• Journal of the Korean Society for Precision Engineering
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• v.9 no.3
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• pp.73-82
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• 1992

An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.

• Ocean Systems Engineering
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• v.3 no.2
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• pp.137-147
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• 2013

Moonpools are vertical wells in a floating body used onboard many types of vessels like cable-laying vessels and offshore support vessels. Moonpool gives passage to underwater activities for different types of ships as per their mission requirements. It is observed that inside a moonpool considerable relative motions may occur, depending on shape, depth of the moonpool and on the frequency range of the waves to which the ship is exposed. The vessel responses are entirely different in zero and non-zero Froude number. Former situation is paid attention in this study as the mission requirement of the platform is to be in the particular location for long period of operation. It is well known that there are two modes of responses depending on the shape of the moonpool viz., piston mode for square shape and sloshing mode for rectangular shapes with different aspect ratios of opening like 1:1.5 and 1:2 ratios. Circular shaped moonpool is also tested for measuring the responses. The vessel moored using heavy lines are modeled and tested in the wave basin. The moored lines are provided with pre-tension and the dynamic tensions on the lines are measured. The different modes of oscillations of water column are measured using wave gauge and the vessel response at a particular situation is determined. RAOs determined for various situations provide better insight to the designer. The experiments done in the wave basin may also be compared with a software package meant for handling moored floating bodies.

• Steel and Composite Structures
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• v.22 no.3
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• pp.589-611
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• 2016

The primary objectives of this research are to investigate the energy factor response of steel moment resisting frame (MRF) systems equipped with fuses subject to ground motions and to develop an energy-based evaluation approach for evaluating the damage-control behavior of the system. First, the energy factor of steel MRF systems with fuses below the resilience threshold is derived utilizing the energy balance equation considering bilinear oscillators with significant post-yielding stiffness ratio, and the effect of structural nonlinearity on the energy factor is investigated by conducting a parametric study covering a wide range of parameters. A practical transformation approach is also proposed to associate the energy factor of steel MRF systems with fuses with classic design spectra based on elasto-plastic systems. Then, the energy balance is extended to structural systems, and an energy-based procedure for damage-control evaluation is proposed and a damage-control index is also derived. The approach is then applied to two types of steel MRF systems with fuses to explore the applicability for quantifying the damage-control behavior. The rationality of the proposed approach and the accuracy for identifying the damage-control behavior are demonstrated by nonlinear static analyses and incremental dynamic analyses utilizing prototype structures.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.130-136
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• 2005

This paper presents an optimal design and the performance evaluation of two-axis nano positioning stage with round notched flexure hinges. A flexure hinge mechanism with round notched flexure hinges is to guide the linear motions of a moving plate in the nano positioning stage. A Min-Max algorithm is applied to the design of the flexure hinge mechanism for nano positioning stage. In the design process, the structure of the flexure hinge mechanism is fixed, then the radius of a round hole and the width of two round holes are chosen as design variables, and finally the do sign variables are calculated by the Min-Max algorithm. The machined flexure hinge mechanism, stack type PZTs for actuation and capacitance type displacement sensors for position measurement are assembled into the nano positioning stage. The experimental results of the manufactured nano positioning stage show the first modal resonance frequency of 197 Hz, the operating range of 40 um, and the resolution of 3 nm.

• The Journal of Korean Physical Therapy
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• v.29 no.3
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• pp.145-151
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• 2017

Purpose: The purpose of this study was to investigate the validity and reliability of the measurement of shoulder joint motions using an inertial measurement unit (IMU). Methods: For this study, 33 participants (32 females and 1 male) were recruited. The subjects were passively positioned with the shoulder placed at specific angles using a goniometer (shoulder flexion $0^{\circ}-170^{\circ}$, abduction $0^{\circ}-170^{\circ}$, external rotation $0^{\circ}-90^{\circ}$, and internal rotation $0^{\circ}-60^{\circ}$ angles). Kinematic data on the shoulder joints were simultaneously obtained using IMU three-dimensional (3D) angular measurement (MyoMotion) and photographic measurement. Test-retest reliability and concurrent validity were examined. Results: The MyoMotion system provided good to very good relative reliability with small standard error of measurement (SEM) and minimal detectable change (MDC) values from all three planes. It also presented acceptable validity, except for some of shoulder flexion, shoulder external rotation, and shoulder abduction. There was a trend for the shoulder joint measurements to be underestimated using the IMU 3D angular measurement system compared to the goniometer and photo methods in all planes. Conclusion: The IMU 3D angular measurement provided a reliable measurement and presented acceptable validity. However, it showed relatively low accuracy in some shoulder positions. Therefore, using the MyoMotion measurement system to assess shoulder joint angles would be recommended only with careful consideration and supervision in all situations.

