• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.49 no.2
• /
• pp.74-80
• /
• 2000

In this paper, we present a control method of mobile power assist systems. Most of mobile power assist systems have a heavy base for preventing easy tumbling, so continual movement of the base during operations causes high energy consumption and gives the high risk of human injury. Furthermore, the slow dynamics of the base limits the frequency bandwidth of the whole system. Thus we propose a cooperation control method of the mobile base and manipulator, which removes the unnecessary movements of the base. In our scheme, the mobile base does not move until the center of gravity(C.G) of the system goes outside a safety region. When C.G. reaches the boundary of the safety region, the base starts moving to recover the manipulator's initial configuration. By varying the parameters of a human impedance controller, the operator is warned by a force feedback that C.G. is on the marginal safety region. Our scheme is implemented by assigning a nonlinear mass-damper-spring impedance to the tip of the manipulator. Our scheme is implemented by a nonlinear mass-spring impedance to the tip of the manipulator. The experimental results show the efficacy of the proposed control method.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.23 no.11 s.170
• /
• pp.1940-1951
• /
• 1999

In this paper, the equations of motion of a Bernoulli-Euler cantilever beam fixed on a moving cart and carrying a lumped mass concentrated at an arbitrary position along the beam is derived. The motion of the beam-mass-cart system is analyzed through unconstrained modal analysis, and a unified characteristic equation for calculating the natural frequencies of the system is obtained. The changes of natural frequencies and the corresponding mode shapes with respect to the changes in mass ratios of the system and to the concentrated position of the lumped mass are investigated with the frequency equation, which can be generally applied to this kind of systems. The exact and assumed-mode solutions including the dynamics of the base cart are obtained, and the open-loop responses of the system by arbitrarily designed forcing function are given by numerical simulations. The results match well with physical phenomena even at the extreme cases where the concentrated mass is attached to the bottom and to the top of the beam.

• Earthquakes and Structures
• /
• v.3 no.2
• /
• pp.169-180
• /
• 2012

The performance of pure friction isolation system with respect to the frequency bandwidth of excitation and the predominant frequency is investigated. A set of earthquake ground motions (artificial as well as recorded [with different combinations of magnitude-distance and local site geology]) is considered for investigating effectiveness of pure friction isolators. The results indicate the performance of pure friction base isolated system does not only depend upon coefficient of friction and mass ratio but the stick-slip behaviour depends upon the frequency content of the excitation as well. Slippage prevails if the excitation frequency lies in a suitable frequency range. This range widens with increasing mass ratio. For larger mass ratios, the sliding effect is more pronounced and the maximum acceleration response is further reduced in the neighbourhood of frequency ratio (${\omega}/{\omega}_n$) of unity. The pure friction isolation system is effective in the case of broadband excitations only and that too, in the acceleration sensitive range of periods. The pure friction system is not effective for protection against narrow band motions for which the system response is quasi-periodic.

• Wind and Structures
• /
• v.7 no.4
• /
• pp.215-234
• /
• 2004

The tuned liquid damper (TLD) is increasingly being used as an economical and effective vibration absorber. It consists of a water tank having the fundamental sloshing fluid frequency tuned to the natural frequency of the structure. In order to perform efficiently, the TLD must possess a certain amount of inherent damping. This can be achieved by placing screens inside the tank. The current study experimentally investigates the behaviour of a TLD equipped with damping screens. A series of shake table tests are conducted in order to assess the effect of the screens on the free surface motion, the base shear forces and the amount of energy dissipated. The variation of these parameters with the level of excitation is also studied. Finally, an amplitude dependent equivalent tuned mass damper (TMD), representing the TLD, is determined based on the experimental results. The dynamic characteristics of this equivalent TMD, in terms of mass, stiffness and damping parameters are determined by energy equivalence. The above parameters are expressed in terms of the base excitation amplitude. The parameters are compared to those obtained using linear small amplitude wave theory. The validity of this nonlinear model is examined in the companion paper.

