• 제어로봇시스템학회논문지
• /
• 제12권3호
• /
• pp.208-220
• /
• 2006

Energy of wheeled mobile robot is usually supplied by batteries. In order to extend operation time of mobile robots, it is necessary to minimize the energy consumption. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates various 3-step (acceleration - cruise - deceleration) speed control methods to minimize a new energy object function which considers the practical energy consumption dissipated in motors related to motor control input, velocity profile, and motor dynamics. We performed an analysis on the energy consumption various velocity profile patterns generated by standard control input such as step input, ramp input, parabolic input, and exponential input. Based on these standard control inputs, we analyzed the six 3-step velocity profile patterns: E-C-E, P-C-P, R-C-R, S-C-S, R-C-S, and S-C-R (S means a step control input, R means a ramp control input, P means a parabolic control input, and E means an exponential control input, C means a constant cruise velocity), and suggested an efficient iterative search algorithm with binary search which can find the numerical solution quickly. We performed various computer simulations to show the performance of the energy-optimal 3-step speed control in comparison with a conventional 3-step speed control with a reasonable constant acceleration as a benchmark. Simulation results show that the E-C-E is the most energy efficient 3-step velocity profile pattern, which enables wheeled mobile robot to extend working time up to 50%.

• Smart Structures and Systems
• /
• 제8권4호
• /
• pp.385-398
• /
• 2011

This paper discusses the applicability of Acoustic Emission (AE) to assess the damage in reinforced concrete (RC) structures subjected to complex dynamic loadings such as those induced by earthquakes. The AE signals recorded during this type of event can be complicated due to the arbitrary and random nature of seismicity and the fact that the signals are highly contaminated by many spurious sources of noise. This paper demonstrates that by properly filtering the AE signals, a very good correlation can be found between AE and damage on the RC structure. The basic experimental data used for this research are the results of fourteen seismic simulations conducted with a shake table on an RC slab supported on four steel columns. The AE signals were recorded by several low-frequency piezoelectric sensors located on the bottom surface of the slab. The evolution of damage under increasing values of peak acceleration applied to the shake table was monitored in terms of AE and dissipated plastic strain energy. A strong correlation was found between the energy dissipated by the concrete through plastic deformations and the AE energy calculated after properly filtering the signals. For this reason, a procedure is proposed to analyze the AE measured in a RC structure during a seismic event so that it can be used for damage assessment.

• Steel and Composite Structures
• /
• 제28권5호
• /
• pp.527-539
• /
• 2018

The use of reinforced concrete (RC) shear wall with concrete filled steel tube (CFST) columns and steel fiber reinforced concrete (SFRC) shear wall has aroused widespread attention in recent years. A new shear wall, named SFRC shear wall with CFST columns, is proposed in this paper, which makes use of CFST column and SFRC shear wall. Six SFRC shear wall with CFST columns specimens were tested under cyclic loading. The effects of test parameters including steel fiber volume fraction and concrete strength on the failure mode, strength, ductility, rigidity and dissipated energy of shear wall specimens were investigated. The results showed that all tested shear wall specimens exhibited a distinct shear failure mode. Steel fibers could effectively control the crack width and improve the distribution of cracks. The load carrying and energy dissipation capacities of specimens increased with the increase of steel fiber volume fraction and concrete strength, whilst the ductility of specimens increased with the increase of steel fiber volume fraction and the decrease of concrete strength.

• International Journal of Concrete Structures and Materials
• /
• 제9권4호
• /
• pp.415-425
• /
• 2015

Reinforced concrete beams with insufficient shear reinforcement were strengthened using glass fiber reinforced polymer (GFRP) plates. In the study, the effect of the number of bolts on the load capacity, energy dissipation, and stiffness of reinforced concrete beams were investigated by using anchor bolt of different numbers. Three strengthened with GFRP specimens, one flexural reference specimen designed in accordance to Regulation on Buildings Constructed in Disaster Areas rules, and one shear reinforcement insufficient reference specimen was tested. Anchorage was made on the surfaces of the beams in strengthened specimens using 2, 3 and 4 bolts respectively. All beams were tested under monotonic loads. Results obtained from the tests of strengthened concrete beams were compared with the result of good flexural reference specimen. The beam in which 4 bolts were used in adhering GFRP plates on beam surfaces carried approximately equal loads with the beam named as a flexural reference. The amount of energy dissipated by strengthened DE5 specimen was 96 % of the amount of energy dissipated by DE1 reference specimen. Strengthened DE5 specimen initial stiffness equal to DE1 reference specimen initial stiffness, but strengthened DE5 specimen yield stiffness about 4 % lower than DE1 reference specimen yield stiffness. Also, DE5 specimen exhibited ductile behavior and was fractured due to bending fracture. Upon the increase of the number of anchorages used in a strengthening collapsing manner of test specimens changed and load capacity and ductility thereof increased.

