• 대한기계학회논문집
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• 제11권6호
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• pp.923-934
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• 1987

본 연구에서는 유연한 로봇 조각기를 허브가 있는 첨단질량이 부착된 유연한 외팔보로 모델링하고 Hamilton의 원리에 의하여 유도된 운동방정식을 Galerkin의 모우 드 합 방접을 이용하여 유한차원화하여 상태방정식으로 표시하였다. 계를 제어 모우 드부(controlled mode part)와 잔류 모우드부(residual mode part)로 나누어 제어 모 우드부에 대해 최적제어 이론을 도입하여 귀환계수(feedback ccefficient)를 구하였으 며 측정이 불가능한 상태변수(inaccessible state)를 근사적으로 추정하기 위하여 Lu- enberger 관측기가 사용되었다.2차 성능계수(quadratic performance index)내의 입 력에 대한 가중치의 변화에 따른 제어효과 및 계의 여러 모우드중 중요 모우드만 제어 하는 제어기를 사용함에 따른 Spillover 효과가 계의 제어효과에 미치는 영향을 시뮬 레이션을 통하여 고찰하였으며, 또한 실험을 통하여 이론의 타당성을 검토하였다.

• International Journal of Aeronautical and Space Sciences
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• 제12권2호
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• pp.93-114
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• 2011

The current status of Canadian research on rotor-based actively controlled technologies for helicopters is reviewed in this paper. First, worldwide research in this field is overviewed to put Canadian research into context. Then, the unique hybrid control concept of Carleton University is described, along with its key element, the "stiffness control" concept. Next, the smart hybrid active rotor control system (SHARCS) projected's history and organization is presented, which aims to demonstrate the hybrid control concept in a wind tunnel test campaign. To support the activities of SHARCS, unique computational tools, novel experimental facilities and new know-how had to be developed in Canada, among them the state-of-the-art Carleton Whirl Tower facility or the ability to design and manufacture aeroelastically scaled helicopter rotors for wind tunnel testing. In the second half of the paper, details are provided on the current status of development on the three subsystems of SHARCS, i.e. that of the actively controlled tip, the actively controlled flap and the unique stiffness-control device, the active pitch link.

• 소음진동
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• 제9권6호
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• pp.1259-1266
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• 1999

본 연구의 목적은 유연성 궤도 모델을 개발하여 고기동성 궤도차량의 다물체 동역학 해석에 응용하는 것이다. 유연성 궤도 모델을 개발하는데는 대체로 두 가지 어려운 문제가 따른다. 첫째로, 해의 안정성을 유지하기 위해 적분구간이 충분히 작아야 한다는 것이다. 즉, 궤도 링크 사이의 유연성 조인트 모델과 충격적인 접촉력에 따른 고진동 입력을 처리해야 한다. 둘째로, 3차원 다물체 궤도차량 모델에 대한 수 많은 운동 방정식을 풀어야 한다는 것이다. 따라서 궤도차량을 샤시와 궤도 부시스템으로 나누고 회귀적인 방법을 사용하여 운동방정식의 수를 최소화하였다. 본 연구에서 개발된 방법을 검증하기 위하여 차량의 가속, 고속주행, 제동, 선회 등의 시뮬레이션을 수행하였다.

• 한국전산구조공학회논문집
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• 제25권4호
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• pp.339-346
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• 2012

본 논문에서는 구조물과 능동형 제진장치를 상용 구조해석 프로그램상에서 해석하는데 필요한 등가모델을 제시하였으며, 이를 통해 부재수준의 구조검토가 가능하도록 하기 위한 연구를 진행하였다. 능동형 제진장치를 일반적인 구조해석모델에 반영하기 위하여 가상의 스프링과 대쉬폿을 이용한 등가링크 모델과, 별도의 축소모델 해석결과를 바탕으로 산정된 제어력을 제진장치 설치위치에 하중으로 작용시키는 등가하중 모델을 제시하였다. 수직캔틸레버 모델과 주상복합 건물 모델을 대상으로 능동형 제어기 설계를 위해 모드에 기초한 축소모델을 구축하고, 이를 토대로 산정된 제어이득으로부터 등가모델을 도출하였다. 이들 모델에 대해 얻어진 가속도 및 변위의 RMS 응답과 최대 부재력을 토대로 등가해석모델의 유효성을 검증하였다. 결과적으로 능동형 제진장치의 상용 구조해석 프로그램을 통해 제어대상 구조물의 부재력 수준까지 상세한 구조검토가 가능함을 확인하였으며, 상대적으로 등가링크 모델이 더 우수한 정확도를 나타내었다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.488-491
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• 2006

In this paper, a slim type actuator is proposed rising a bimorph PZT and a circular rotor link. The bimorph contacts the circular rotor, and its displacement generates the rotational motion of the rotor. The rotor causes the linear motion of AF and zoom lens through gear and a motion guide. The proposed model enables the actuations of many lens groups for zoom module by extending the single lens model. The important design parameter is the contact force determined by the frictional coefficient and preload between the rotor and PZT bimorph. A prototype of the single actuator model is manufactured and experiments results using LDV and tachometer are compared to the theoretical and numerical predictions. Experiments show the linear bimorph actuator model meets the performance criteria of the lens actuation, and it can be applicable to various slim type actuators for AF and zoom motions in mobile cameras.