• Smart Structures and Systems
• /
• v.25 no.2
• /
• pp.155-167
• /
• 2020

This paper demonstrates a real-time hybrid substructuring (RTHS) shake table test to evaluate the seismic performance of a base isolated building. Since RTHS involves a feedback loop in the test implementation, the frequency dependent magnitude and inherent time delay of the actuator dynamics can introduce inaccuracy and instability. The paper presents a robust stability and performance analysis method for the RTHS test. The robust stability method involves casting the actuator dynamics as a multiplicative uncertainty and applying the small gain theorem to derive the sufficient conditions for robust stability and performance. The attractive feature of this robust stability and performance analysis method is that it accommodates linearized modeled or measured frequency response functions for both the physical substructure and actuator dynamics. Significant experimental research has been conducted on base isolators and dampers toward developing high fidelity numerical models. Shake table testing, where the building superstructure is tested while the isolation layer is numerically modeled, can allow for a range of isolation strategies to be examined for a single shake table experiment. Further, recent concerns in base isolation for long period, long duration earthquakes necessitate adding damping at the isolation layer, which can allow higher frequency energy to be transmitted into the superstructure and can result in damage to structural and nonstructural components that can be difficult to numerically model and accurately predict. As such, physical testing of the superstructure while numerically modeling the isolation layer may be desired. The RTHS approach has been previously proposed for base isolated buildings, however, to date it has not been conducted on a base isolated structure isolated at the ground level and where the isolation layer itself is numerically simulated. This configuration provides multiple challenges in the RTHS stability associated with higher physical substructure frequencies and a low numerical to physical mass ratio. This paper demonstrates a base isolated RTHS test and the robust stability and performance analysis necessary to ensure the stability and accuracy. The tests consist of a scaled idealized 4-story superstructure building model placed directly onto a shake table and the isolation layer simulated in MATLAB/Simulink using a dSpace real-time controller.

• Wind and Structures
• /
• v.5 no.1
• /
• pp.61-80
• /
• 2002

Wind tunnel aeroelastic model tests of the Commonwealth Advisory Aeronautical Research Council (CAARC) standard tall building were conducted using a three-degree-of-freedom base hinged aeroelastic(BHA) model. Experimental investigation into the effects of coupled translational-torsional motion, cross-wind/torsional frequency ratio and eccentricity between centre of mass and centre of stiffness on the wind-induced response characteristics and wind excitation mechanisms was carried out. The wind tunnel test results highlight the significant effects of coupled translational-torsional motion, and eccentricity between centre of mass and centre of stiffness, on both the normalised along-wind and cross-wind acceleration responses for reduced wind velocities ranging from 4 to 20. Coupled translational-torsional motion and eccentricity between centre of mass and centre of stiffness also have significant impacts on the amplitude-dependent effect caused by the vortex resonant process, and the transfer of vibrational energy between the along-wind and cross-wind directions. These resulted in either an increase or decrease of each response component, in particular at reduced wind velocities close to a critical value of 10. In addition, the contribution of vibrational energy from the torsional motion to the cross-wind response of the building model can be greatly amplified by the effect of resonance between the vortex shedding frequency and the torsional natural frequency of the building model.

• Journal of the Korean Institute of Telematics and Electronics A
• /
• v.30A no.12
• /
• pp.51-59
• /
• 1993

