• Smart Structures and Systems
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• 제17권1호
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• pp.107-122
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• 2016

We propose an effective methodology using electromechanical impedance characteristics for estimating the remaining tensile force of tendons and simultaneously detecting damages of the anchorage blocks. Once one piezoelectric patch is attached on the anchor head and the other is bonded on the bearing plate, impedance responses are measured through these two patches under varying tensile force conditions. Then statistical indices are calculated from the impedances, and two types of relationship curves between the tensile force and the statistical index (TE Curve) and between statistical indices of two patches (SR Curve) are established. Those are considered as database for monitoring both the tendon and the anchorage system. If damage exists on the bearing plate, the statistical index of patch on the bearing plate would be out of bounds of the SR curve and damage can be detected. A change in the statistical index by damage is calibrated with the SR curve, and the tensile force can be estimated with the corrected index and the TE Curve. For validation of the developed methodology, experimental studies are performed on the scaled model of an anchorage system that is simplified only with 3 solid wedges, a 3-hole anchor head, and a bearing plate. Then, the methodology is applied to a real scale anchorage system that has 19 strands, wedges, an anchor head, a bearing plate, and a steel duct. It is observed that the proposed scheme gives quite accurate estimation of the remaining tensile forces. Therefore, this methodology has great potential for practical use to evaluate the remaining tensile forces and damage status in the post-tensioned structural members.

• 대한기계학회논문집A
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• 제27권11호
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• pp.1967-1978
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• 2003

Transparency has been considered as a performance measure in bilateral teleoperation system. Therefore, many issues of transparency have been studied. This paper investigates the transparency in two-channel control architectures. At first, we show the feasibility using analytic transparency-conditions and present the two classes of two-channel control architecture, which are perfectly transparent under ideal situation. In addition, remedies to problems due to impedance model estimation errors under real situation are introduced. They are as fellows; design guideline of control parameters to reduce the effect of model estimation error effect and introduction of time delay estimation for unknown dynamics. From these analyses, the systematic control scheme, which is stable and well transparent under real implementation, is proposed in two-channel control architecture. Finally, the proposed scheme is applied to a 2 D.O.F master-slave system and the experimental results show the validity of the theoretical work.

• 한국음향학회지
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• 제26권6호
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• pp.276-285
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• 2007

본 논문에서는 현재까지 주파수 영역에서 개발된 4종류의 라우드스피커 TS 매개변수 규명법들에 대하여 비교 검토하였다. 보이스 코일 인덕터에 대한 상세한 모델링을 위해 주파수 종속 모델링 기법을 소개하였고 관련된 매개변수들을 유도하였다. 라우드스피커의 동적 질량을 알고 있을 때에 TS 매개변수를 규명하는 방법을 소개하고 이를 실제 라우드스피커에 적용할 때에 고려할 사항들도 기술하였다. 1채널 장비로 전기 임피던스를 측정할 때에는 크기만을 측정하게 되므로 위상값 추정을 위해 최소 위상 변환법을 사용하는 방법도 기술하였다.

• 대한토목학회논문집
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• 제26권5D호
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• pp.763-769
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• 2006

중력모형은 출발 존의 유출통행량과 도착존의 유입통행량, 그리고 출발존 중심에서 도착존 중심까지의 교통저항을 이용하여 장래 분포통행을 예측한다. 중력모형에서 존내통행 예측의 경우 교통저항이 "0"로 산정되기 때문에 중력모형에 의해 예측하지 못하고 성장율법과 같은 타 방법에 의해 예측을 행해야 하는 어려움이 존재했다. 본 연구에서는 중력모형에 의한 분포통행 예측시 구축된 중력모형을 이용하여 존내 분포통행을 예측하는 방법을 제안하였는데, 제안한 방법은 기준연도의 존내 분포통행량과 유출, 유입통행량을 존간통행에서 구축된 중력모형식에 대입하여 존내 교통저항을 산출하고 이를 다시 중력 모형에 대입하여 장래 존내 분포통행 예측을 행하는 것이다. 1988년 O-D표를 기준연도 O-D로 하고, 본 연구에서 제안한 방법과 기존의 방법인 성장률법과 회귀모형법의 1992년과 2004년 예측결과들을 실제 O-D와 $x^2$, RMSE, 상관계수 등으로 비교 분석해 본 결과, 본 연구에서 제안한 방법이 우수한 결과를 나타내었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.119.1-119
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• 2001

