• Smart Structures and Systems
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• 제14권5호
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• pp.943-960
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• 2014

A visually servoed paired structured light system (ViSP) was recently proposed as a novel estimation method of the 6-DOF (Degree-Of-Freedom) relative displacement in civil structures. In order to apply the ViSP to massive structures, multiple ViSP modules should be installed in a cascaded manner. In this configuration, the estimation errors are propagated through the ViSP modules. In order to resolve this problem, a displacement estimation error back-propagation (DEEP) method was proposed. However, the DEEP method has some disadvantages: the displacement range of each ViSP module must be constrained and displacement errors are corrected sequentially, and thus the entire estimation errors are not considered concurrently. To address this problem, a pose-graph optimized displacement estimation (PODE) method is proposed in this paper. The PODE method is based on a graph-based optimization technique that considers entire errors at the same time. Moreover, this method does not require any constraints on the movement of the ViSP modules. Simulations and experiments are conducted to validate the performance of the proposed method. The results show that the PODE method reduces the propagation errors in comparison with a previous work.

• 한국안전학회지
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• 제30권4호
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• pp.99-105
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• 2015

In this study, displacement estimation algorithm, which is not requiring an absolute reference point unlike the conventional displacement measurement method, is developed using the geophone. To estimate displacement of the bridge, measured velocity time signal is integrated in the frequency domain. And, the estimated displacement is compared with the measured result using a conventional method. Based on the dynamic field test results, it was found that the estimated displacement by the present algorithm is similar to that of a conventional method. The displacement estimation algorithm proposed in this paper can be effectively applied to measure the displacement of a structure, which is difficult to install a displacement transducer at the fixed point.

• 제어로봇시스템학회논문지
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• 제18권6호
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• pp.579-583
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• 2012

The purpose of this paper is to suggest IDE (Incremental Displacement Estimation) algorithm for the previously proposed visually servoed paired structured light system. The system is composed of two sides facing with each other, each with one or two lasers with a 2-DOF manipulator, a camera, and a screen. The 6-DOF displacement between two sides can be estimated by calculating the positions of the projected laser beams and rotation angles of the manipulators. In the previous study, Newton-Raphson or EKF (Extended Kalman Filter) has been used as an estimation algorithm. Although the various experimental tests have validated the performance of the system and estimation algorithms, the computation time is relatively long since aforementioned algorithms are iterative methods. Therefore, in this paper, a non-iterative incremental displacement estimation algorithm which updates the previously estimated displacement with a difference of the previous and the current observed data is introduced. To verify the performance of the algorithm, experimental tests have been performed. The results show that the proposed non-iterative algorithm estimates the displacement with the same level of accuracy compared to the EKF with multiple iterations with significantly less computation time.

• Smart Structures and Systems
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• 제17권4호
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• pp.647-667
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• 2016

In this paper, dynamic displacement is estimated with high accuracy by blending high-sampling rate acceleration data with low-sampling rate displacement measurement using a two-stage Kalman estimator. In Stage 1, the two-stage Kalman estimator first approximates dynamic displacement. Then, the estimator in Stage 2 estimates a bias with high accuracy and refines the displacement estimate from Stage 1. In the previous Kalman filter based displacement techniques, the estimation accuracy can deteriorate due to (1) the discontinuities produced when the estimate is adjusted by displacement measurement and (2) slow convergence at the beginning of estimation. To resolve these drawbacks, the previous techniques adopt smoothing techniques, which involve additional future measurements in the estimation. However, the smoothing techniques require more computational time and resources and hamper real-time estimation. The proposed technique addresses the drawbacks of the previous techniques without smoothing. The performance of the proposed technique is verified under various dynamic loading, sampling rate and noise level conditions via a series of numerical simulations and experiments. Its performance is also compared with those of the existing Kalman filter based techniques.

• Earthquakes and Structures
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• 제16권1호
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• pp.69-82
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• 2019

As the residual displacement and/or drift demands are commonly used for seismic assessment of buildings, the estimation of these values play a very critical role through earthquake design philosophy. The residual displacement estimation of fixed base structures has been the topic of numerous researches up to now, but the effect of soil flexibility is almost always omitted. In this study, residual displacement demands are investigated for SDOF systems with period range of 0.1-3.0 s for near-field and far-field ground motions for both fixed and interacting cases. The elastoplastic model is used to represent non-degrading structures. Based on time history analyses, a new simple yet effective equation is proposed for residual displacement demand of any system whether fixed base or interacting as a function of structural period, lateral strength ratio and spectral displacement.

