• Title/Summary/Keyword: Pseudo dynamic test

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Path Planning for the Shortest Driving Time Considering UGV Driving Characteristic and Driving Time and Its Driving Algorithm (무인 주행 차량의 주행 특성과 주행 시간을 고려한 경로 생성 및 주행 알고리즘)

  • Noh, Chi-Beom;Kim, Min-Ho;Lee, Min-Cheol
    • The Journal of Korea Robotics Society
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    • v.8 no.1
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    • pp.43-50
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    • 2013
  • $A^*$ algorithm is a global path generation algorithm, and typically create a path using only the distance information. Therefore along the path, a moving vehicle is usually not be considered by driving characteristics. Deceleration at the corner is one of the driving characteristics of the vehicle. In this paper, considering this characteristic, a new evaluation function based path algorithm is proposed to decrease the number of driving path corner, in order to reduce the driving cost, such as driving time, fuel consumption and so on. Also the potential field method is applied for driving of UGV, which is robust against static and dynamic obstacle environment during following the generated path of the mobile robot under. The driving time and path following test was occurred by experiments based on a pseudo UGV, mobile robot in downscaled UGV's maximum and driving speed in corner. The experiment results were confirmed that the driving time by the proposed algorithm was decreased comparing with the results from $A^*$ algorithm.

A Study on Similitude Law for Pseudodynamic Tests and Shaking Table Tests on Small-scale R/C Models (철근콘크리트 축소모형의 유사동적실험과 진동대 실험을 위한 상사법칙 연구)

  • Yang, Hui-Gwan;Seo, Ju-Won;Cho, Nam-So;Chang, Sung-Pil
    • Proceedings of the Earthquake Engineering Society of Korea Conference
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    • 2006.03a
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    • pp.545-552
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    • 2006
  • Small-scale models have been frequently used for seismic performance tests because of limited testing facilities and economic reasons. However, there are not also enough studies on similitude law for analogizing prototype structures accurately with small-scale models, although conventional similitude law based on geometry similitude is not well consistent in their inelastic seismic behaviors. When fabricating prototype and small-scale model of reinforced concrete structures by using the same material, added mass is demanded from a volumetric change and scale factor could be limited due to aggregate size. Therefore, it is desirable to use different materials for small-scale model. In our recent study, a modified similitude law was derived depending on geometric scale factor, equivalent modulus ratio and ultimate strain ratio. And quasi-static and pseudo-dynamic tests on the specimens are carried out using constant and variable modulus ratios, and correlation between prototype and small-scale model is investigated based on their test results. In this study, tests on scaled model of different concrete compressive strength aye carried out. In shaking table tests, added mass can not be varied. Thus, constant added mass on expected maximum displacement was applied and the validity was verified in shaking table tests. And shaking table tests on non-artificial mass model is carried out to settle a limitation of acceleration and the validity was verified in shanking table tests.

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A model-based adaptive control method for real-time hybrid simulation

  • Xizhan Ning;Wei Huang;Guoshan Xu;Zhen Wang;Lichang Zheng
    • Smart Structures and Systems
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    • v.31 no.5
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    • pp.437-454
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    • 2023
  • Real-time hybrid simulation (RTHS), which has the advantages of a substructure pseudo-dynamic test, is widely used to investigate the rate-dependent mechanical response of structures under earthquake excitation. However, time delay in RTHS can cause inaccurate results and experimental instabilities. Thus, this study proposes a model-based adaptive control strategy using a Kalman filter (KF) to minimize the time delay and improve RTHS stability and accuracy. In this method, the adaptive control strategy consists of three parts-a feedforward controller based on the discrete inverse model of a servohydraulic actuator and physical specimen, a parameter estimator using the KF, and a feedback controller. The KF with the feedforward controller can significantly reduce the variable time delay due to its fast convergence and high sensitivity to the error between the desired displacement and the measured one. The feedback control can remedy the residual time delay and minimize the method's dependence on the inverse model, thereby improving the robustness of the proposed control method. The tracking performance and parametric studies are conducted using the benchmark problem in RTHS. The results reveal that better tracking performance can be obtained, and the KF's initial settings have limited influence on the proposed strategy. Virtual RTHSs are conducted with linear and nonlinear physical substructures, respectively, and the results indicate brilliant tracking performance and superb robustness of the proposed method.

