• Earthquakes and Structures
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• v.4 no.6
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• pp.607-627
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• 2013

The application of shape memory alloys (SMAs) to the seismic response reduction of civil engineering structures has attracted growing interest due to their self-centering feature and excellent fatigue performance. The loading rate dependence of SMAs raises a concern in the seismic analysis of SMA-based devices. However, the implementation of micromechanics-based strain-rate-dependent constitutive models in structural analysis software is rather complicated and computationally demanding. This paper investigates the feasibility of replacing complex rate-dependent models with rate-independent constitutive models for superelastic SMA elements in seismic time-history analysis. Three uniaxial constitutive models for superelastic SMAs, including one rate-dependent thermomechanical model and two rate-independent phenomenological models, are considered in this comparative study. The pros and cons of the three nonlinear constitutive models are also discussed. A parametric study of single-degree-of-freedom systems with different initial periods and strength reduction factors is conducted to examine the effect of the three constitutive models on seismic simulations. Additionally, nonlinear time-history analyses of a three-story prototype steel frame building with special SMA-based damping braces are performed. Two suites of seismic records that correspond to frequent and design basis earthquakes are used as base excitations in the seismic analyses of steel-braced frames. The results of this study show that the rate-independent constitutive models, with their parameters properly tuned to dynamic test data, are able to predict the seismic responses of structures with SMA-based seismic response modification devices.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.6
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• pp.543-551
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• 2015

In this study, a novel method for dimension measurement of large-scale moving objects using stereo camera with 2-degree of freedom (2-DOF) mechanism is presented. The proposed method utilizes both the advantages of stereo vision technique and the enlarged visibility range of camera due to 2-DOF rotary mechanism in measuring large-scale moving objects. The measurement system employs a stereo camera combined with a 2-DOF rotary mechanism that allows capturing separate corners of the measured object. The measuring algorithm consists of two main stages. First, three-dimensional (3-D) positions of the corners of the measured object are determined based on stereo vision algorithms. Then, using the rotary angles of the 2-DOF mechanism the dimensions of the measured object are calculated via coordinate transformation. The proposed system can measure the dimensions of moving objects with relatively slow and steady speed. We showed that the proposed system guarantees high measuring accuracy with some experiments.

• Coupled systems mechanics
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• v.9 no.6
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• pp.539-562
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• 2020

In this paper the linear elastic coupling between a 2 degree of freedom shear-type frame system and a rigid block is analytically and experimentally investigated. As demonstrated by some of the authors in previous papers, it is possible to choose a coupling system able to guarantee advantages, whatever the mechanical characteristics of the frame. The main purpose of the investigation is to validate the analytical model. The nonlinear equations of motion of the coupled system are obtained by a Lagrangian approach and successively numerically integrated under harmonic and seismic excitation. The results, in terms of gain graphs, maps and spectra, represent the ratio between the maximum displacements or drifts of the coupled and uncoupled systems as a function of the system's parameters. Numerical investigations show the effectiveness of the nonlinear coupling for a large set of parameters. Thus experimental tests are carried out to verify the analytical results. An electro-dynamic long-stroke shaker sinusoidally and seismically forces a shear-type 2 d.o.f frame coupled with a rigid aluminium block. The experimental investigations confirm the effectiveness of the coupling as predicted by the analytical model.

• Smart Structures and Systems
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• v.33 no.6
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• pp.385-398
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• 2024

To improve the accuracy of time-frequency analysis (TFA) and instantaneous frequency (IF) extraction of structural dynamic response signals, this paper improves the spline-kernelled chirplet transform, and a new form of modified spline-kernelled chirplet transform (MSCT) based on revised Gaussian window function and energy concentration principle is put forward. The effectiveness of the proposed method is verified by numerical examples of single-component signal, multicomponent signal, single-degree-of-freedom Duffing nonlinear system and two-layer shear frame structure model. Then, a time-varying cable test is designed to collect the acceleration response signals under linear changing tension, and the IF extraction of these signals is performed by using MSCT, which further verifies the effectiveness and accuracy of this method. Through numerical simulation and experimental verification, it is proved that the proposed method can effectively extract the IF of nonlinear structure and time-varying structure.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1539-1543
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• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.28 no.6
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• pp.30-39
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• 2014

Through a lot of papers, it has been concluded that fuzzy logic controller is superior to PI controller in motor speed control. Although fuzzy logic controller is superior to PI controller in motor speed control, the gain tuning of fuzzy logic controller is more complicated than that of PI controller. In this paper, using mathematical analysis of the PI and fuzzy controller, the design method of the fuzzy controller that has the same characteristics with the PI controller is proposed. After that, we can design the fuzzy controller that has superior performance than PI controller by changing the envelope of input of fuzzy controller to nonlinear, because the fuzzy controller has more degree of freedom to select the control gain than PI controller. The advantage of fuzzy logic controller is shown through mathematical analysis, and the simulation result using Matlab simulink has been proposed to show the effectiveness of these analysis.

