• Structural Engineering and Mechanics
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• 제88권3호
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• pp.263-271
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• 2023

Base isolation is a widely used technique for the seismic control of structures as it reduces the structural seismic demand. However, displacement of the isolation layer is not economically feasible in congested urban areas. To resolve the issue, an innovative system is proposed here to isolate both horizontally at the base and vertically in the upper portion of the structure. A simplified linear three degree-of-freedom (3DOF) model of the system that considers the mass and stiffness ratios of the substructure has been introduced and analyzed in MATLAB by spectrum analysis. The 3DOF model results revealed that, when the period of the soft substructure reaches 2.5 times that of the stiff substructure, the isolation and the lower substructure responses decrease by 65% and 51%, respectively. Time-history analysis of a MDOF system at three frequency ratios under a wide range of ground motions indicated that, at the expense of accepting a certain large drift by the soft substructure in the upper portion of the structure, base isolation displacement can be decreased by 10%.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.939-944
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• 2007

Generally, development of a robot capable of fast movements or high payloads is progressed by the analysis of dynamic characteristics, DOF positioning, actuator selection, structure of links, and so on. This paper highlights the design of a robot manipulator handled by a human for man-machine cooperation. The requirements of the proposed system include its having multi-DOF(Degree of Freedom)and the capacity for a high payload in the condition of its maximum reach. The primary investigation factors are motion range, performance within the motion area, and reliabilityduring the handling of heavy materials. Traditionally, the mechanical design of robots has been viewed as a problem of packaging motors and electronics into a reasonable structure. This process usually transpires with heavy reliance of designerexperience. Not surprisingly, the traditional design process contains no formally defined rules for achieving desirable results, as there is little opportunity for quantitative feedback during the formative stages. This work primarily focuses on the selection of proper joint types and link lengths, considering a specific task type and motion requirements of the heavy material handling.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.839-845
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• 2013

A CSTR (Continuous Stirred Tank Reactor) is a highly nonlinear process with varying parameters during operation. Therefore, tuning of the controller and determining the transition policy of controller parameters are required to guarantee the best performance of the CSTR for overall operating regions. In this paper, a methodology employing the 2DOF (Two-Degree-of-Freedom) PID controller, the anti-windup technique and a fuzzy gain scheduler is presented for the temperature control of the CSTR. First, both a local model and an EA (Evolutionary Algorithm) are used to tune the optimal controller parameters at each operating region by minimizing the IAE (Integral of Absolute Error). Then, a set of controller parameters are expressed as functions of the gain scheduling variable. Those functions are implemented using a set of "if-then" fuzzy rules, which is of Sugeno's form. Simulation works for reference tracking, disturbance rejecting and noise rejecting performances show the feasibility of using the proposed method.

• 대한조선학회논문집
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• 제51권5호
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• pp.356-361
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• 2014

Accurate block shape assessment is critical for ship manufacturing and a careful assessment of the shape of a fabricated block against the design shape is a core issue. However, in current fabrication practice, the shape of each block is evaluated manually using rigid body transformation. This manual evaluation process entirely depends on workers' experiences and knowledge and makes automation of block shape assessment difficult. In this paper we propose a computation method on the registration for shape assessment of a block during the fabrication process and for evaluation of its completion against the design shape. A conversion on matching method by adding DOF(degree of freedom) restriction is required to reach the goals. We test our method using a real block quality assessment data to demonstrate its applicability to real ship manufacturing process.

• 전기학회논문지
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• 제56권1호
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• pp.214-221
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• 2007

This paper presents a myoelectric hand prosthesis(MHP) with two degree of freedom(2-DOF), which consists of a mechanical hand, a surface myoelectric sensor(SMES) for measuring myoelectric signal, a control system and a charging battery. The actuation for the 2-DOF hand functions such as grasping and wrist rotation was performed by two DC-motors, and controlled by myoelectric signal measured from the residual forearm muscle. The grip force of the MHP was automatically changed by a mechanical automatic speed reducer mounted on the hand. The skin interface of SMES was composed of the electrodes using the SUS440 metal in order to endure a wet condition due to the sweat. The sensor was embedded with a amplifier and a filter circuit for rejecting the offset voltage caused by power line noises. The control system was composed of the grip force sensor, the slip sensor, and the two controllers. The two controllers were made of a RISC-type microprocessor, and its software was executed on a real-time kernel. The control system used Force Sensing Resistors, FSR, as slip pick-ups at the fingertip of a thumb and the grip force information was obtained from a strain-gauge on the lever of the MHP. The experimental results were showed that the proposed control system is feasible for the MHP.

