• 대한기계학회논문집
• /
• 제18권7호
• /
• pp.1632-1642
• /
• 1994

The Stewart Platform is a six-degree-of-freedom in-parallel-actuated manipiulator mechanism. The kinematic behavior of parallel mechanisms shows inverse characteristics as compared that of serial mechanisms; i.e, the inverse kinematic problem of Stewart Platform is straightforward, but no closed form solution of the forward kinematic problem has been previously presented. Thus it is difficult to calculate the 6 DOF displacement of the platform from the measured lengths of the six actuators in real time. Here, a real-time estimation algorithm which solves the Stewart Platform kinematic problem is proposed and tested through computer simulations and experiments. The proposed algorithm shows stable convergence characteristics, no estimation errors in steady state and good estimation performance with higher sampling rate. In experiments it is shown that the estimation result is the same as that of simulation even in the presence of measurement noise.

• 제어로봇시스템학회논문지
• /
• 제17권10호
• /
• pp.989-994
• /
• 2011

This study aims to demonstrate the feasibility of a visual servoing-based paired structured light (SL) robot for estimating structural displacement under various external loads. The former paired SL robot, which was proposed in the previous study, was composed of two screens facing with each other, each with one or two lasers and a camera. It was found that the paired SL robot could estimate the translational and rotational displacement each in 3-DOF with high accuracy and low cost. However, the measurable range is fairly limited due to the limited screen size. In this paper, therefore, a visual servoing-based 2-DOF manipulator which controls the pose of lasers is introduced. By controlling the positions of the projected laser points to be on the screen, the proposed robot can estimate the displacement regardless of the screen size. We performed various simulations and experimental tests to verify the performance of the newly proposed robot. The results show that the proposed system overcomes the range limitation of the former system and it can be utilized to accurately estimate the structural displacement.

• 한국공간구조학회지
• /
• 제15권1호
• /
• pp.14-21
• /
• 2015

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2014년도 춘계학술대회 논문집
• /
• pp.713-714
• /
• 2014

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2009년도 춘계학술대회 논문집
• /
• pp.853-854
• /
• 2009

• Journal of Advanced Marine Engineering and Technology
• /
• 제38권2호
• /
• pp.188-194
• /
• 2014

Recently, indoor localization systems based on wireless sensor networks have received a great deal of attention because they help achieve high accuracy in position determination by using various algorithms. In order to minimize the error in the estimated azimuth that can occur owing to sensor drift and recursive calculation in these algorithms, we propose a novel relative azimuth estimation algorithm. The advantages of the proposed technique in an indoor environment are that an improved weight average filter is used to effectively reduce impulse noise from the raw data acquired from nodes with inherent errors and a rotational displacement algorithm is applied to obtain a precise relative azimuth without using additional sensors, which can be affected by electromagnetic noise. Results from simulations show that the proposed filter reduces the impulse noise, and the acquired estimation error does not accumulate with time by using proposed algorithm.

• Structural Engineering and Mechanics
• /
• 제88권1호
• /
• pp.83-94
• /
• 2023

An accurate and highly efficient inverse element labelled iPCB is developed based on the inverse finite element method (iFEM) for real-time shape estimation of plane-curved structures (such as arch bridges) utilizing onboard strain data. This inverse problem, named shape sensing, is vital for the design of smart structures and structural health monitoring (SHM) procedures. The iPCB formulation is defined based on a least-squares variational principle that employs curved Timoshenko beam theory as its baseline. The accurate strain-displacement relationship considering tension-bending coupling is used to establish theoretical and measured section strains. The displacement fields of the isoparametric element iPCB are interpolated utilizing nonuniform rational B-spline (NURBS) basis functions, enabling exact geometric modelling even with a very coarse mesh density. The present formulation is completely free from membrane and shear locking. Numerical validation examples for different curved structures subjected to different loading conditions have been performed and have demonstrated the excellent prediction capability of iPCBs. The present formulation has also been shown to be practical and robust since relatively accurate predictions can be obtained even omitting the shear deformation contributions and considering polluted strain measures. The current element offers a promising tool for real-time shape estimation of plane-curved structures.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
• /
• pp.1550-1554
• /
• 2011

In this paper the effect of frequency domain on the estimation of acceleration of high-speed railway bridges was investigated. Field test was conducted for two bridges. One bridge has ballasted tracks, the other slab tracks. Acceleration and displacement were measured. Effect of filtering on acceleration and displacement was analyzed.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 2005년도 추계 학술발표회 제17권2호
• /
• pp.209-212
• /
• 2005

This paper presents, basic concepts on deformation models for D-regions critical to shear. Strut-and-tie models are used to construct for deformation estimation at yielding and ultimate deformation. A generic: strut-and-tie model is proposed to investigate deformation patterns and failure mode identification. Superposition of the basic models enables us to explain deformation limits of arch action and truss action. Displacement at yielding is assessed by consideration of deformation of reinforcing steel only while the ultimate displacement is calculated by limits of ultimate strain of concrete in compression and failure mechanisms.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 2004년도 추계 학술발표회 제16권2호
• /
• pp.357-360
• /
• 2004

Estimation of deformation capacity of non-flexural reinforced concrete members is proposed using basic concepts of limit analysis and the virtual work method. This new approach starts with construction of admissible stress field as for an equilibrium set. Failure mechanisms compatible with admissible stress fields are postulated as for displacement set. It is assumed that the ultimate deformations as result of failure mechanisms are controlled by ultimate strain of concrete in compression. The derived formula for deformability of deep beams in shear shows reasonable range of ultimate displacement.