• Journal of Information Processing Systems
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• v.16 no.1
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• pp.120-131
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• 2020

In order to solve the problem of point clouds coordinate conversion of non-directional scanners, this paper proposes a basic Rodrigues rotation method. Specifically, we convert the 6 degree-of-freedom (6-DOF) rotation and translation matrix into the uniaxial rotation matrix, and establish the equation of objective vector conversion based on the basic Rodrigues rotation scheme. We demonstrate the applicability of the new method by using a bar-shaped emboss point clouds as experimental input, the three-axis error and three-term error as validate indicators. The results suggest that the new method does not need linearization and is suitable for optional rotation angle. Meanwhile, the new method achieves the seamless splicing of point clouds. Furthermore, the coordinate conversion scheme proposed in this paper performs superiority by comparing with the iterative closest point (ICP) conversion method. Therefore, the basic Rodrigues rotation method is not only regarded as a suitable tool to achieve the conversion of point clouds, but also provides certain reference and guidance for similar projects.

• Nuclear Engineering and Technology
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• v.55 no.6
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• pp.1999-2010
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• 2023

Undesirable flapping motion of discs can cause the failure of swing check valves in nuclear passive safety systems. Time-resolved particle image velocimetry (PIV) was employed to investigate the flow characteristics around a free-to-rotate plate and the motion response, with the Reynolds numbers, based on the hydraulic diameter of the channel, from 1.32 × 10⁴ to 3.95 × 10⁴. Appreciable flapping motion (±3.52°) appeared at the Reynolds number of 2.6 × 10⁴ with the frequency of 5.08 Hz. In the low-Reynolds-number case, the plate showed negligible flapping. In the high-Reynolds-number case, the deflection angle increased with reduced flapping amplitude. The torque from the fluid determined the flapping amplitude. In the low-Reynolds-number case, Karman vortices were absent. With increasing Reynolds numbers, Karman vortices developed behind the plate with larger deflection angles. Strong interaction between the wake flow from the leading and trailing edge of the plate was observed. Based on power spectrum density (PSD) analysis, the vortex shedding frequency coincided with the flapping frequency, and the amplitude was positively correlated to the strength of the vortices. Proper orthogonal decomposition (POD) modes evince that, in the case of appreciable motion, coherent structures exhibited a larger spatial scale, enhancing the magnitude of the external torque on the plate.

• Journal of the Korean Society of Safety
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• v.32 no.6
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• pp.68-74
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• 2017

To predict the damage of Reinforced Concrete (RC) structures from mass explosion, Pressure-Impulse (P-I) curves representing the relationship between peak pressure and impulse based on damage criteria are essential. There are P-I curves developed by the U.S. DoD without detailed explanation regarding validation. In this study, full scale explosion tests were conducted measuring response of RC slab to modify and validate pre-existing P-I curves. Four same RC slabs were prepared, and placed at different distances, which are fixed to steel frame with concrete base. Scaled distances were selected to show different failure types using P-I curve based on Single Degree Of Freedom (SDOF) model. It was found that SDOF model can be used to evaluate and identify one-way RC slab damage with difference damage criteria.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.4 s.247
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• pp.457-464
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• 2006

The anterior cruciate ligament (ACL) is liable to a major injury that often results in a functional impairment requiring surgical reconstruction. The success of reconstruction depends on such factors as attachment positions, initial tension of ligament and surgical methods of fixation. The purpose of this study is to find isometric positions of the substitute during flexion/extension. The distance between selected attachments on the femur and tibia was computed from a set of measurements using a 6 degree-of-freedom magnetic sensor system. A three-dimensional knee model was constructed from CT images and was used to simulate length change during knee flexion/extension. This model was scaled for each subject. Twenty seven points on the tibia model and forty two points on the femur model were selected to calculate length change. This study determined the maximum and minimum distances to the tibial attachment during flexion/extension. The results showed that minimum length changes were $1.9{\sim}5.8mm$ (average $3.6{\pm}1.4mm$). The most isometric region was both the posterosuperior and anterior-diagonal areas from the over-the-top. The proposed method can be utilized and applied to an optimal reconstruction of ACL deficient knees.