• 한국해양공학회지
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• 제24권2호
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• pp.10-17
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• 2010

Conventionally, because it is difficult to control a ship in shallow water and because attempting to do so creates unwanted environmental effects, maneuvering ships in the harbor area for berthing is usually done with the assistance of tugboats. In this paper, we propose a new method for berthing ships automatically by using bow and stern thrusters. Specifically, a steering motion model of a ship is considered, and parameters in the equation are evaluated by the system identification technique. An optimal controller based on observations was designed from the linearization of the non-linear ship motion in the horizontal plane. It is used to reduce the uncertainty about the ship's dynamics and reduce measurement requirements. The performance of the controller was also analyzed for its robustness relative to avoiding disturbing the environment due to winds, currents, and wave-drift forces. Experiments were conducted to estimate the potential for identifying result and the design of the controller. Specifically, in this paper, the system modeling and tracking control approach are discussed based on a two-degree-of-freedom (2DOF) servo-system design.

• Journal of Power Electronics
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• 제17권1호
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• pp.282-293
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• 2017

There exists a strong coupling between real and reactive power owing to the complex impedances in droop based islanded microgrids (MGs). The existing virtual impedance methods consider improvements of the impedance matching for sharing of the voltage controlled power (VCP) (reactive power for Q-V droop, and real power for P-V droop), which yields a 1-DOF (degree of freedom) tunable virtual impedance. However, a weak impedance matching for sharing of the frequency controlled power (FCP) (real power for $P-{\omega}$ droop, and reactive power for $Q-{\omega}$ droop) may result in FCP overshoots and even oscillations during load transients. This in turn results in VCP oscillations due to the strong coupling. In this paper, a 2-DOF tunable adaptive virtual impedance method considering impedance matching for both real and reactive power (IM-PQ) is proposed to improve the power sharing performance of MGs. The dynamic response is promoted by suppressing the coupled power oscillations and power overshoots while realizing accurate power sharing. In addition, the proposed power sharing controller has a better parametric adaptability. The stability and dynamic performances are analyzed with a small-signal state-space model. Simulation and experimental results are presented to investigate the validity of the proposed scheme.

• 조명전기설비학회논문지
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• 제19권1호
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• pp.52-58
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• 2005

제어이론들 중에 PID제어는 지난 수십년간 잘 활용되고 있다. PID 알고리즘은 PID 파라미터를 선택하기 위해서 사용되는 튜닝법이 필요하다. 그러나 어떤 경우에는 잘 알려진 튜닝법 대신에 제어기, 출력특성 및 외란제거 성능 등이 어떤 사양을 만족하도록 다양한 종류의 평가지표들을 사용하기도 하기도 한다. 본 논문에서는 오차신호, 시간, 제어입력 및 견실성을 사용한 성능지표의 선형조합을 사용하여 공조시스템의 PID제어를 한다. 성능지표를 최소화하는 2 자유도 PID파라미터를 사용하여 제어기, 출력특성 및 견실성을 분석한다. Simulink를 포함한 MATLAB을 이용하여 시뮬레이션을 한다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2007년도 추계종합학술대회
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• pp.325-327
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• 2007

3차원 형상의 물체에 대한 표면 면적을 6축 센서를 사용하여 측정하였다. 3차원 형상의 표면적은 여러 개의 작은 삼각형으로 나타낼 수 있다. 이 여러 개의 삼각형의 합을 구함으로써 표면 면적을 구할 수 있고, 삼각형의 크기가 작으면 작을수록 실제 면적의 크기에 접근 하였다. 실험 결과 평균 7.78%의 오차율을 보였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.367-368
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• 2006

Today, the Artificial Intervertebral Disc (AID) is being developed by increasing the oblique of the endplate gradually. In other words, Ultra-high Molecular Weight Polyethylene (UHMWPE) which is apply to the sliding core of the AID, does not change the shape but alters the oblique of endplate. However, the unreasonable increase of degree of freedom (DOF) can result in the aggravation of the bone fusion and the initial stability and it can also lead to the increase of the concentrated force in core. For these reasons, it is necessary to develop the advanced techniques, which choose the most adequate DOF. In this study, the new optimized modeling of the sliding core and the endplate, the fatigue characteristics, the crack propagation and the formation mechanism of wearing debris was studied and the minimizing technique will be derived from this research.