• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.925-936
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• 2003

The manipulability analysis of the parallel-type rolling mill proposed in Hong et al. [1] is re-visited. The parallel rolling mill uses two Stewart platforms in opposite direction for the generation of 6 degree-of-freedom motions of each roll. The objective of this new parallel rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of rolls, and tension of the strip. New forward/inverse kinematics problems, in contrast with [1], are formulated. The forward kinematics problem is defined as the problem of finding the roll-gap and the pair-crossing angle of two work rolls for given lengths of twelve legs. On the other hand, the inverse kinematics problem is defined as the problem of finding the lengths of twelve legs when the roll-gap, the pair-crossing angle, and the position and orientation of one work roll are given. The method of manipulability analysis used in this paper follows the spirit of [1]. But, because the rolling force and moment exerted from both upper and lower rolls have been included in the manipulability analysis, more accurate results than the use of a single platform can be achieved. Two. kinematic parameters, the radius of the base and the angle between two neighboring joints, are optimally designed by maximizing the global manipulability measure in the entire workspace.

• Wind and Structures
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• v.22 no.1
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• pp.17-41
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• 2016

To address the uncertainty of the flight trajectories caused by the turbulence and gustiness of the wind field over the roof and in the wake of a building, a 3-D probabilistic trajectory model of flat-type wind-borne debris is developed in this study. The core of this methodology is a 6 degree-of-freedom deterministic model, derived from the governing equations of motion of the debris, and a Monte Carlo simulation engine used to account for the uncertainty resulting from vertical and lateral gust wind velocity components. The influence of several parameters, including initial wind speed, time step, gust sampling frequency, number of Monte Carlo simulations, and the extreme gust factor, on the accuracy of the proposed model is examined. For the purpose of validation and calibration, the simulated results from the 3-D probabilistic trajectory model are compared against the available wind tunnel test data. Results show that the maximum relative error between the simulated and wind tunnel test results of the average longitudinal position is about 20%, implying that the probabilistic model provides a reliable and effective means to predict the 3-D flight of the plate-type wind-borne debris.

• Earthquakes and Structures
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• v.20 no.4
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• pp.457-471
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• 2021

This study aims at providing a simple and effective methodology to define a meaningful characteristic period for special class of earthquake records named "pulse-like ground motions". In the proposed method, continuous wavelet transform is employed to extract the large pulse of ground motions. Then, Fourier amplitude spectra obtained from the original ground motion and the residual motion is simply compared. This comparison permits to define a threshold pulse-period (Tp∗) as the threshold period above which the pulse component has negligible contributions to the Fourier amplitude spectrum. The effect of pulse on frequency content of motions was discussed on the light of this definition. The advantage and superior features of the new definition were related to the inelastic displacement ratio (IDR) for single-degree-of-freedom systems with period equal to one half of the threshold period. Analyses performed for the proposed period at three ductility levels u=2,4,6 were compared with the results obtained at half of pulse period derived from wavelet analysis, peak-point method and the peak of product of the velocity and the displacement response spectra (Sv x Sd). According to the results, pulse effects on inelastic displacement ratio seem to be more important when $\frac{T_p^*}{T}=2$ (T is the fundamental vibration period of system). The results showed that utilizing of the proposed definition could facilitate an enhanced understanding of pulse-like records features.

• Tunnel and Underground Space
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• v.6 no.2
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• pp.157-165
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• 1996

In order to analyze the effects of ground vibration caused by underground blasting having an effect on structure, the particle velocity and acceleration are calculated by using DYNPAK program. The DYNPAK program analyzes nonlinear transient dynamic problem and adopts the very popular and easily implemented, explicit, central difference scheme. In this program, the material behavior is assumed to be elasto-viscoplastic. Using the particle acceleration history, modal analysis method is applied to the forced vibration response of multiple-degree-of-freedom(MDOF) systems using unclupled equations of motion expressed in terms of the system's natural circular frequencies and modal damping factors. AS a means of evaluating the vibration behavior of building structure subjected to underground blasting, the time response of the displacements relative to the ground of five-story building is determined. It is concluded that the amount of explosives consumed per round, the location of structure, the properties of rock medium, the stiffness fo structure, etc. act on the important factors influencing on the safety of building and that the response of a structure subjected to a forced excitation can usually be obtained with reasonable accuracy by the modal analysis of only a few mode of the lower frequencies of the system.

