• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.5
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• pp.801-813
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• 2017

Passive force acting on the kicker block used to support a raker is different dependent on soil's type. The passive force incorporating a factor of safety is considered for design of the retaining wall. However, an actual passive force developing on the kicker block is overestimated and it may lead to an unsafe design. In this study, the actual passive forces acting on the kicker block in soil ground are evaluated using 3-D Finite Element Program, PLAXIS. Soft and weathered soils are selected as a soil ground. The relation curves between horizontal displacement and actual passive force of the kicker block for each soil ground are obtained through numerical analyses. From the curves, the actual passive forces are determined as a yielding point, which are about 55.5% and 66% of Rankine's passive forces in soft and weathered soils, respectively.

• Smart Structures and Systems
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• v.23 no.6
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• pp.565-577
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• 2019

One of the most effective countermeasures for mitigating cable vibration is to install mechanical dampers near the anchorage of the cable. Most of the dampers used in the field are so-called passive dampers where their parameters cannot be changed once designed. The parameters of passive dampers are usually determined based on the optimal damper force obtained from the universal design curve for linear dampers, which will provide a maximum additional damping for the cable. As the optimal damper force is chosen based on a predetermined principal vibration mode, passive dampers will be most effective if cable undergoes single-mode vibration where the vibration mode is the same as the principal mode used in the design. However, in the actual engineering practice, multi-mode vibrations are often observed for cables. Therefore, it is desirable to have dampers that can suppress different modes of cable vibrations simultaneously. In this paper, MR dampers are proposed for controlling multi-mode cable vibrations, because of its ability to change parameters and its adaptability of active control without inquiring large power resources. Although the highly nonlinear feature of the MR material leads to a relatively complex representation of its mathematical model, effective control strategies can still be derived for suppressing multi-mode cable vibrations based on nonlinear modelling, as proposed in this paper. Firstly, the nonlinear Bouc-wen model is employed to accurately portray the salient characteristics of the MR damper. Then, the desired optimal damper force is determined from the universal design curve of friction dampers. Finally, the input voltage (current) of MR damper corresponding to the desired optimal damper force is calculated from the nonlinear Bouc-wen model of the damper using a piecewise linear interpolation scheme. Numerical simulations are carried out to validate the effectiveness of the proposed control algorithm for mitigating multi-mode cable vibrations induced by different external excitations.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• Smart Structures and Systems
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• v.26 no.6
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• pp.765-779
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• 2020

Collapse of bridges in recent earthquakes demonstrates the need to deepen the understanding of the behaviour of these structures against seismic actions. This paper presents a highly detailed numerical model of an actual bridge subjected to extreme seismic action which results in its collapse. Normally, nonlinear numerical models have high difficulties to achieve convergence when reinforced concrete is intended to be represented. The main objective of this work is to determine the efficiency of different passive control strategies to prevent the structural collapse of an existing bridge. Metallic dampers and seismic isolation by decoupling the mass were evaluated. The response is evaluated not only in terms of reduction of displacements, but also in increasing of shear force and axial force in key elements, which can be a negative characteristic of the systems studied. It can be concluded that the use of a metallic damper significantly reduces the horizontal displacements and ensures the integrity of the structure from extreme seismic actions. Moreover, the isolation of the deck, which in principle seems to be the most effective solution to protect existing bridges, proves inadequate for the case analysed due to its dynamic characteristics and its particular geometry and an unpredictable type of axial pounding in the columns. This unexpected effect on the isolation system would have been impossible to identify with simplified models.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.34-44
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• 2000

In this paper, a modified skyhook control for the semi-active Macpherson suspension system is investigated. A new model for the semi-active type suspension, which incorporates the rotational motion of the unsprung mass, is introduced and an output feedback control law using the skyhook control method is derived. The gains in the skyhook controller are adaptively adjusted by estimating the road conditions. Because two vertical acceleration sensors, one for the sprung mass and another for the unsprung mass, are used rather than using the angle sensor for the rotational motion of the control arm, the relative velocity of the rattle space is filtered using the acceleration signals. For testing the control performance, the actual damping force has been incorporated via the hardware-in-the-loop simulations. The performances of a passive damper and a semi-active damper are compared. Simulation results are provided.

• Transactions of the Korean Society of Mechanical Engineers
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• v.8 no.5
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• pp.488-497
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• 1984

In the assembling process by industrial robots, many difficulties stem from the fact that the assembly operation is impossible or the parts to be assembled can be damaged by reaction forces due to even little misalignment in part mating. In this paper a flexible and sensible robot wrist is developed to make possible the precision insertion operation. The flexibility of the developed wrist were evaluated both analytically and experimentally in actual insertion process. The results show that without the use of feedback control the wrist is capable of doing insertion operations with a small clearance at a low inserting force. For smaller clearance the assembly process was devised involving insertion force feedback and a control algorithm for this active accommodation was developed. The simulation results show that if the active feedback control is used the insertion action can be performed with much less force, as compared with a passive accommodation method.

