vertical. As age increased, both, V_ORT and V_UCM significantly decreased (p<.05). Conclusion: The greater V_ORT found in children compared to adults indicates that the repeatability over repetitions improves through development, while the greater V_UCM found in children suggests that children better utilize the abundant degrees of freedom during STS compared to adults.

• Journal of Mechanical Science and Technology
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• 제16권6호
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• pp.819-828
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• 2002

An analytical method is presented for evaluation of the steady state periodic behavior of nonlinear systems. This method is based on the substructure synthesis formulation and a MS (multiple scales) procedure, which is applied to the analysis of nonlinear responses. The proposed procedure reduces the size of large degrees-of-freedom problem in solving nonlinear equations. Feasibility and advantages of the proposed method are illustrated with the nonlinear rotating machine system as an example of large mechanical structure systems. In addition, its efficiency for nonlinear response prediction will be shown by comparison of other conventional methods.