• Smart Structures and Systems
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• 제9권3호
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• pp.273-286
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• 2012

As civil structures are exposed to various external loads, it is essential to assess the structural condition, especially the structural displacement, in every moment. Therefore, a visually servoed paired structured light system was proposed in the previous study. The proposed system is composed of two screens facing with each other, each with a camera, a screen, and one or two lasers controlled by a 2-DOF manipulator. The 6-DOF displacement can be calculated from the positions of three projected laser beams and the rotation angles of the manipulators. In the estimation process, one of well-known iterative methods such as Newton-Raphson or extended Kalman filter (EKF) was used for each measurement. Although the proposed system with the aforementioned algorithms estimates the displacement with high accuracy, it takes relatively long computation time. Therefore, an incremental displacement estimation (IDE) algorithm which updates the previously estimated displacement based on the difference between the previous and the current observed data is newly proposed. To validate the performance of the proposed algorithm, simulations and experiments are performed. The results show that the proposed algorithm significantly reduces the computation time with the same level of accuracy compared to the EKF with multiple iterations.

• 한국구조물진단유지관리공학회 논문집
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• 제23권4호
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• pp.120-130
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• 2019

본 연구에서는 2006년도의 교량 유지관리 빅데이터를 이용하여 선행연구에서 개발된 차종별 교통량 데이터와 연직 변위 데이터의 상관관계를 바탕으로 광안대교의 차종별 교통량 데이터를 이용한 연직 변위 추정 모델에 대하여 10여년이 경과한 현재적 적용성을 각각의 업데이트 방법으로 개발된 모델의 변위 추정 성능을 비교 분석하였다. 개발된 모델의 현재적 적용성은 추정된 변위는 실측 변위와 유사한 것으로 분석되었으며, 구조화 회귀 분석에 기반한 모델과 주성분 분석에 기반한 모델의 변위 추정 성능은 상호간에 큰 차이가 없다는 것을 알 수 있었다. 결론적으로 본 연구에서 개발한 차종별 교통량 데이터를 이용한 연직 변위 추정 모델은 광안대교의 교통하중에 따른 거동 분석 등에 유효하게 활용될 수 있을 것으로 사료된다.

• 대한토목학회논문집
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• 제38권2호
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• pp.183-191
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• 2018

본 연구에서는 차종별 교통량 데이터와 연직 변위 데이터의 상관관계를 바탕으로 광안대교의 차종별 교통량 데이터를 이용한 연직 변위 추정 모델을 개발하였다. 추정 모델의 개발 과정에서 구조화 회귀 분석에 기반한 모델링 방법과 주성분 분석법에 기반한 모델링 방법이 적용되었으며, 각각의 방법으로 개발된 모델의 변위 추정 성능을 비교 분석하였다. 개발된 모델을 이용하여 추정된 변위는 실측 변위와 유사한 것으로 분석되었으며, 이로부터 차종별 교통량 데이터를 광안대교의 교통량 의존 변위 추정에 적용 가능한 것을 알 수 있었다. 또한, 구조화 회귀 분석에 기반한 모델과 주성분 분석에 기반한 모델의 변위 추정 성능은 상호간에 큰 차이가 없다는 것을 알 수 있었다. 결론적으로 본 연구에서 개발한 차종별 교통량 데이터를 이용한 연직 변위 추정 모델은, 광안대교의 교통하중에 따른 거동 분석 등에 유효하게 활용될 수 있을 것으로 사료된다.

• 한국산업융합학회 논문집
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• 제25권5호
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• pp.773-782
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• 2022

Estimation of cable tension through proper measurements is one of the essential tasks in evaluating the safety of cable structures. In this paper, a study on cable tension estimation using the built-in accelerometer and camera in a smartphone was conducted. For the experimental study, visual displacement measurement using a smartphone camera and acceleration measurement using a built-in accelerometer were performed in the cable-stayed bridge model. The estimated natural frequencies and transformed tensions from these measurements were compared with the theoretical values and results from the normal visual displacement method. Through comparison, it can be seen that the error between the method using the smartphone and the normal visual displacement is sufficiently small to be acceptable. It has also been shown that those errors are much smaller than the difference between the values calculated by the theoretical model. These results show that the deviation according to the type of measurement method is not large and it is rather important to use an appropriate mathematical model. In conclusion, in the case of cable tension estimation, it can be said that the visual displacement measurement and acceleration using a smartphone can be a sufficiently applicable method, just like the normal visual displacement method. It is also noteworthy that the smartphone accelerometer has a larger magnitude error and has more limitations such as high-frequency sampling instability compared to the visual displacement method, but shows almost the same performance as the visual displacement method in this cable tension estimation.

• Journal of Communications and Networks
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• 제7권3호
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• pp.278-283
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• 2005

This paper proposes a blind channel estimation scheme for long code direct sequence code division multiple access (DS­CDMA) systems with multipath fading channels. This scheme combines the advantages of Toeplitz displacement and correlation matching methods to achieve improved performance. The basic idea is to remove the effects of noise and interferences with Toeplitz displacement operation and then estimate the multi path channel parameters with the correlation matching method. Simulation results are presented to show that the proposed scheme provides better MSE performance and robustness against the near-far problem.