• 한국소음진동공학회논문집
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• 제15권10호
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• pp.1202-1210
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• 2005

This paper develops a computer model for estimating the bump characterisitcs of a cat)over type large-sized truck. The truck is composed of front and rear suspension systems, a frame, a cab, and ten tires. The computer model is developed using MSC.ADAMS. A shock absorber, a rubber bush, and a leaf spring affect a lot on the dynamic characteristic of the vehicle. Their stiffness and damping coefficient are measured and used as input data of the computer model. Leaf springs in the front and rear suspension systems are modeled by dividing them three links and joining them with joints. To improve the reliability of the developed computer model, the frame is considered as a flexible body. Thus, the frame is modeled by finite elements using MSC.PATRAN. A mode analysis is performed with the frame model using MSC.NASTRAN in order to link the frame model to the computer model. To verify the reliability of the developed computer model, a double wheel bump test is performed with an actual vehicle. In the double wheel bump, vortical displacement, velocity, acceleration are measured. Those test results are compared with the simulation results.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계 학술대회논문집(수송기계편)
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• pp.174-179
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• 2005

In automotive engineering, the brand sound is one of the important advantage strategy in a car company. For the design of brand sound, the selection of descriptive word for a car sound is one of major works in automotive sound quality research. In paper, booming sound and rumbling sound, which are professional words used by NVH engineers are used for the design of brand sound. We employed sound metrics which are the subjective parameter used in psychoacoustics. According to most research results, the relationship between subjective evaluations and sound metrics has nonlinear characteristics and is very complex. In order to link these subjective evaluations to sound metrics, the artificial neural network technology has been applied to two-dimensional sound quality index for a passenger car. These indexes is used for 46 passenger cars, which are samples of famous cars in the world. Also the preference in car sounds is evaluated by the trained NVH engineers. We coupled this preference with booming and rumbling sounds by using artificial neural network. In future, the two -dimensional sound index and preference index are very useful fur the development of brand sound in passenger cars.

• 한국소음진동공학회논문집
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• 제25권11호
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• pp.753-763
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• 2015

This paper proposes a decentralized robust adaptive neural network control scheme using multiple radial basis function neural networks for electrically driven robot manipulators with bounded input voltages in the presence of uncertainties. The proposed controller considers both robot link dynamics and actuator dynamics. Practically, the controller gain coefficients applied at each joint may be nonlinear time-varying and the input voltage at each joint is saturated. The proposed robot controller overcomes the various uncertainties and the input voltage saturation problem. The proposed controller does not require any robot and actuator parameters. The adaptation laws of the proposed controller are derived by using the Lyapunov stability analysis and the stability of the closed-loop control system is guaranteed. The validity and robustness of the proposed control scheme are verified through simulation results.

• 한국소음진동공학회논문집
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• 제18권7호
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• pp.693-700
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• 2008

High-Pressure gas Pipeline which is buried in underground has the Possibility that will be exposed to unexpected dangerous impact of construction equipment. To protect from this kind of danger, the real-time health monitoring system of the high-pressure gas pipeline is necessary. First of all, to make the real-time health monitoring system clearly, the acoustic wave propagation characteristics which are made from various construction equipment impacts must be identified. In link of technical development that prevents the damage of high-pressure gas pipeline, this paper gives FEM(finite element method) and BEM(boundary element method) solutions to identify the acoustic wave propagation characteristic of the various impact input signals which consist of Direc delta function and convolution signal of 45 Hz square signal and random signal.

• Coupled systems mechanics
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• 제9권2호
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• pp.183-200
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• 2020

Connection of adjacent buildings with stiff links is an efficient approach for seismic pounding mitigation. However, use of highly rigid links might alter the torsional response in asymmetric plans and although this was mentioned in the literature, no quantitative study has been done before to investigate the condition numerically. In this paper, the effect of rigid coupling on the elastic lateral-torsional response of two adjacent one-story column-type buildings has been studied by comparison to uncoupled structures. Three cases are considered, including two similar asymmetric structures, two adjacent asymmetric structures with different dynamic properties and a symmetric system adjacent to an adjacent asymmetric one. After an acceptable validation against the actual earthquake, the traditional random vibration method has been utilized for dynamic analysis under Ideal white noise input. Results demonstrate that rigid coupling may increase or decrease the rotational response, depending on eccentricities, torsional-to-lateral stiffness ratios and relative uncoupled lateral stiffness of adjacent buildings. Results are also discussed for the case of using identical cross section for all columns supporting eachplan. In contrast to symmetric systems, base shear increase in the stiffer building may be avoided when the buildings lateral stiffness ratio is less than 2. However, the eccentricity increases the rotation of the plans for high rotational stiffness of the buildings.