• Earthquakes and Structures
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• v.6 no.5
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• pp.539-560
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• 2014

Shaking tables are devices for testing structures or structural components models with a wide range of synthetic ground motions or real recorded earthquakes. They are essential tools in earthquake engineering research since they simulate the effects of the true inertial forces on the test specimens. The destructive earthquakes that occurred at the north part of Algeria during the period of 1954-2003 resulted in an initiative from the Algerian authorities for the construction of a shaking simulator at the National Earthquake Engineering Research Center, CGS. The acceleration tracking performance and specifically the inability of the earthquake simulator to accurately replicate the input signal can be considered as the main challenge during shaking table test. The objective of this study is to validate the uni-axial sinusoidal performances curves and to assess the accuracy and fidelity in signal reproduction using the advanced adaptive control techniques incorporated into the MTS Digital controller and software of the CGS shaking table. A set of shake table tests using harmonic and earthquake acceleration records as reference/commanded signals were performed for four test configurations: bare table, 60 t rigid mass and two 20 t elastic specimens with natural frequencies of 5 Hz and 10 Hz.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.868-880
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• 2020

One of the main concerns in the structural integrity of offshore pipelines is mechanical damage from external loads. Pipelines are exposed to fatigue failure in welded joints due to geometric discontinuity. In addition, fatigue loads such as currents, waves, and platform motions may cause significant plastic deformation and fracture or leakage within a relatively low-cycle regime. The 2007 ASME Div. 2 Code adopts the master S―N curve for the fatigue evaluation of welded joints based on the mesh-insensitive structural stress. An extension to the master S―N curve was introduced to evaluate the low-cycle fatigue strength. This structural strain method uses the tensile properties of the material. However, the monotonic tensile properties have limitations in describing the material behavior above the elastic range because most engineering materials exhibit hardening or softening behavior under cyclic loads. The goal of this study is to extend the cyclic stress-strain behavior to the structural strain method. To this end, structural strain-based procedure was established while considering the cyclic stress-strain behavior and compared to the structural strain method with monotonic tensile properties. Finally, the improved prediction method was validated using fatigue test data from full-scale girth-welded pipes.

• Journal of the Korean Chemical Society
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• v.28 no.1
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• pp.34-40
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• 1984

The reorientational motion of $C_6F_6$ in neat liquid is investigated in the temperature range 293∼333K by analyzing ${\nu}_2$ and ${\nu}_16$ bands of its Raman spectrum. Diffusion constants for the tumbling ($D_{\bo}$) and spinning ($D_{\parallel}$) motions are determined. The reorientation of the molecule seems to be distinctly anisotropic. Based on the hydrodynamic model, the tumbling motion of the figure axis of $C_6F_6$ is largely diffusional. On the other hand, the spinning motion of the same axis looks mostly inertial.

• International journal of advanced smart convergence
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• v.8 no.4
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• pp.16-25
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• 2019

The Internet of things (IOT) is remodeling the agribusiness empowering the agriculturists through the extensive range of strategies, for example, accuracy as well as practical farming to deal with challenges in the field. The paper aims making use of evolving technology i.e. IoT and smart agriculture using automation. The objective of this research paper to present tools and best practices for understanding the role of information and communication technologies in agriculture sector, motivate and make the illiterate farmers to understand the best insights given by the big data analytics using machine learning. The methodology used in this system can monitor the humidity, moisture level and can even detect motions. According to the data received from all the sensors the water pump, cutter and sprayer get automatically activated or deactivated. we investigate a remote monitoring system using Wi-Fi. These nodes send data wirelessly to a central server, which collects the data, stores it and will allow it to be analyzed then displayed as needed and can also be sent to the client mobile.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.