• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1160-1166
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• 2013

This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.

• Journal of the Korea institute for structural maintenance and inspection
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• v.24 no.6
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• pp.77-84
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• 2020

In this paper, we developed a damage evaluation technique that can determine the damage location of a long-sized structure such as a cable-stayed bridge, and verified the performance of the developed technique through experiments. The damage assessment method aims to extract data that can evaluate the damage of the structure without the undamage data and can determine the damage location only by analyzing the response data of the structure. To complete this goal, we developed a damage assessment technique that considers variability based on the IMD theory, which is a statistical pattern recognition technique, to identify the damage location. To complete this goal, we developed a damage assessment technique that considers variability based on the IMD theory, which is a statistical pattern recognition technique, to identify the damage location. To evaluate the performance of the developed technique experimentally, cable damage experiments were conducted on model cable-stayed bridges. As a result, the damage assessment method considering variability automatically outputs the damageless data according to external force, and it is confirmed that the performance of extracting information that can determine the damage location of the cable through the analysis of the outputted damageless data and the measured damage data is shown.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.1
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• pp.21-28
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• 1994

This paper discusses the block method on cable stayed bridge. The block method is one of the structural analysis methods, and it calculates the sectional forces and the displacements by combining results of several sub-structural system after analyzing each divided structure by means of finite element method. The block method has two branches, one is based on the force method and the other is based on the displacement method. We can select one of two methods by considering structural stability of divided structures. The conclusion gives some thoughts about cable stayed bridge analysis using this block method. Those are as follows. First, the results of analysis on divided structural system are consistent with those of analysis on global structural system. Second. saving memory volume of computer, we can analyze the complicated multi-cable stayed bridge on personal computer.

• Steel and Composite Structures
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• v.21 no.5
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• pp.1031-1043
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• 2016

Optimization of the construction scheme of the cable-strut tensile structure based on error sensitivity analysis is studied in this paper. First, the element length was extracted as a fundamental variable, and the relationship between element length change and element internal force was established. By setting all pre-stresses in active cables to zero, the equation between the pre-stress deviation in the passive cables and the element length error was obtained to analyze and evaluate the error effects under different construction schemes. Afterwards, based on the probability statistics theory, the mathematical model of element length error is set up. The statistical features of the pre-stress deviation were achieved. Finally, a cable-strut tensile structure model with a diameter of 5.0 m was fabricated. The element length errors are simulated by adjusting the element length, and each member in one symmetrical unit was elongated by 3 mm to explore the error sensitivity of each type of element. The numerical analysis of error sensitivity was also carried out by the FEA model in ANSYS software, where the element length change was simulated by implementing appropriate temperature changes. The theoretical analysis and experimental results both indicated that different elements had different error sensitivities. Likewise, different construction schemes had different construction precisions, and the optimal construction scheme should be chosen for the real construction projects to achieve lower error effects, lower cost and greater convenience.

• Steel and Composite Structures
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• v.34 no.5
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• pp.699-713
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• 2020

The aerodynamic performance of long-span cable-stayed bridges is much dependent on its geometrical configuration and countermeasure strategies. In present study, the aerodynamic performance of three composite cable-stayed bridges with different tower configurations and passive aerodynamic countermeasure strategies is systematically investigated by conducting a series of wind tunnel tests in conjunction with theoretical analysis. The structural characteristics of three composite bridges were firstly introduced, and then their stationary aerodynamic performance and wind-vibration performance (i.e., flutter performance, VIV performance and buffeting responses) were analyzed, respectively. The results show that the bridge with three symmetric towers (i.e., Bridge I) has the lowest natural frequencies among the three bridges, while the bridge with two symmetric towers (i.e., Bridge II) has the highest natural frequencies. Furthermore, the Bridge II has better stationary aerodynamic performance compared to two other bridges due to its relatively large drag force and lift moment coefficients, and the improvement in stationary aerodynamic performance resulting from the application of different countermeasures is limited. In contrast, it demonstrates that the application of both downward vertical central stabilizers (UDVCS) and horizontal guide plates (HGP) could potentially significantly improve the flutter and vortex-induced vibration (VIV) performance of the bridge with two asymmetric towers (i.e., Bridge III), while the combination of vertical interquartile stabilizers (VIS) and airflow-depressing boards (ADB) has the capacity of improving the VIV performance of Bridge II.

• Journal of the Korean Geotechnical Society
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• v.29 no.6
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• pp.33-51
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• 2013

This paper introduces the improvement of connection method for segment in tunnel lining system using prestressed steel cable and presents the results of real-scale tests. It conducted a study about the applicability and mechanical behaviour analysis of the new method that connects segment tunnel lining using prestressed steel cable by real-scale test. Through the research, it was found that the new method has stronger connection than conventional assembling methods. Also, the new method can be expected to have integrated behavior and stability increase of shield tunnel lining. It is considered that the new method is much more effective than conventional assembling methods.