• Journal of Internet Computing and Services
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• v.24 no.6
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• pp.119-125
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• 2023

Through the Ukraine-Russia war, the military importance of drones is being reassessed, and North Korea has completed actual verification through a drone provocation towards South Korea at 2022. Furthermore, North Korea is actively integrating artificial intelligence (AI) technology into drones, highlighting the increasing threat posed by drones. In response, the Republic of Korea military has established Drone Operations Command(DOC) and implemented various drone defense systems. However, there is a concern that the efforts to enhance capabilities are disproportionately focused on striking systems, making it challenging to effectively counter swarm drone attacks. Particularly, Air Force bases located adjacent to urban areas face significant limitations in the use of traditional air defense weapons due to concerns about civilian casualties. Therefore, this study proposes a new passive air defense method that aims at disrupting the object detection capabilities of AI models to enhance the survivability of friendly aircraft against the threat posed by AI based swarm drones. Using laser-based adversarial examples, the study seeks to degrade the recognition accuracy of object recognition AI installed on enemy drones. Experimental results using synthetic images and precision-reduced models confirmed that the proposed method decreased the recognition accuracy of object recognition AI, which was initially approximately 95%, to around 0-15% after the application of the proposed method, thereby validating the effectiveness of the proposed method.

• The Transactions of the Korean Institute of Power Electronics
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• v.25 no.4
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• pp.329-332
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• 2020

A back-electromotive force (back-EMF) estimator for a permanent magnet synchronous motor (PMSM) uses the three-phase voltage references of a current controller to estimate rotor position. However, owing to voltage drops caused by the nonlinear characteristics of switches and passive components, the actual voltage in the motor and the three-phase voltage reference may not match. This study proposes a sensorless control method using a sine-wave output filter applied between the motor drive system and PMSM. The precise voltage in the motor can be measured with the sine-wave output filter and applied to the input of the estimator. Moreover, given that the voltage in the motor can be measured precisely at extremely low speeds, the stable operation range of the back-EMF estimator can be secured. Experimental results show that the proposed sensorless control method has stable operation at extremely low speeds compared with conventional sensorless control.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.3
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• pp.279-284
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• 2014

PURPOSE: This study intended to verify whether there was actual correlation between weight-bearing asymmetry and a limitation in hip joint rotation range in patients with low back pain. METHODS: Thirty five low back pain patients voluntarily participated this study. For each participant, hip joint medial rotation symmetry rate and the weight-bearing symmetry rate were calculated. The correlation between the two variables was investigated. RESULTS: A decrease in the left hip joint medial rotation range of motion (ROM) was observed more often than a reduction in the right hip joint medial rotation ROM. However, similar number between right and left side was observed in ground reaction force more weighted. The coefficient between the passive hip joint medial rotation symmetry rate and the weight loading symmetry ratio was -0.19 (p < 0.05). CONCLUSION: The present study demonstrated a weak correlation between the hip joint medial rotation ROM and the weight distribution of both feet. Such result suggests that careful evaluation by separating each element is needed in treating patients with low back pain. Future research should take into account asymmetric alignment and abnormal movement in different joints of the body as well as asymmetry in the bilateral hip joint rotation and the unilateral weight supporting posture.

• Wind and Structures
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• v.32 no.1
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• pp.71-80
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• 2021

In steel cable bridges, the use of magnetorheological (MR) dampers between butt cables is constantly increasing to dampen vibrations caused by rain and wind. The biggest problem in the actual applications of those devices is to launch a kind of appropriate algorithm that can effectively and efficiently suppress the perturbation of the tie through basic calculations and optimal solutions. This article discusses the optimal evolutionary design based on a linear and quadratic regulator (hereafter LQR) to lessen the perturbation of the bridges with cables. The control numerical algorithms are expected to effectively and efficiently decrease the possible risks of the structural response in amplification owing to the feedback force in the direction of the MR attenuator. In addition, these numerical algorithms approximate those optimal linear quadratic regulator control forces through the corresponding damping and stiffness, which significantly lessens the work of calculating the significant and optimal control forces. Therefore, it has been shown that it plays an important and significant role in the practical application design of semiactive MR control power systems. In the present proposed novel evolutionary parallel distributed compensator scheme, the vibrational control problem with a simulated demonstration is used to evaluate the numerical algorithmic performance and effectiveness. The results show that these semiactive MR control numerical algorithms which are present proposed in the present paper has better performance than the optimal and the passive control, which is almost reaching the levels of linear quadratic regulator controls with minimal feedback requirements.