Forced Vibration Test of a Real-Scale Structure and Design of HMD Controllers for Simulating Earthquake Response (실물 크기 구조물의 강제진동실험 및 지진응답 모사를 위한 HMD제어기 설계)

  • Lee, Sang-Hyun;Park, Eun-Churn;Youn, Kyung-Jo;Lee, Sung-Kyung;Yu, Eun-Jong;Min, Kyung-Won;Chung, Lan;Min, Jeong-Ki;Kim, Young-Chan
    • Journal of the Earthquake Engineering Society of Korea
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    • v.10 no.6 s.52
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    • pp.103-114
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    • 2006
  • Forced vibration testing is important for correlating the mathematical model of a structure with the real one and for evaluating the performance of the real structure. There exist various techniques available for evaluating the seismic performance using dynamic and static measurements. In this paper, full scale forced vibration tests simulating earthquake response are implemented by using a hybrid mass damper. The finite element (FE) model of the structure was analytically constructed using ANSYS and the model was updated using the results experimentally measured by the forced vibration test. Pseudo-earthquake excitation tests showed that HMD induced floor responses coincided with the earthquake induced ones which were numerically calculated based on the updated FE model.

Glass Dissolution Rates From MCC-1 and Flow-Through Tests

  • Jeong, Seung-Young
    • Proceedings of the Korean Radioactive Waste Society Conference
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    • 2004.06a
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    • pp.257-258
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    • 2004
  • The dose from radionuclides released from high-level radioactive waste (HLW) glasses as they corrode must be taken into account when assessing the performance of a disposal system. In the performance assessment (PA) calculations conducted for the proposed Yucca Mountain, Nevada, disposal system, the release of radionuclides is conservatively assumed to occur at the same rate the glass matrix dissolves. A simple model was developed to calculate the glass dissolution rate of HLW glasses in these PA calculations [1]. For the PA calculations that were conducted for Site Recommendation, it was necessary to identify ranges of parameter values that bounded the dissolution rates of the wide range of HLW glass compositions that will be disposed. The values and ranges of the model parameters for the pH and temperature dependencies were extracted from the results of SPFT, static leach tests, and Soxhlet tests available in the literature. Static leach tests were conducted with a range of glass compositions to measure values for the glass composition parameter. The glass dissolution rate depends on temperature, pH, and the compositions of the glass and solution, The dissolution rate is calculated using Eq. 1: $rate{\;}={\;}k_{o}10^{(ph){\eta})}{\cdot}e^{(-Ea/RT)}{\cdot}(1-Q/K){\;}+{\;}k_{long}$ where $k_{0},\;{\eta}$ and Eaare the parameters for glass composition, pH, $\eta$ and temperature dependence, respectively, and R is the gas constant. The term (1-Q/K) is the affinity term, where Q is the ion activity product of the solution and K is the pseudo-equilibrium constant for the glass. Values of the parameters $k_{0},\;{\eta}\;and\;E_{a}$ are the parameters for glass composition, pH, and temperature dependence, respectively, and R is the gas constant. The term (1-Q/C) is the affinity term, where Q is the ion activity product of the solution and K is the pseudo-equilibrium constant for the glass. Values of the parameters $k_0$, and Ea are determined under test conditions where the value of Q is maintained near zero, so that the value of the affinity term remains near 1. The dissolution rate under conditions in which the value of the affinity term is near 1 is referred to as the forward rate. This is the highest dissolution rate that can occur at a particular pH and temperature. The value of the parameter K is determined from experiments in which the value of the ion activity product approaches the value of K. This results in a decrease in the value of the affinity term and the dissolution rate. The highly dilute solutions required to measure the forward rate and extract values for $k_0$, $\eta$, and Ea can be maintained by conducting dynamic tests in which the test solution is removed from the reaction cell and replaced with fresh solution. In the single-pass flow-through (PFT) test method, this is done by continuously pumping the test solution through the reaction cell. Alternatively, static tests can be conducted with sufficient solution volume that the solution concentrations of dissolved glass components do not increase significantly during the test. Both the SPFT and static tests can ve conducted for a wide range of pH values and temperatures. Both static and SPFt tests have short-comings. the SPFT test requires analysis of several solutions (typically 6-10) at each of several flow rates to determine the glass dissolution rate at each pH and temperature. As will be shown, the rate measured in an SPFt test depends on the solution flow rate. The solutions in static tests will eventually become concentrated enough to affect the dissolution rate. In both the SPFt and static test methods. a compromise is required between the need to minimize the effects of dissolved components on the dissolution rate and the need to attain solution concentrations that are high enough to analyze. In the paper, we compare the results of static leach tests and SPFT tests conducted with simple 5-component glass to confirm the equivalence of SPFT tests and static tests conducted with pH buffer solutions. Tests were conducted over the range pH values that are most relevant for waste glass disssolution in a disposal system. The glass and temperature used in the tests were selected to allow direct comparison with SPFT tests conducted previously. The ability to measure parameter values with more than one test method and an understanding of how the rate measured in each test is affected by various test parameters provides added confidence to the measured values. The dissolution rate of a simple 5-component glass was measured at pH values of 6.2, 8.3, and 9.6 and $70^{\circ}C$ using static tests and single-pass flow-through (SPFT) tests. Similar rates were measured with the two methods. However, the measured rates are about 10X higher than the rates measured previously for a glass having the same composition using an SPFT test method. Differences are attributed to effects of the solution flow rate on the glass dissolution reate and how the specific surface area of crushed glass is estimated. This comparison indicates the need to standardize the SPFT test procedure.