Teleoperation enables an operator to manipulate remote objects. One of the main goals in teleoperation researches is to provide the operator with the feeling of the telepresence, being present at the remote site. For these purposes, a master robot must be designed as a bilateral control system that can transmit position/force information to a slave robot and feedback the interaction force. A newly proposed impedance algorithm is applied for the control of a haptic interface that was developed as a master robot. With the movements of the haptic interface for position/for co commands, impedance parameters are varying always. When the impedance parameters between an operator and ...

• 전기학회논문지
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• 제57권9호
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• pp.1522-1530
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• 2008

This paper presents a discrete wavelet analysis based algorithm to address the fault impedance calculation under transient state in radial power distribution networks. The fault impedances have been derived under different fault conditions. Furthermore, a recursive fault distance estimation method is proposed utilizing the measured fault impedance and power line parameters. The proposed scheme can resolve the errors caused by the non-homogeneous power lines, the presence of lateral loads since, the fault impedance will always be updated with the recursive form. For the verification of the proposed scheme, a filed test has been peformed with varying fault resistances in the 22.9(kV) radial system. Power meters and fault locators were installed at the substation. It was figured out that the performance of the discrete wavelet and the recursive scheme are very good even for high fault resistance condition.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.870-874
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• 2004

This work presents a study on development of a practical and quantitative technique for assessment of the structural health condition by Piezoelectric impedance-based technique associated with longitudinal wave propagation method. The bolt fastening condition is adjusted by torque wrench. In order to estimate the damage condition numerically, three damage indices, impedance peak frequency shift ${\Delta}F$, peak amplitude ratio $\delta$ and quality factor ratio $\gamma$, are proposed in this paper. Furthermore, an assessment method is described for estimation of the damage by using these three damage indices.

• 로봇학회논문지
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• 제14권4호
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• Structural Engineering and Mechanics
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• 제40권5호
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• pp.719-743
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• 2011

A hybrid damage monitoring scheme using parallel acceleration-impedance approaches is proposed to detect girder damage and support damage in steel plate-girder bridges which are under ambient train-induced excitations. The hybrid scheme consists of three phases: global and local damage monitoring in parallel manner, damage occurrence alarming and local damage identification, and detailed damage estimation. In the first phase, damage occurrence in a structure is globally monitored by changes in vibration features and, at the same moment, damage occurrence in local critical members is monitored by changes in impedance features. In the second phase, the occurrence of damage is alarmed and the type of damage is locally identified by recognizing patterns of vibration and impedance features. In the final phase, the location and severity of the locally identified damage are estimated by using modal strain energy-based damage index methods. The feasibility of the proposed scheme is evaluated on a steel plate-girder bridge model which was experimentally tested under model train-induced excitations. Acceleration responses and electro-mechanical impedance signatures were measured for several damage scenarios of girder damage and support damage.

• 조명전기설비학회논문지
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• 제25권8호
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• pp.106-113
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• 2011

The conventional grounding impedance of a counterpoise is calculated as a function of the length of the counterpoise by use of the distributed parameter circuit model with an application of the EMTP(Electromagnetic Transient Program). The adequacy of the distributed parameter circuit model is examined and verified by comparison of the simulated and the measured results. The conventional grounding impedance of the counterpoise is analyzed for the first short stroke and subsequent short stroke currents. As a result, the simulated results show that the minimum conventional grounding impedance gives at a specified length of the counterpoise. The shorter the time taken to reach the peak of injected currents, the shorter the length of the counterpoise having the minimum conventional grounding impedance. We also present the critical lengths of the counterpoise for short stroke currents as a function of soil resistivity. Based on these results, it is necessary to compute the length of the counterpoise in a specified soil resistivity which satisfies both the low conventional grounding impedance requirement whilst also providing a suitable ground resistance in order to obtain an economical design and installation of the counterpoise.