• Structural Engineering and Mechanics
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• 제71권3호
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• pp.245-255
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• 2019

In this paper, an inverted-pendulum model consisting of a point supported by spring limbs with roller feet is adopted to simulate human walking load. To establish the kinematic motion of first and second single and double support phases, the Lagrangian variation method was used. Given a set of model parameters, desired walking speed and initial states, the Newmark-${\beta}$ method was used to solve the above kinematic motion for studying the effects of roller radius, stiffness, impact angle, walking speed, and step length on the ground reaction force, energy transfer, and height of center of mass transfer. The numerical simulation results show that the inverted-pendulum model for walking is conservative as there is no change in total energy and the duration time of double support phase is 50-70% of total time. Based on the numerical analysis, a dynamic load factor ${\alpha}_{wi}$ is proposed for the traditional walking load model.

• Computers and Concrete
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• 제9권3호
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• pp.195-213
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• 2012

This paper presents the investigation of the stochastic responses of seismically isolated bridges subjected to spatially varying earthquake ground motions including incoherence, wave-passage and site-response effects. The incoherence effect is examined by considering Harichandran and Vanmarcke coherency model. The effect of the wave-passage is dealt with various wave velocities in the response analysis. Homogeneous firm, medium and soft soil conditions are selected for considering the site-response effect where the bridge supports are constructed. The ground motion is described by filtered white noise and applied to each support points. For seismic isolation of the bridge, single and double concave friction pendulum bearings are used. Due to presence of friction on the concave surfaces of the isolation systems, the equation of motion of is non-linear. The non-linear equation of motion is solved by using equivalent linearization technique of non-linear stochastic analyses. Solutions obtained from the stochastic analyses of non-isolated and isolated bridges to spatially varying earthquake ground motions compared with each other for the special cases of the ground motion model. It is concluded that friction pendulum systems having single and double concave surfaces have important effects on the stochastic responses of bridges to spatially varying earthquake ground motions.

• 한국도로학회논문집
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• 제19권1호
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• pp.21-28
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• 2017

PURPOSES : This paper presents a finite element model to accurately represent the soil-post interaction of single guardrail posts in sloping ground. In this study, the maximum lateral resistance of a guardrail post has been investigated under static and dynamic loadings, with respect given to several parameters including post shape, embedment depth, ground inclination, and embedment location of the steel post. METHODS : Because current analytical methods applied to horizontal ground, including Winkler's elastic spring model and the p-y curve method, cannot be directly applied to sloping ground, it is necessary to seek an alternative 3-D finite element model. For this purpose, a 3D FHWA soil model for road-base soils, as constructed using LS-DYNA, has been adopted to estimate the dynamic behavior of single guardrail posts using the pendulum drop test. RESULTS : For a laterally loaded guardrail post near slopes under static and dynamic loadings, the maximum lateral resistance of a guardrail post has been found to be reduced by approximately 12% and 13% relative to the static analysis and pendulum testing, respectively, due to the effects of ground inclination. CONCLUSIONS : It is expected that the proposed soil material model can be applied to guardrail systems installed near slopes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.360-365
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• 2003

In this paper, we have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers on a single chip are implemented as a system-on-chip for multi-axis motion control. We also develop a PC GUI for an efficient interface control. Comparing with the commercial motion controller LM 629 it has multi-independent PID controllers so that it has several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, robot finger is controlled. The robot finger has three fingers with 2 joints each. Finger movements show that position tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• Journal of Mechanical Science and Technology
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• 제18권12호
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• pp.2225-2235
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• 2004

An observatory termed 'Steel Swing' has been developed, where a 15000 kg pendulum is hanged from a stiff steel frame. A building element can be tested after inserted between the pendulum and the frame. Free vibration, forced vibration tests and earthquake monitoring were performed on an exposed-type steel column base. The response records monitored during natural earthquakes were used to identify the vibration property of the specimen. Identified system gain was approximated by a theoretical gain of linear SDOF system, and the response calculated based on such a linear system agrees with the monitored response fairly well. This research technique can be applied to check the behaviors of new materials and new details of connections and the safety of non-structural elements as well.

