• Journal of the Korean Society for Precision Engineering
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• v.21 no.11
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• pp.83-90
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• 2004

In this paper we present a new real-time visual servoing unit for laparoscopic surgery This unit can automatically control laparoscope manipulator through visual tracking of laparoscopic surgical tool. For the tracking, we present two-stage adaptive CONDENSATION(conditional density propagation) algorithm to extract the accurate position of the surgical tool tip from a surgical image sequence in real-time. This algorithm can be adaptable to abrupt change of laparoscope illumination. For the control, we present virtual damper system to control a laparoscope manipulator safely and stably. This system causes the laparoscope to move under constraint of the virtual dampers which are linked to the four sides of image. The visual servoing unit operates the manipulator in real-time with locating the surgical tool in the center of image. The experimental results show that the proposed visual tracking algorithm is highly robust and the controlled manipulator can present stable view with safe.

• Journal of Korean Association for Spatial Structures
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• v.12 no.2
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• pp.55-63
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• 2012

This study is about earthquake-proof reinforcement through structural function evaluation of an school building. The purpose of this study is to comparatively analyze structure reinforcement measures in consideration of safety and usability through structural function evaluation of school buididng, to offer rational measures for earthquake-proof function and to provide help in maintaining safe structures against earthquake. For this purpose, was selected for this study as an existing school building, earthquake-proof function evaluation was conducted, and measures to reinforce earthquake-proof function was offered. As for the research method, the first and the second earthquake-proof function evaluations were conducted which is an existing reinforced concrete school building. Through the abovementioned methods, earthquake-proof function evaluation were conducted, the results were analyzed and the measure to reinforce earthquake-proof function were offered(Steel damper, Carbon plate stiffeners). The offered measure to reinforce earthquake-proof function was applied to the subject structure, and comprehensive results were derived from earthquake-proof function evaluation regarding before and after earthquake-proof function reinforcement.

• Journal of the Earthquake Engineering Society of Korea
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• v.6 no.2
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• pp.63-71
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• 2002

This paper examines the ASCE first generation benchmark problem for a seismically excited cable-stayed bridge, and proposes a new semi-active control strategy focusing on inclusion of effects of control-structure interaction. This benchmark problem focuses on a cable-stayed bridge in Cope Girardeau, Missouri, USA, for which construction is expected to be completed in 2003. Seismic considerations were strongly considered in the design of this bridge due to the location of the bridge in the New Madrid seismic zone and its critical role as a principal crossing of the Mississippi River. In this paper, magnetorheological(MR) fluid dampers are proposed as the supplemental damping devices, and a clipped-optimal control algorithm is employed. Several types of dynamic models for MR fluid dampers, such as a Bingham model, a Bouc-Wen model, and a modified Bouc-Wen model, are considered, which are obtained from data based on experimental results for full-scale dampers. Because the MR fluid damper is a controllable energy-dissipation device that cannot add mechanical energy to the structural system, the proposed control strategy is fail-safe in that bounded-input, bounded-output stability of the controlled structure is guaranteed. Numerical simulation results show that the performance of the proposed semi-active control strategy using MR fluid dampers is quite effective.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• International Journal of High-Rise Buildings
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• v.8 no.2
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• pp.117-123
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• 2019

Tall buildings are prone to wind-induced vibrations due to their slenderness whereby peak structural accelerations may be higher than the recommended maximum value. The common countermeasure is the installation of a tuned mass damper (TMD) near the highest occupied floor. Due to the extremely large modal mass of tall buildings and because of the narrow to broad band type of wind excitation the TMD mass may become inacceptable large - in extreme cases up to 2000 metric tons. It is therefore a need to develop more efficient TMD concepts which provide the same damping to the building but with reduced mass. The adaptive TMD concept described in this paper represents a solution to this problem. Frequency and damping of the adaptive TMD are controlled in real-time by semi-active oil dampers according to the actual structural acceleration. The resulting enhanced TMD efficiency allows reducing its mass by up to 20% compared to the classical passive TMD. The adaptive TMD system is fully fail-safe thanks to a smart valve system of the semi-active oil dampers. In contrast to active TMD solutions the adaptive TMD is unconditionally stable and its power consumption on the order of 1 kW is negligible small as controllable oil dampers are semi-active devices. The adaptive TMD with reduced mass, stable behavior and lowest power consumption is therefore a preferable and cost saving damping tool for tall buildings.

