• Proceedings of the KSR Conference
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• 1998.05a
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• pp.548-555
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• 1998

The influences of high speed train on the dynamic responses of steel composite railway bridges are investigated. The bridge system which has two Ⅰ-girder and several cross beams is modeled with plate and frame elements. With assumption of concrete slabs ate fully connected with steel girders, the offset between slabs and girders is modeled using rigid link. The track system is modeled using beams on elastic foundation theory. And, the TGV train is modeled in 2-dimension considering bouncing and pitching motion. And, braking action of vehicle is considered using speed dependent braking function. To investigate the behavior of bridges due to moving trains, parametric studies are performed.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2383-2385
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• 2000

It is proposed a new algorithm for a neural network adaptive tracking control scheme to improve performance in this paper. In supervisory control scheme, the upper and lower bound of the parameters are directly estimated by using RBF neural network without their information, and the weighting parameters of the control input are adjusted on-line by adaptation laws. As a result, the proposed algorithm assured that the output errors go to zero without relation to existing minimum approximation errors and disturbances. The effectiveness of the proposed algorithm is demonstrated through the simulation of one-link rigid robotics manipulator.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1998.10a
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• pp.28-35
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• 1998

The seismic overstrength factor $\Omega$ is evaluated for 4-story reinforced concrete buildings in Korea(of which seismic intensity is low). The study model is designed according to aseismic guideline research - phase II in Korea. The effect of variation of span length and bay number, dead load is considered, especially including the variation of hardening ration after yielding. And push-over analysis is performed, in which the external and internal frame is connected by rigid-link and the $\Omega$ is calculated using the roof drift ratio at 2%. For Zone I, the mean value of $\Omega$ is ranged form 2.3 to 2.5, For Zone II, from 3.1 to 3.4. For low hardening ratio(3%) after yielding, $\Omega$ has little relations with the number of bay, like as the results of other research. But for 5% hardening ratio, $\Omega$ is increased as the number of bay is increased. Within general gravity-load bound, the variation of D.L. has variation of D. L. has no effect on $\Omega$. And, $\Omega$ is increased as the span length is increased.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.445-450
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• 1998

In this paper, a robust nonlinear prediction-type controller (RNPC) is developed for the continuous time nonlinear system whose control objective is composed of system output and its desired value. The basic control law of RNPC is derived such that the future response of the system is first predicted by appropriate functional expansions and the control law minimizing the difference between the predicted and desired responses is then calculated. RNPC which involves two controls, i.e., the auxiliary and robust controls into the basic control, shows the stable closed loop dynamics of nonlinear system of any relative degree and provides the robustness to the nonlinear system with parameter/modeling uncertainty. Simulation tests for the position control of a two-link rigid body manipulator confirm the performance improvement and the robustness of RNPC.

• Wind and Structures
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• v.3 no.4
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• pp.291-302
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• 2000

A new finite element technique to solve the problem of wind and structure interactions is presented. Conventionally, wind analysis is performed on the Eulerian description in which the finite element mesh would not move in accordance with the wind flow. However, it is not the case in wind-structure interaction problems because nodes attached to the surface of structure should move with the displacement of structure. The arbitrary Lagrangian-Eulerian (ALE) method treats the mesh and flow independently, and allow the mesh to move. In this study, the analysis domain is divided into regions of the structure, air around the structure and the interface of two regions. To satisfy the compatibility and equilibrium conditions between separated regions and to carry out the efficient analysis, the rigid link is used. Also the equation of wind and that of structure are arranged in a single matrix equation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.404-408
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• 2005

Having flexibility in a manipulator will degrade trajectory tracking control and manipulator tip positioning. In practice, however, constraints imposed by various operating requirements, will render the presence of such flexibility unavoidable. The dynamic analysis of the flexible manipulator is essential in designing proper control systems. A flexible manipulator consists of infinite number of elastic modes and the modes are usually coupled to each other. For the practicality, however, it is usually assumed that the flexible system consists of finite number of elastic modes and the modes are decoupled. These assumptions result in a linear and decoupled mathematical model of the flexible manipulator and simplify the analysis of the dynamic behavior and the design of the control system. The decoupling and linearization of the flexible link, however, has been assumed without in depth analysis. This paper focuses on the analysis of the significance of the non-linear coupling factors.

• Journal of Electrical Engineering and information Science
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• v.1 no.1
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• pp.39-44
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• 1996

In this paper, adaptive controller with switching action is designed for rigid body robot manipulators to ensure the uniform stability of the manipulator system without a priori knowledge of the unmodeled dynamics. It will be shown that the parameter estimates are bounded independent of the other closed-loop signals boundedness, and also shown that the tracking error belongs to the normalized error bound via mathematical analisys. The robustness and performance of the proposed adaptive controller is investigated for the two-link direct drive manipulator actuated by VRM(Variable Reluctance Motor).

• Journal of the Korean Society of Industry Convergence
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• v.26 no.6_1
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• pp.993-999
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• 2023

In this paper, a novel polishing tool mechanism with 3-axis compliance is presented, which consists of 2-axis rotational and 1-axis linear compliances in series. The 2-axis rotational compliance mechanism is made up of four cantilever beams for adjusting rotational stiffness and one flexure universal joint at the center for constraining the z-axis deflection. The 2-axis rotational compliance can mechanically adjust the polishing tool to machined surfaces. The polishing press force can be simply controlled by using a linear spring along the z-axis. The 2-axis rotational and 1-axis linear compliance design is decoupled. The stiffness analysis of the 2-axis compliance mechanism was performed based on link compliance matrix and rigid body transformation. A 3-axis polishing tool was designed by configuring the 2-axis compliance mechanism and one linear spring.

• Communications of the Korean Mathematical Society
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• v.39 no.1
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• pp.223-245
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• 2024

We study RNA foldings and investigate their topology using a combination of knot theory and embedded rigid vertex graphs. Knot theory has been helpful in modeling biomolecules, but classical knots emphasize a biomolecule's entanglement while ignoring their intrachain interactions. We remedy this by using stuck knots and links, which provide a way to emphasize both their entanglement and intrachain interactions. We first give a generating set of the oriented stuck Reidemeister moves for oriented stuck links. We then introduce an algebraic structure to axiomatize the oriented stuck Reidemeister moves. Using this algebraic structure, we define a coloring counting invariant of stuck links and provide explicit computations of the invariant. Lastly, we compute the counting invariant for arc diagrams of RNA foldings through the use of stuck link diagrams.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.14 no.5
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• pp.1055-1067
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• 1994

This paper is presented to perform linear dynamic analysis of bridges due to vehicle moving on bridges. The road surface roughness and bridge/vehicle interaction are also considered. The bridge and vehicle are modeled as 3-D bridge and vehicle model, respectively. The road surface roughness of the roadway and bridge decks are generated from power spectral density(PSD) function for good road. The PSD function proposed by C.J. Dodds and J.D. Robson is used to describe the road surface roughness for good road condition. The vehicles are modeled as two nonlinear vehicle model with 7-D.O.F of truck and 12-D.O.F of tractor-trailer and the equations of motion of the vehicles are derived using Lagrange's equation. The main girder and concrete deck are modeled as beam and shell element, respectively and rigid link is used between main girder and concrete deck. The equations of motion of the vehicles are solved by Newmark ${\beta}$ method and the equations of the motion of the bridges are solved by mode-superposition procedures. The validity of the proposed procedure is demonstrated by comparing the results with the experimental data reported by the AASHO Road Test. The comparison shows that the agreement between experiment and theory is quite satisfactory.