• Smart Structures and Systems
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• 제16권4호
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• pp.701-723
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• 2015

Friction isolators are one of the most important types of bearings used to mitigate damages of earthquakes. The adaptive behavior of these isolators allows them to achieve multiple levels of performances and predictable seismic behavior during different earthquake hazard levels. There are three main types of friction isolators. The first generation with one sliding surface is known as Friction Pendulum System (FPS) isolators. The double concave friction pendulum (DCFP) with two sliding surfaces is an advanced form of FPS, and the third one, with fully adaptive behavior, is named as triple concave friction pendulum (TCFP). The current study has been conducted to investigate and compare seismic responses of these three types of isolators. The structure is idealized as a two-dimensional single degree of freedom (SDOF) resting on isolators. The coupled differential equations of motion are derived and solved using state space formulation. Seismic responses of isolated structures using each one of these isolators are investigated under seven near fault earthquake motions. The peak values of bearing displacement and base shear are studied employing the variation of essential parameters such as superstructure period, effective isolation period and effective damping of isolator. The results demonstrate a more efficient seismic behavior of TCFP isolator comparing to the other types of isolators. This efficiency depends on the selected effective isolation period as well as effective isolation damping. The investigation shows that increasing the effective isolation period or decreasing the effective isolation damping improves the seismic behavior of TCFP compared to the other isolators. The maximum difference in seismic responses, the base shear and the bearing displacement, for the TCFP isolator are calculated 26.8 and 13.4 percent less than the DCFP and FPS in effective isolation damping equal to10%, respectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1470-1473
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• 2003

In this paper the networked control systems (NCS) problem is discussed where plants and controllers are distributed and interconnected by a common network. NCS is designed with LQ regulator and applied to an inverted pendulum accounting for the multiple time delays. We are to deals with a networked control system with a single controller, multiple sensors and multiple actuators. Since these parts are distributed, they are interconnected by communication networks. An NCS with LQ regulator is designed and applied to an inverted pendulum as a benchmark plant to check its performance under time delays induced by the network. Network induced delays are composed of two parts. One is the delay from controller to plant, and another is from plant to controller. They are assumed to be constant in this paper, and the plant and controller are discretized. To apply the LQ regulator the NCS model is transformed to a standard model with delayed states as state variable. And real network induced delay is measuring in TCP/IP network assuming that two delays are constant.

• Computers and Concrete
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• 제8권6호
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• pp.693-715
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• 2011

The main object of this study is to evaluate the seismic response effects on a reinforced concrete building isolated by triple concave friction pendulum (TCFP) bearings. The site-response effects arise from the difference in the local soil conditions at the support points of the buildings. The local soil conditions are, therefore, considered as soft, medium and firm; separately. The results on the responses of the isolated building are compared with those of the non-isolated. The building model used in the time history analysis, which is a two-dimensional and eight-storey reinforced concrete building with and without the seismic isolation bearings and/or the local soil conditions, is composed of two-dimensional moment resisting frames for superstructure and of plane elements featuring plane-stress for substructure. The TCFP bearings for isolating the building are modelled as of a series arrangement of the three single concave friction pendulum (SCFP) bearings. In order to investigate the efficiency of both the seismic isolation bearings and the site-response effects on the buildings, the time history analyses are elaborately conducted. It is noted that the site-response effects are important for the isolated building constructed on soft, medium or firm type local foundation soil. The results of the analysis demonstrate that the site-response has significant effects on the response values of the structure-seismic isolation-foundation soil system.

• Journal of Advanced Marine Engineering and Technology
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• 제34권2호
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• pp.310-317
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• 2010

본 논문은 전형적 비선형 시스템인 셀프 이렉팅 도립진자 시스템의 스윙업과 안정화에 대한 제어 방법을 제안한다. 펜던트 상태의 진자를 PV 제어기를 이용하여 스윙업 시키고, 진자가 적절한 위치에 도달했을 경우 PI형 상태피드백 제어기로 스위칭하여 진자가 넘어지지 않게 유지시키도록 한다. 시뮬레이션을 통하여 제안한 제어기법의 유효성을 확인한다.

• Structural Engineering and Mechanics
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• 제34권1호
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• pp.61-84
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• 2010

Presented in this paper is the behaviour of asymmetric building isolated by the double variable frequency pendulum isolator (DVFPI). The DVFPI is an adoption of single variable frequency pendulum isolator (VFPI). The geometry and coefficient of friction of top and bottom sliding surfaces can be unequal. The governing equations of motion of the building-isolation system are derived and solved in incremental form. The analysis duly considers the interaction of frictional forces in the two principal directions developed at each sliding surface of the DVFPI. In order to investigate the behaviour of the base isolation using the DVFPI, the coupled lateral-torsional response is obtained under different parametric variations for a set of six far-fault earthquake ground motions and criterion to optimize its performance is proposed. Further, influences of the initial time period, coefficient of friction and frequency variation factors at the two sliding surfaces are investigated. The numerical results of the extensive parametric study help in understanding the torsional behaviour of the structure isolated with the double sliding surfaces as in the DVFPI. It is found that the performance of the DVFPI can be optimized by designing the top sliding surface initially softer and smoother relative to the bottom one.