• Journal of Korean Tunnelling and Underground Space Association
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• v.24 no.6
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• pp.745-756
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• 2022

The road tunnel is a semi-closed space that is blocked on all sides except the entrance and exit, and in the event of a fire, the smoke of the fire spreads longitudinally due to heat buoyancy caused by the fire and air currents that always exist in the tunnel. To solve this problem, smoke removal facilities are installed in road tunnels to secure a safe evacuation environment by controlling the direction of movement of smoke or directly smoking at fire points. In urban areas, the service level of urban roads decreases due to the increase in traffic due to the increase in population, and as a solution, the construction of underground roads in urban areas is increasing. When a fire occurs during hydrogen leakage through TPRD of a hydrogen fuel cell vehicle (FCEV), the fire intensity depends on the amount of leakage, and the maximum fire intensity depends on the orifice diameter of the TPRD. Considering the TPRD orifice diameter of 1.8 mm, this study analyzed the diffusion distance of fire smoke according to the wind speed of the roadway and the opening interval of the large exhaust port when the maximum fire intensity was 15 MW. As a result, it was analyzed that air flow in the tunnel could be controlled if the wind speed of the road in the tunnel was less than 1.25 m/s, and smoke could be controlled within 200 m from the fire if the damper interval was 50 m and 100 m.

• Fire Science and Engineering
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• v.24 no.2
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• pp.97-105
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• 2010

The smoke control systems using pressure differentials are already well known as the most reliable method to prevent the smoke infiltration into the emergency stairs or safe spaces. However, it is true that many problems are domestically pointed out due to the insufficient understanding and technology on the smoke control systems using pressure differentials. In this regard, this work analyzed the effect of major factors for smoke control system using pressure differentials such as a duct area, opening area of air supply damper, improvement on open vestibules, stack effect and location of air supply. In conclusion, adequate pressure differentials can not be maintained in small duct because the smaller duct area have the large friction loss. Especially, It is confirmed that the major factor for deterioration of smoke control system performance is stack effect that makes pressure differentials smaller in the lower floors.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.912-918
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• 2016

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.

• Journal of Navigation and Port Research
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• v.44 no.6
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• pp.494-500
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• 2020

Maneuvering vessels in the harbor is an interesting problem in marine cybernetics. The vessel, operated by the pilot and moving very slowly in shallow water, usually is assisted by thrusters, the main propulsion system, and tugboats. In this paper, we suggest a new vessel berthing technique using dampers (cylinder-type fenders) and a system of winches for complex and dangerous berthing situations. We found that control of the fender stroke and rope tension enabled a safe and quick berthing process. The effectiveness and usefulness of this berthing system was verified using a ship of about 2,000 tons.

• Smart Structures and Systems
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• v.33 no.5
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• pp.365-374
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• 2024

This paper adopts a new approach in which nonlinear vibrations can be controlled using fuzzy controllers by optimal grey evolutionary algorithm. If the fuzzy controller cannot stabilize the systems, then the high frequency is injected into the system to assist the controller, and the system is asymptotically stabilized by adjusting the parameters. This paper uses the GM (grey model) and the neural network prediction model. The structure of the neural network is improved from a single factor, and multiple data inputs are extended to various factors and numerous data inputs. The improved model expands the applicable range of uncontrolled elements and improves the accuracy of controlled prediction, using the model that has been trained and stabilized by multiple learning. The simulation results show that the improved gray neural network model has higher prediction accuracy and reliability than the traditional GM model, improving controlled management and pre-control ability. In the combined prediction, the time series parameters and the predicted values obtained from the GM (1,1) (Grey Model of first order and one variable) are simultaneously used as the input terms of the neural network, considering the influence of the non-equal spacing of the data, which makes the results of the combined gray neural network model more rationalized. By adjusting the model structure and system parameters to simulate and analyze the controlled elements, the corresponding risk change trend graphs and prediction numerical calculation results are obtained, which also realize the effective prediction of controlled elements. According to the controlled warning principle and objective, the fuzzy evaluation method establishes the corresponding early warning response method. The goals of this paper are towards access to adequate, safe and affordable housing and basic services, promotion of inclusive and sustainable urbanization and participation, implementation of sustainable and disaster-resilient buildings, sustainable human settlement planning and manage.