A 4${\times}10^{19}cm^{3}$ carbon-doped base AlGaAs/GaAs HBY was grown using carbontetracholoride(CCl$_4$) by atmospheric pressure MOCVD. Abruptness of emitter-base junction was characterized by SIMS(secondary ion mass spectorscopy) and the doping concentration of base layer was confirmed by DXRD(double crystal X-ray diffractometry). Mesa-type HBTs were fabricated using wet etching and lift-off technique. The base sheet resistance of R$_{sheet}$=550${\Omega}$/square was measured using TLM(transmission line model) method. The fabricated transistor achieved a collector-base junction breakdown voltage of BV$_{CBO}$=25V and a critical collector current density of J$_{O}$=40kA/cm$^2$ at V$_{CE}$=2V. The 50$\times$100$\mu$$^2$ emitter transistor showed a common emitter DC current gain of h$_{FE}$=30 at a collector current density of JS1CT=5kA/cm$^2$ and a base current ideality factor of ηS1EBT=1.4. The high frequency characterization of 5$\times$50$\mu$m$^2$ emitter transistor was carried out by on-wafer S-parameter measurement at 0.1~18.1GHz. Current gain cutoff frequency of f$_{T}$=27GHz and maximum oscillation frequency of f$_{max}$=16GHz were obtained from the measured Sparameter and device parameters of small-signal lumped-element equivalent network were extracted using Libra software. The fabricated HBT was proved to be useful to high speed and power spplications.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.30 no.6 s.249
• /
• pp.497-504
• /
• 2006

A Coriolis mass flowmeter(CMF), which has U-Shaped unique measurins tube was developed fo. direct mass flow measurement. In order to convert the time difference between two measuring tubes motion into mass flowrate and flow quantity, a signal processing circuit, as a part of CMF, was also developed. The CMF was designed as the 15 mm nominal diameter of pipe connection and the 8 mm stainless steel(sus 316) pipe was used for measuring tube. To maximize the flow signal(time difference) from the measuring tubes, the natural frequency of measuring tube was adjusted as 220 Hz, which is same as the frequency of exciter. The maximum displacement at the end of the measuring tube was measured as 0.05 mm and the maximum time difference between two measuring tubes was observed as $20{\mu}s$, which was proper for discrimination and measuring range of CMF. The developed CMF was tested against the gravimetric flowmeter calibrator in the range of 3 kg/min and 30 kg/min. The results showed that the CMF has good linearity and repeatability in the tested flow range. Large size of CMF base on the current study experience will be developed.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 1995.04a
• /
• pp.99-106
• /
• 1995

The seismic responses of a base Isolated Pressurized Water Reactor(PWR) are investigated using a mathematical model which expresses the superstructure as a linear lumped mass-spring and the seismic Isolator as an equivalent spring-damper. Time history analyses are performed for the 1940 El Centre earthquake with linear amplification. In the analysis 5% of structural damping is used for the superstructure. The effects of high damping rubber bearing on seismic response of the superstructure in base isolated system are evaluated for four stiffness model types. The acceleration responses in base isolated PWR superstructure with high damping rubber bearings are much smaller than those in fixed base structure. In the higher strain region where stiffness behaves non-linearly, the acceleration responses modelled by one equivalent stiffness are smaller than those in nonlinear spring model, and the higher stiffness spring model of isolator exhibits larger peak acceleration response at superstructure in the frequency range above 2.0 Hz. when subjected to linearly amplified 1940 El Centre earthquake.

• Asian-Australasian Journal of Animal Sciences
• /
• v.5 no.1
• /
• pp.13-18
• /
• 1992

Three cattle, a sheep and a goat were slaughtered to determine the distribution of digesta particles and mean size of digesta particles. Aliquot samples of digesta in the diverse sites of the digestive tracts were fractionated by a wet sieving technique. Fractionated particles were analyzed by the magnetic grid analyzer system constructed by authors. Results showed that the proportion of particles in digesta was similar among the omasum, abomasums cecum, colon and rectum, but that for the reticulo-ruminal digesta was different from the others. The pattern of the mass base frequency distribution of particles was also similar in the post-ruminal digesta. Average Heywood's diameter (the diameter equivalent to that of a circle with equal area to a projected area of a given particle) was about 1.2 mm in the reticulo-ruminal digesta and decreased to 0.65 mm for cattle or to about 0.35 mm for sheep and goat in the omasal digesta. Average Heywood's diameter was about the same in the post-ruminal digesta. It is concluded that mean particle size and particle distribution in digesta of the rectum or feces reflect those in digesta of the omasum.