• Steel and Composite Structures
• /
• 제20권1호
• /
• pp.107-125
• /
• 2016

Steel shear wall system has been used in recent years in tall buildings due to its appropriate behavior advantages such as stiffness, high strength, economic feasibility and high energy absorption capability. Coupled steel plate shear walls consist of two steel shear walls that are connected to each other by steel link beam at each floor level. In this article the frames of 3, 10, and 15 of (C-SPSW) floor with rigid connection were considered in three different lengths of 1.25, 2.5 and 3.75 meters and link beams with plastic section modulus of 100% to the panel beam at each floor level and analyzed using three pairs of accelerograms based on nonlinear dynamic analysis through ABAQUS software and then the performance of walls and link beams at base shear, drift, the period of structure, degree of coupling (DC) and dissipated energy evaluated. The results show that the (C-SPSW) system base shear increases with a decrease in the link beam length, and the drift, main period and dissipated energy of structure decreases. Also the link beam length has different effects on parameters of coupling degrees.

• International Journal of Ocean System Engineering
• /
• 제2권1호
• /
• pp.50-56
• /
• 2012

This study investigates flow fields and energy dissipation due to regular wave interaction with a perforated vertical breakwater, through velocity data measurement in a two-dimensional wave tank. As the waves propagate through the perforated breakwater, the incoming wave energy is reflected back to the ocean, dissipated due to very turbulent flows near the perforations and inside the chamber, and transmitted through the perforations of the breakwater. This transmitted energy is further reduced due to the presence of the perforated back wall. Hence most of the energy is either reflected or dissipated in the vicinity of the structure, and only a small amount of the incoming wave energy is transmitted through the structure. In this study, particle image velocimetry (PIV) technique was employed to measure two-dimensional instantaneous velocity fields in the vicinity of the structure. Measured velocity data was treated statistically, and used to calculate mean flow fields, turbulence intensity and turbulent kinetic energy. For investigation of the flow pattern, time-averaged mean velocity fields were examined, and discussed using the cross-sections through slot and wall for comparison. Flow fields were obtained and compared for various cases with different regular wave conditions. In addition, turbulent kinetic energy was estimated as an approach to understand energy dissipation near the perforated breakwater. The turbulent kinetic energy was distributed against wave height and wave period to see the dependence on wave conditions.

• 한국지반공학회지:지반
• /
• 제14권5호
• /
• pp.205-218
• /
• 1998

사질토로 구성된 지반은 점토로 구성된 지반에 비해 배수 및 강도면에서 우수하다는 장점이 있다. 하지만 느슨한 사질토 지반의 경우 지진하중과 같은 급속하중이 가해지면 전단력을 상실하고 유체와 같은 거동을 하는 액상화가 발생할 가능성이 있다. 따라서 본 연구에서는 사질토의 액상화현상을 재료의 역학적 거동특성의 관점에서 접근하는 연구를 수행하였다. 재료의 역학적 거동특성에 기초한 개념으로써 소산에너지 개념에 기초를 하고 있는 에너지법과 토폐의 연화응답(softening response)에 대한 구성방정식을 기초로 하는 교란상태개념(disturbed state concept , DSC)을 이용한 방법을 액상화에 대한 해석에 적용하였다. 주문진 표준사를 대상으로 수행한 다양한 상대밀도에 대한 진동삼축시험결과를 해석에 적용하였다. 주문진 표준사를 대상으로 한 진동삼축시험결과는 다른 조건이 동일한 경우 상대밀도가 증가함에 따라 액상화 발생에 요구되는 반복하중의 재하회수가 증가하였다. DSC법을 통한 액상화평가 결과, 상대밀도가 증가함에 따라 액상화발생에 요구되는 시료의 교란 또는 증가하였고 소성변형률은 감소하는 결과를 보였다. 이는 시료의 상대밀도가 증가함에 따라 시료는 보다 견고한 상태에 있으며 그로 인해 액상화에 요구되는 시료의 교란도가 보다 크며 소성변형도 감소되는 것으로 판단된다. 에너지법에 의한 액상화평가 결과, 반복하중의 재하시 시료내부 미세구조의 변화에 기인하는 소산에너지는 과잉간극수압과 일정한 함수관계가 있는 것으로 나타났다. 본 연구에서는 에너지법에 의한 액상화 발생시기를 시료내부의 소산에너지의 변화가 가장 급격한 시기로 제안하였으며, 이를 통한 해석결과는 시험결과와 비교해 볼 때 타당성있는 결과를 보여주었다. DSC법에 소개된 액상화발생시기의 판정방법과 본 연구에서 제시한 에너지법에 의한 액상화발생 시기의 판정방법을 시험결과를 통해 검증한 결과 신뢰할 말한 결과를 보여주고 있으며. 이를 통해 포화사질토에 대한 합리적인 액상화판정의 수행이 가능하다고 판단된다.

