• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.212-220
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• 2020

This paper deals with a strategy of gain optimization for the kinematic control algorithm of a wire-driven surgical robot. The proposed controller consists of the closed-loop inverse kinematics with the back-calculation method. The closed-loop inverse kinematics has 18 PID control gains, and the back-calculation method has 6 gains. An efficient strategy is designed to optimize 18 values first and then the remaining 6 values. The optimal gain sets are searched under the step input with performance indices. In this gain optimization, the objective function is defined as the minimum value of signal-to-noise ratio of the performance indices for 6 DoF (Degree-of-Freedom) motion that is based on the Taguchi method, and the constraints are applied to obtain stable responses for each motion evenly. The gain sets obtained are verified by simulations using the test trajectories. In comparative results, the optimal gain value based on the performance index combined with ISE (integral of square error) and settling time showed the best control performance.

• Steel and Composite Structures
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• v.4 no.6
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• pp.437-452
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• 2004

A simplified seismic design procedure for steel structures with buckling-restrained braces (BRB) was proposed based on the energy balance concept and the equal energy assumption. The input seismic energy was estimated from a design spectrum, and the elastic and hysteretic energy were computed using energy balance concept. The size of braces was determined so that the hysteretic energy demand was equal to the hysteretic energy dissipated by the BRB. The validity of using equivalent single-degree-of-freedom systems to estimate seismic input and hysteretic energy demand in multi story structures with BRB was investigated through time-history analysis. The story-wise distribution pattern of hysteretic energy demands was also obtained and was applied in the design process. According to analysis results, the maximum displacements of the 3-story structure designed in accordance with the proposed procedure generally coincided with the target displacements on the conservative side. The maximum displacements of the 6- and 8-story structures, however, turned out to be somewhat smaller than the target values due to the participation of higher vibration modes.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.36 no.6
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• pp.371-380
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• 2023

To calculate seismic fragility, it is important to select input earthquake ground motions that can properly express the characteristics of the target site. This study analyzed the seismic fragility of a single-degree-of-freedom (SDOF) model based on input earthquake ground motions in strong and low-to-moderate seismic regions. As a first step, a total of four sets of input earthquake ground motions were selected,: two sets measured near or far from overseas strong earthquake records and two sets exhibiting the characteristics of low-to-moderate earthquake regions in South Korea. A nonlinear SDOF model for three natural periods was applied to the target structure, and incremental dynamic analysis was used for fragility analysis. In addition, four damage states were defined, and seismic fragility results for each natural period of the nonlinear SDOF model for the four aforementioned input earthquake ground motion sets were obtained for each damage state.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.1A
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• pp.1-13
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• 2010

This paper presents an investigation on the geometric nonlinear behavior of cable-stayed bridges using geometric nonlinear finite element analysis method. The girder and mast in cable-stayed bridges show the combined axial load and bending moment interaction due to horizontal and vertical forces of inclined cable. So these members are considered as beam-column member. In this study, the nonlinear finite element analysis method is used to resolve the geometric nonlinear behavior of cable-stayed bridges in consideration of beam-column effect, large displacement effect (known as P-${\delta}$ effect) and cable sag effect. To analyze a cable-stayed bridge model, nonlinear 6-degree of freedom frame element and nonlinear 3-degree of freedom equivalent truss element is used. To resolve the geometric nonlinear behavior for various live load cases, the initial shape analysis is performed for considering dead load before live load analysis. Then the geometric nonlinear analysis for each live load case is performed. The deformed shapes of each model, load-displacement curves of each point and load-tensile force curves for each cable are presented for quantitative study of geometric nonlinear behavior of cable-stayed bridges.

• Journal of the Korean Society for Railway
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• v.15 no.4
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• pp.413-421
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• 2012

The purpose of this study is to evaluate the structural dynamic behavior under hybrid control system. The hybrid test is to consider the interaction between the numerical and physical models. In this paper, single degree of freedom hybrid test was performed with one-bay, two-story steel frame structure. One column at the first floor was selected as a physical substructure and one actuator was used for applying the displacement load in horizontal direction. El Centro as earthquake waves was inputted and OpenSees was employed as the numerical analysis program for the hybrid real-time simulation. As a result, the total time of the hybrid test was about 9.6% of actual measured seismic period. The experimental results agreed well with the numerical one in terms of the maximum displacement. In nonlinear analysis, however, material nonlinearity made a difference of residual strain. Therefore, this hybrid dynamic test can be used to predict the structural dynamic performance more effectively than shaking table test, because of the spatial and economic limitations.

