• Smart Structures and Systems
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• v.32 no.5
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• pp.297-308
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• 2023

Dynamic deflection is important for evaluating the performance of a long-span cable-stayed bridge, and its continuous measurement is still cumbersome. This study proposes a dynamic deflection monitoring method for cable-stayed bridge based on Bi-directional Long Short-term Memory (BiLSTM) neural network taking advantages of the characteristics of spatial variation of cable acceleration response (CAR) and main girder deflection response (MGDR). Firstly, the relationship between the spatial and temporal variation of the CAR and the MGDR is described based on the geometric deformation of the bridge. Then a data-driven relational model based on BiLSTM neural network is established using CAR and MGDR data, and it is further used to monitor the MGDR via measuring the CAR. Finally, numerical simulations and field test are conducted to verify the proposed method. The root mean squared error (RMSE) of the numerical simulations are less than 4 while the RMSE of the field test is 1.5782, which indicate that it provides a cost-effective and convenient method for real-time deflection monitoring of cable-stayed bridges.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.221-222
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.65-66
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• 2012

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1997.12a
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• pp.307-312
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• 1997

• Smart Structures and Systems
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• v.30 no.6
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• pp.661-671
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• 2022

Stayed cables are the key components for transmitting loads in cable-stayed bridges. Therefore, it is very important to evaluate the cable force condition to ensure bridge safety. An online condition assessment and anomaly localization method is proposed for cables based on the spatiotemporal correlation of grouped cable forces. First, an anomaly sensitive feature index is obtained based on the distribution characteristics of grouped cable forces. Second, an adaptive anomaly detection method based on the k-nearest neighbor rule is used to perform dissimilarity measurements on the extracted feature index, and such a method can effectively remove the interference of environment factors and vehicle loads on online condition assessment of the grouped cable forces. Furthermore, an online anomaly isolation and localization method for stay cables is established, and the complete decomposition contributions method is used to decompose the feature matrix of the grouped cable forces and build an anomaly isolation index. Finally, case studies were carried out to validate the proposed method using an in-service cable-stayed bridge equipped with a structural health monitoring system. The results show that the proposed approach is sensitive to the abnormal distribution of grouped cable forces and is robust to the influence of interference factors. In addition, the proposed approach can also localize the cables with abnormal cable forces online, which can be successfully applied to the field monitoring of cables for cable-stayed bridges.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.83-91
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• 2012

In this paper, we propose a cable climbing robot which can climb up and down the cables in the bridges. The robot mechanism consists of three parts: a wheel based driving mechanism, adhesion mechanism, and safe landing mechanism. The wheel based driving mechanism is driven by tooth clutches and motors. The adhesion mechanism plays the role of maintaining adhesion force by a combination of pantograph, ball screw, and springs even when the power is lost. The safe landing mechanism is developed for guaranteeing the safety of the robot during operations on cables. It can make the robot fall down with reduced speed by dissipating the gravitational forces. The robot mechanism is designed and manufactured for validating its effectiveness.

• Journal of Korean Tunnelling and Underground Space Association
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• v.16 no.2
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• pp.213-224
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• 2014

Recently, tunnelling with TBM is getting popular for the construction of cable tunnel in urban area. Mechanized tunnelling method using shield TBM has various advantages such as minimization of ground settlement and prevention of vibration induced by blasting that should be accompanied by conventional tunnelling. In Korea, earth pressure balance (EPB) type shield TBM has been mainly used. Despite the popularity of EPB shield TBM for cable tunnel construction, study on the mechanical behavior of cable tunnel driven by shield TBM is insufficient. Especially, the effect of backfill grout injection on the behavior of cable tunnel driven by shield TBM is investigated in this study. Tunnelling with shield TBM is simulated using 3D FEM. The distance of backfill grout injection from the end of shield skin varies. Sectional forces such as axial force, shear force and bending moment are monitored. Vertical displacement at the ground surface is measured. Futhermore, the relation between volume loss and the distance of backfill grout injection from the end of skin plate is derived. Based on the stability analysis with the results obtained from the numerical analysis, the most appropriate injection distance can be obtained.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.26-32
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• 2017

Previous shape sensors including bend sensors and optic fiber based sensors are widely used in various applications including goniometer and surgical robots. But theses sensors have large nonlinearity, limited in the range of sensing curvature, and sometimes are expensive. This study suggests a new concept of bend sensor using cable-conduit which consists of the outer sheath and the inner wire. The outer sheath is made of helical coil whose length of the central line changes as the sheath bends. This length change of the central line can be measured with the length change of the inner cable. The modeling and the experimental results show that the output signal of the proposed sensor is linearly related with the bend angle of the sheath with root mean square error of 5.3% of $450^{\circ}$ sensing range. Also the polynomial calibration of the sensor can decrease the root mean square error to 2.1% of the full sensing range.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.10
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• pp.949-958
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• 2012

Position tracking control of a link of a slave manipulator which needed to track the corresponding link of a master manipulator was addressed in this paper. Since driving torque from motor is transmitted through a set of flexible cable to link, the motion control system is modeled by a two-mass model connected with elastic coupling which has finite stiffness. Relative vibration of two-mass resonant system is a serious problem to operate manipulator. This paper proposed sliding mode control to reduce resonant vibration and fine position tracking control. Also, a pseudo-sliding mode control which uses a saturation function instead of a signum function was discussed and showed that the pseudo-sliding mode control can improve disturbance regulation performance as well as guarantees fine command tracking without chattering which is an inherent drawback of basic sliding mode control. In addition, a disturbance observer based sliding mode control has been suggested to improve disturbance regulation performance. The feasibility of the proposed control design was verified along with some simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.25.4-25
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• 2001

In this paper, a five degree-of-freedom haptic device is proposed. The proposed haptic device has a pen which is suspended by tensioned six strings. Human operator handles the pen. Six DC motors are used as actuators to generate tensions in six strings to make resultant force feedback at the pen to the human operator Six encoders are used for calculating the movement of the pen. A digital controller is used for generate control signals for the suitable tension in the six strings. A current amplifiers is used for amplifying the control signals. Cable-suspended system has advantages of structure simplicity (only with several strings driven by motors without using other tensioning mechanisms), low inertia, and high force-to-weight ratio. Pen-based system has advantages of compactness and ...