• 한국강구조학회 논문집
• /
• 제22권3호
• /
• pp.261-269
• /
• 2010

현재 보다 다양한 형태의 건축물 설계를 가능하게 하는 대표적인 구조 시스템으로 다이아그리드 시스템이 있다. 다이아그리드 시스템은 접합부 설계 및 시공의 어려움과 가새 부재 좌굴에 의해 내진성능이 저하된다는 단점이 있으며, 이를 보안하기 위해 비좌굴 가새를 이용한 다이아그리드 시스템을 제안하였다. 본 연구에서는 다이아그리드 시스템과 다이아그리드 BRB 시스템의 골조 실험을 통해 초기 강성, 연성 능력과 에너지 소산능력을 평가였다. 반복가력실험 결과 Diagrid BRB의 초기 강성과 연성능력이 더 크게 나타났으며, BRB 항복 이후에도 지속적인 에너지 흡수가 이루어짐을 확인할 수 있었다.

• Structural Engineering and Mechanics
• /
• 제39권5호
• /
• pp.717-732
• /
• 2011

Nonlinear dynamic analysis and evaluation of eccentric braced steel frames (EBF) equipped with friction damper (FD) is studied in this research. Previous studies about assessment of seismic performance of steel braced frame with FD have been generally limited to installing this device in confluence of cross in concentrically braced frame such chevron and x-bracing. Investigation is carried out with three types of steel frames namely 5, 10 and 15 storeys, representing the short, medium and high structures respectively in series of nonlinear dynamic analysis and 10 slip force values subjected to three different earthquake records. The proper place of FD, rather than providing them at all level is also studied in 15 storey frame. Four dimensionless indices namely roof displacement, base shear, dissipated energy and relative performance index (RPI) are determined in about 100 nonlinear dynamic analyses. Then average values of maximum roof displacement, base shear, energy dissipated and storey drift under three records for both EBF and EBF equipped with friction damper are obtained. The result indicates that FD reduces the response compared to EBF and is more efficient than EBF for taller storey frames.

• 대한금속재료학회지
• /
• 제49권7호
• /
• pp.541-548
• /
• 2011

Thermomechanical fatigue (TMF) behavior of heat resistant austenitic stainless steel was evaluated in the temperature range from 100$^{\circ}C$ to peak temperatures of 600 to 800$^{\circ}C$; The fatigue lives under TMF conditions were plotted against the plastic strain range and the dissipated energy per cycle. In the expression of the inelastic strain range versus fatigue life, the TMF data obtained at different temperature ranges were located close to a single line with a small deviation; however, when the dissipated energy per cycle, calculated from the area of the stress-strain hysteresis loops at the half of the fatigue life, was plotted against the fatigue life, the data showed greater scattering than the TMF life against the inelastic strain range. A noticeable stress relaxation in the stress-strain hysteresis curve took place at the peak temperatures higher than 700$^{\circ}C$, but all specimens in this study exhibited cyclic hardening behavior with TMF cycles. Recrystallization occurred during the TMF cycle concurrent with the formation of fine subgrains in the recrystallized region, which is considered to cause the cyclic hardening of the steel.