• Journal of Korea Game Society
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• v.10 no.6
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• pp.3-14
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• 2010

There has been a revolutionary growth and advancement in the area of online game, though the history of online games is shorter than that of the other genre. Among the elements consisting of a game, the character customizing system has advanced poorly when compared with the other elements of a game system. The poor computer graphics technology hindered the emergence of a good quality of a character customizing system. However the need of users for the rich facial expressions together with the rapid advancement of the computer graphic technology have driven the customizing system to provide a high degree of freedom to the extent that items for the face assembly could generate new profits. This paper analyzed the Aion Customizing System based on the art of physiognomy where the facial features of people are studied and analyzed, in order to make various personalized characters to the extent of increased freedom. According to our design, the more sophisticated and complex and subtle character customization system can be devised following the proposed design.

• Journal of Korean Society of Steel Construction
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• v.14 no.6
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• pp.793-802
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• 2002

This study presented a finite element formulation for the dynamic analysis of horizontally curved I-girder bridges. The stiffness and mass matrices of the curved and the straight beam elements are formulated. Each node of both elements has seven degrees of freedom, including the warping degree of freedom. The curved beam element is derived from Kang and Yoo's theory of thin-walled curved beams. The computer program EQCVB has been developed to perform dynamic analyses of various horizontally curved I-girder bridges. The Gupta method is used to solve the eigenvalue problem efficiently, while the Wilson-${\theta}$ method is used for the seismic analysis. The efficiency of EQCVB is demonstrated by comparing solution time with ABAQUS. Using EQCVB, the study is applied to investigate the dynamic behavior of horizontally curved I-girder bridges under seismic loading.

• Earthquakes and Structures
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• v.8 no.6
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• pp.1481-1497
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• 2015

Vertical earthquake ground motion may magnify vertical dynamic responses of structures, and thus cause serious damage to bridges. As main support structures, piers and bearings play an important role in vertical seismic response analysis of girder bridges. In this study, the pier and bearing are simplified as a vertical series spring system without mass. Then, based on the assumption of small displacement, the equation of motion governing the simply-supported straight girder bridge under vertical ground motion is established including effects of vertical deformation of support structures. Considering boundary conditions, the differential quadrature method (DQM) is applied to discretize the above equation of motion into a MDOF (multi-degree-of-freedom) system. Then seismic responses of this MDOF system are calculated by a step-by-step integration method. Effects of support structures on vertical dynamic responses of girder bridges are studied under different vertical strong earthquake motions. Results indicate that support structures may remarkably increase or decrease vertical seismic responses of girder bridges. So it is of great importance to consider effects of support structures in structural seismic design of girder bridges in near-fault region. Finally, optimization of support structures to resist vertical strong earthquake motions is discussed.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.3
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• pp.421-429
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• 2010

In this paper, in order to analyze the dynamic response of a floating crane when it lifts a heavy cargo, the boom of the floating crane is considered as an elastic beam. The boom is divided into elements based on finite element formulation and the floating frame of reference formulation and nodal coordinates are employed to model the boom as a flexible body. As an extension of the previous study, in order to consider spatial motion in waves, the coupled equations of motions of the 6 degree of freedom (DOF) floating crane and 6 DOF cargo are developed based on the flexible multibody system dynamics. The 3 dimensional deformation of the elastic boom is considered with 18 DOF. The dynamic simulation of the floating crane and the cargo is performed under regular wave conditions with various cargo weights. Finally, the effects of the elastic boom on lifting cargo are discussed by comparing the simulation results between the elastic boom and a rigid boom.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.6
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• pp.1882-1892
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• 1996

This paper is concerned with the position control of the ond degree-of freedom manipulator using pneumatic artificial muscle actuator which is built to have a proper compliance. For t his pneumatic artificial muscle actuator though, it is difficult to make an effective control scheme due to the nonlinearity and uncertainties on the dynamics of the actuator. In this paper, a third-order equation of motion is derived for the actuator including the dynamics of the pneumatic servovalve. Later, various modeling uncertainties due to the nonlinearity and unmodeled dynamics of the servo vlave and the actuator are taken care of, as a trade-off between the closed-loop performance of the controlled system and its robustness to uncertainties. A controller using .mu. synthesis thchnique is designed, and robust performance against measurement noise, various modeling uncertainties due to the dynamics of the servo valve and actuator is achieved. The effectiveness of the proposed control methods is illustrated through simulations and experiments.