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Verification and Mitigation of Seismic Failure in Concrete Piers under Near-field Earthquakes

  • Ikeda, Shoji;Hayashi, Kazuhiko;Naganuma, Toshihiko
    • Journal of the Earthquake Engineering Society of Korea
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    • v.11 no.4
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    • pp.1-11
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    • 2007
  • This paper verifies the difference of the seismic behavior and seismic damage of the neighboring two reinforced concrete piers damaged by the 1995 Hyogoken Nanbu earthquake. The two piers were almost the same size, carrying slightly different dead load, and were provided with the same reinforcement arrangement except the amount of longitudinal reinforcement at the bottom portion of the piers. The pier with more reinforcement was completely collapsed due to this near field earthquake by shear failure at the longitudinal reinforcement cut-off while the other was only damaged at the bottom by flexure even though the longitudinal reinforcement cut-off was also existed at the mid height of the pier. According to the results of the pseudo dynamic test, the seismic damage was recognized to be greatly dependent on the ground motion characteristics even though the employed ground motions had the same peak acceleration. The severe damage was observed when the test employed the seismic wave that had strong influence to the longer period range compared to the initial natural period of the pier. On the other hand, based on the similar model experiment, the defect of gas-pressure welded splice of longitudinal reinforcement was revealed to save the piers against collapse due to the so-called fail-safe mechanism contrary to the intuitive opinion of some researchers. It was concluded that the primary cause of the collapse of the pier was the extremely strong intensity and peculiar characteristics of the earthquake motion according to both the site-specific and the structure-specific effects.

Experimental investigation of Scalability of DDR DRAM packages

  • Crisp, R.
    • Journal of the Microelectronics and Packaging Society
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    • v.17 no.4
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    • pp.73-76
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    • 2010
  • A two-facet approach was used to investigate the parametric performance of functional high-speed DDR3 (Double Data Rate) DRAM (Dynamic Random Access Memory) die placed in different types of BGA (Ball Grid Array) packages: wire-bonded BGA (FBGA, Fine Ball Grid Array), flip-chip (FCBGA) and lead-bonded $microBGA^{(R)}$. In the first section, packaged live DDR3 die were tested using automatic test equipment using high-resolution shmoo plots. It was found that the best timing and voltage margin was obtained using the lead-bonded microBGA, followed by the wire-bonded FBGA with the FCBGA exhibiting the worst performance of the three types tested. In particular the flip-chip packaged devices exhibited reduced operating voltage margin. In the second part of this work a test system was designed and constructed to mimic the electrical environment of the data bus in a PC's CPU-Memory subsystem that used a single DIMM (Dual In Line Memory Module) socket in point-to-point and point-to-two-point configurations. The emulation system was used to examine signal integrity for system-level operation at speeds in excess of 6 Gb/pin/sec in order to assess the frequency extensibility of the signal-carrying path of the microBGA considered for future high-speed DRAM packaging. The analyzed signal path was driven from either end of the data bus by a GaAs laser driver capable of operation beyond 10 GHz. Eye diagrams were measured using a high speed sampling oscilloscope with a pulse generator providing a pseudo-random bit sequence stimulus for the laser drivers. The memory controller was emulated using a circuit implemented on a BGA interposer employing the laser driver while the active DRAM was modeled using the same type of laser driver mounted to the DIMM module. A custom silicon loading die was designed and fabricated and placed into the microBGA packages that were attached to an instrumented DIMM module. It was found that 6.6 Gb/sec/pin operation appears feasible in both point to point and point to two point configurations when the input capacitance is limited to 2pF.