• Journal of Drive and Control
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• v.21 no.3
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• pp.36-45
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• 2024

Collaborative robots, designed for direct interaction with humans have limited adaptability to environmental changes. This study addresses this limitation by implementing a barista robot system using AI technology. To overcome limitations of traditional collaborative robots, a model that applies a real-time object detection algorithm to a 6-degree-of-freedom robot arm to recognize and control the position of random cups is proposed. A coffee ordering application is developed, allowing users to place orders through the app, which the robot arm then automatically prepares. The system is connected to ROS via TCP/IP socket communication, performing various tasks through state transitions and gripper control. Experimental results confirmed that the barista robot could autonomously handle processes of ordering, preparing, and serving coffee.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1997.04a
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• pp.207-214
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• 1997

The objective of this study is to review the current stare of earthquake simulation techniques using the shaking table and check the reliability. One degree-of-freedom(d.o.f.)and three d.o.f. aluminium shear models were used and 4m$\times$4m 6 d.o.f. shaking table was excitated in one horizontal direction to simulate 1940 El centro earthquake accelerogram (NS component). When the acceleration history of shaking table is compared to the desired one, it can be found that the overall histories are very similar, but that the lower frequency range (0~2 Hz) of the actual excitation has generally lower amplitude than that of the desired in fourier transform amplitude. Free vibration and white noise tests have shown almost the same values for natural frequencies, but shown quite different values for damping ratios, that is, 1.37% in case of r\free vibration test vs 14.76% in case of white noise test. The time histories of story shear versus story drift show the globally linear elastic behaviors. But the elliptical shape of the histories with one of the axis being the stiffness of the story implies the effect of viscous damping.

• Journal of the Society of Naval Architects of Korea
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• v.37 no.1
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• pp.50-59
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• 2000

This paper presents a brief outline of dynamic stability of a damaged ship at final stage of flooding in rough beam wind and waves. One degree-of-freedom, roll equation is adopted with effects of flooding water and external forces due to wind and waves, but without effect of sloshing. We discuss the dynamic stability of the damaged ship in terms of capsizing probability based on risk analysis, the method of which was firstly proposed by Umeda et al.[6] to high speed craft in intact condition. As a result, we can evaluate the dynamic stability of the damaged ship in probabilistic manner according to sea state, operating condition and damage situation.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.803-807
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• 2009

The bobsleigh is a winter sport which use a sled to slide down an ice-covered course. There is a big expectation for having a training environment and being able to train year round. At present, training is very limited due to the season or course facilities. A variety of VR (Virtual Reality) equipment has been developed in recent years, and it is beginning to spread. We have also made our contribution in bobsleigh simulation. The reactive force applied in our bobsleigh simulation is much smaller than that of a real bobsleigh. This paper proposes a method to enhance reactive force of bobsleigh simulation in real time. The reactive force is magnified instantly in the physically-based simulation. The Laplacian filter is applied to the sequence of reactive force, this technique is often used in the field of image processing. The simulation is comprised of four large scale surround screens and a 6-D.O.F. (Degree Of Freedom) motion system. We also conducted an experiment with several motion patterns to evaluate the effectiveness of enhancement. The experimental results proved useful in some cases.

• Journal of the Korea institute for structural maintenance and inspection
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• v.6 no.2
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• pp.113-119
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• 2002

In the prestressed concrete structures, stresses are gradually redistributed with time due to the creep and shrinkage of concrete and the stress relaxation of prestressed steel. In this study a numerical procedure and computer program is developed to analyze the behavior of prestressed concrete structures considering the time-dependent properties of material. It accounts for the aging, creep and shrinkage of concrete and the stress relaxation of prestressed steel. The structural model uses two dimensional plane frame elements with three nodal degree of freedom and is analyzed based on the finite element method. Member cross section can consist of concrete, reinforcement and prestressing steel. Two different set of equations for the prediction of time-dependent material properties of concrete are presented, which are ACI, CEB-FIP. Analytical studies for different examples of prestressed concrete structures have been performed to demonstrated the capabilities and practical applicabilities of the developed program.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.