• Journal of Korean Association for Spatial Structures
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• v.2 no.3 s.5
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• pp.81-92
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• 2002

The objective of this paper is to help to make decision of the appropriate structural types in long span structured building due to range of span. For the intention, based on 7 forces of structural element, it is analized the relationships among 6 configurations of structural element(d/1), 25 structural types, 4 materials, and span-length known with 186 sample from 1850 to 1996. 1) bending forces: $club(1/100{\sim}1/10),\;plate(1/100{\sim}1/10),\;rahmen(steel,\;10{\sim}24m)\;simple\;beam(PC,\;10{\sim}35m)$ 2) shearing forces: $shell(1/100{\sim}1/1000)\;hyperbolic\;paraboloids(RC,25{\sim}97m)$ 3) shearing+bending forces: plate, folded $plate(RC21{\sim}59m)$ 4) compression axial forces: club, $arch(RC,\;32{\sim}65m)$ 5) compression+tension forces: shell, braced dome $shell(RC,\;40{\sim}201m),\;vault\;shell(RC,\;16{\sim}103m)$ 6) compression+tension axial forces: $rod(1/1000{\sim}1/100)$, cable(below 1/1000)+rod, coble+rod+membrane(below 1/1000), planar $truss(steel,\;31{\sim}134m),\;arch\;truss(31{\sim}135m),\;horizontal\;spaceframe(29{\sim}10\;8m),\;portal\;frame(39{\sim}55m),\;domical\;space\;truss(44{\sim}222m),\;framed\;\;membrane(45{\sim}110m),\;hybrid\;\;membrane\;(42{\sim}256m)$ 7) tension forces: cable, membrane, $suspension(60{\sim}150m),\;cable\;\;beam(40{\sim}130m),\;tensile\;membrane(42{\sim}136m),\;cable\;-slayed(25{\sim}90m),\;suspension\;membrane(24{\sim}97m),\;single\;layer\;pneumatic\;structure(45{\sim}231m),\;double\;layer\;pneumatic\;structures(30{\sim}44m)$

• Journal of the Korea institute for structural maintenance and inspection
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• v.14 no.2
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• pp.113-120
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• 2010

Recently, various evaluations concerning structural stability under construction step and completely constructed step have been executed during a Long-span Arch Bridge designing procedure. However, the breakage of cable-hangers of arched bridge in unexpected accident or periodic cable-replacement has not been considered. Therefore, the purpose of this study is that analyzing structural safety of arched bridge when the cable-hangers being fractured by that reasons. Dynamic analysis are performed by idealizing impact load to three types of impact functions as fracturing the cables. Consequently, when the hangers are fractured, the maximum tensile force by dynamic analysis is larger than those by static analysis. Therefore, the dynamic analysis is demanded to accurately obtain the responses for the structural stability with a realistic impact loading model in the breakage and replacement of cable hangers of long-span arched bride. Moreover, the analysis method and results in this study can be used to basic criteria in design.

• Smart Structures and Systems
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• v.23 no.5
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• pp.449-466
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• 2019

Cable-stayed bridges are attractive due to their beauty, reducing material consumption, less harm to the environment and so on, in comparison with other kinds of bridges. As a massive structure with long period and low damping (0.3 to 2%) under many dynamic loads, these bridges are susceptible to fatigue, serviceability disorder, damage or even collapse. Tuned Mass Damper (TMD) is a suitable controlling system to reduce the vibrations and prevent the threats in such bridges. In this paper, Multi Tuned Mass Damper (MTMD) system is added to the Ahvaz cable stayed Bridge in Iran, to reduce its seismic vibrations. First, the bridge is modeled in SAP2000 followed with result verification. Dead and live loads and the moving loads have been assigned to the bridge. Then the finite element model is developed in OpenSees, with the goal of running a nonlinear time-history analysis. Three far-field and three near-field earthquake records are imposed to the model after scaling to the PGA of 0.25 g, 0.4 g, 0.55 g and 0.7 g. Two MTMD systems, passive and active, with the number of TMDs from 1 to 8, are placed in specific points of the main span of bridge, adding a total mass ratio of 1 to 10% to the bridge. The parameters of the TMDs are optimized using Genetic Algorithm (GA). Also, the optimum force for active control is achieved by Fuzzy Logic Control (FLC). The results showed that the maximum displacement of the center of the bridge main span reduced 33% and 48% respectively by adding passive and active MTMD systems. The RMS of displacement reduced 37% and 47%, the velocity 36% and 42% and also the base shear in pylons, 27% and 47%, respectively by adding passive and active systems, in the best cases.

• Journal of the Earthquake Engineering Society of Korea
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• v.11 no.3 s.55
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• pp.1-10
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• 2007

In general, the tension forces of hanger cable in suspension bridges play an important role in evaluating the bridge conditions. The vibration method, as a conventional one, has been widely applied to estimate the tension forces by using the measured frequencies on hanger cables. However, the vibration method is not applicable to short hanger cables because the fiequencies of short cables are severely sensitive to flexural rigidity. Thus, in this study, the tension forces of short hanger cables, of which the length is shorter than 10 meters, were estimated through back analysis of the cable fiequencies measured from Gwang-An suspension bridge in Korea. Direct approach to back analysis is adopted using the univariate method among the direct search methods as an optimization technique. The univariate method is able to search the optimal tension forces without regard to the initial ones and has a rapid convergence rate. To verify the feasibility of back analysis, the results from back analysis and vibration method are compared with the design tension forces. From the comparison, it can be inferred that back analysis results are more reasonable agreement with the design tension forces of short hanger cable. Therefore, it is concluded that back analysis applied in this study is an appropriate tool for estimating tension forces of short hanger cables.