Comparison of Acceleration-Compensating Mechanisms for Improvement of IMU-Based Orientation Determination (IMU기반 자세결정의 정확도 향상을 위한 가속도 보상 메카니즘 비교)

  • Lee, Jung Keun
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.40 no.9
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    • pp.783-790
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    • 2016
  • One of the main factors related to the deterioration of estimation accuracy in inertial measurement unit (IMU)-based orientation determination is the object's acceleration. This is because accelerometer signals under accelerated motion conditions cannot be longer reference vectors along the vertical axis. In order to deal with this issue, some orientation estimation algorithms adopt acceleration-compensating mechanisms. Such mechanisms include the simple switching techniques, mechanisms with adaptive estimation of acceleration, and acceleration model-based mechanisms. This paper compares these three mechanisms in terms of estimation accuracy. From experimental results under accelerated dynamic conditions, the following can be concluded. (1) A compensating mechanism is essential for an estimation algorithm to maintain accuracy under accelerated conditions. (2) Although the simple switching mechanism is effective to some extent, the other two mechanisms showed much higher accuracies, particularly when test conditions were severe.

Laboratory Experiments for the Force and Load with Pseudo-Dynamic Test: Ex-vivo Study for the Manual Therapy

  • Choi, Wansuk;Choi, Taeseok;Heo, Seoyoon;Lee, Wooram
    • Journal of International Academy of Physical Therapy Research
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    • v.10 no.4
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    • pp.1889-1896
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    • 2019
  • Background: Because of the lack of accurate values for applied forces in manual therapy, manual therapists relies on the magnitude of the individual's perception during applying the force. However, excessive loading maneuvers carry risks for patients. Objective: To establish the relationship between the maximal force applied to swine skin with the specific region, sex, and baseline parameters of the subject. Design: Ex-vivo Study and laboratory Experimental research Methods: 3.5 kg of Korean pork sirloin that is a piece of swine was handled and it was set 3 dimensions; #A; #B; #C. Forty-seven participants who has no experience in physical therapy randomly carried out the experiment, indicated to push each place of the pressure spots with same posture and process under supervision from the instructor who has over 15 years of manual therapy, and we measured the pressure force in each time. Results: The biggest pressure force was recorded in spot #A, and #B was represented after #C. Pressure on #A showed certain statistic relation with height (r=.317, p<.05) and weight (r=.434, p<.01); pressure on #B showed certain relation which has statistical meaning with only height (r=.401, p<.01); pressure on #C emerged to have statistic relationship with height (r=.308, p<.05)and weight (r=.428, p<.01). The age aspect revealed relation with pressure on #A, #B and #C, but that was not statistically significant. Conclusions: It can be inferred that there is the most loss of pressure in the area where cartilage is like an island in the middle.

Pseudo-Static Behaviors of U-shaped PSC Girder with Wide Flanges (확폭플랜지를 갖는 U형 프리스트레스 거더의 유사정적거동)

  • Rhee, In-Kyu;Lee, Joo-Beom;Kim, Lee-Hyeon;Park, Joo-Nam;Kwak, Jong-Won
    • Proceedings of the KSR Conference
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    • 2008.11b
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    • pp.993-999
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    • 2008
  • A girder height limitation is the critical parameter for rapid construction of bridge deck and construction space limitation especially in urban area such as high population area and high density habitats. A standard post-tensioned I-shaped concrete girder usually demands relatively higher girder height in order to retain sufficient moment arm between compression force and tensile force. To elaborate this issue, a small U-shaped section with wide flanges can be used as a possible replacement of I-shaped standard girder. This prestressed concrete box girder allows more flexible girder height adjustment rather than standard I-shaped post-tensioned girder plus additional torsion resistance benefits of closed section. A 30m-long, 1.7m-high and 3.63m-wide actual small prestressed concrete box girder is designed and a laboratory test for its static behaviors by applying 6,200kN amount of load in the form of 4-point bending test was performed. The load-deflection curve and crack patterns at different loading stage are recorded. In addition, to extracting the dynamic characteristics such as natural frequency and damping ratio of this girder, several excitation tests with artificial mechanical exciter with un-symmetric mass are carried out using operational frequency sweep-up. Nonlinear finite element analysis of this 4 point bending test under monotonic static load is investigated and discussed with aids of concrete damaged plasticity formulation using ABAQUS program.

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