• Smart Structures and Systems
• /
• v.14 no.1
• /
• pp.17-37
• /
• 2014

In this study, four widely accepted and used variants of Evolution Strategies (ES) are adapted and applied to the output-error state-space identification problem. The selection of ES is justified by prior strong indication of superior performance to similar problems, over alternatives like Genetic Algorithms (GA) or Evolutionary Programming (EP). The ES variants that are being tested are (i) the (1+1)-ES, (ii) the $({\mu}/{\rho}+{\lambda})-{\sigma}$-SA-ES, (iii) the $({\mu}_I,{\lambda})-{\sigma}$-SA-ES, and (iv) the (${\mu}_w,{\lambda}$)-CMA-ES. The study is based on a six-degree-of-freedom (DOF) structural model of a shear building that is characterized by light damping (up to 5%). The envisaged analysis is taking place through Monte Carlo experiments under two different excitation types (stationary / non-stationary) and the applied ES are assessed in terms of (i) accurate modal parameters extraction, (ii) statistical consistency, (iii) performance under noise-corrupted data, and (iv) performance under non-stationary data. The results of this suggest that ES are indeed competitive alternatives in the non-linear state-space estimation problem and deserve further attention.

• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.12
• /
• pp.65-74
• /
• 2008

This paper deals with the path creation for stable action of a robot and transformation by using the fuzzy algorithm. Also, the obstacle detection and environmental analysis are performed by a stereo vision device. The robot decides the range and the height using the fuzzy algorithm. Therefore the robot can be adapted in topography through a transformation by itself. In this paper, the robot is designed to have two advantages. One is the fast movability in flat topography with the use of wheels. The other is the moving capability in uneven ground by walking. It has six leg forms for a stable walk. The wheels are fixed on the legs of the robot, so that various driving is possible. The height and the width of robot can be changed variously using four joints of each leg. The wheeled joint has extra DOF for a rotation of vertical axis. So the robot is able to rotate through 360 degrees. The robot has various sensors for checking the own state. The stable action of a robot is achieved by using sensors. We verified the result of research through an experiment.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.8
• /
• pp.186-192
• /
• 1999

This paper introduces a study of a method for the forward kinematic analysis, which finds the 6 DOF motions and velocities from the given six cylinder lengths in the Stewart platform. From the viewpoints of kinematics, the solution for the inverse kinematic is easily found by using the vectors of the links which are composed of the joint coordinates in base and plate frames, to act contrary to the serial manipulator, but forward kinematic is difficult because of the nonlinearity and complexity of the Stewart platform dynamic equation with the multi-solutions. Hence we, first in this study, introduce the linear estimator using the Luenberger's observer, and the estimator using the nonlinear measured model for the forward kinematic solutions. But it is difficult to find the parameter of the design for the estimation gain or to select the estimation gain and the constant steady state error exists. So this study suggests the estimator with the estimation gain to be learned by the neural network with the structure of multi-perceptron and the learning method using back propagation and shows the estimation performance using the simulation.

• The Journal of Korea Robotics Society
• /
• v.13 no.1
• /
• pp.55-62
• /
• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

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

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.20 no.3
• /
• pp.255-267
• /
• 2008

Using the commercial CFD code FLOW-$3D^{(R)}$ which has an implicit General Moving Object (GMO) method, the ship-induced wave has been simulated. In the implicit GMO method of the FLOW-$3D^{(R)}$, a rigid body's motion which is either user-prescribed (prescribed motion) or dynamically coupled to fluid flow (coupled motion) can be computed with six degrees of freedom (DOF). The simulated horizontal wave patterns are agree with the wave patterns represented by depth Froude number. The model has been well-simulated to generate the depth-dependent wave transformation in comparison of uniform depth case to complicated depth case. Additionally, it shows that ship-induced waves have been reasonably generated by two ships passing each other and by a ship moving in a curve. Therefore, it is suggested that the FLOW-$3D^{(R)}$ model calibrated with observed data should provide more accurate prediction for the ship-induced wave in a certain fairway or harbor.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.1
• /
• pp.115-120
• /
• 2011

The dynamic responses of a 5 MW wind turbine lifted by a floating crane with two elastic booms are analyzed. Dynamic equations of motions of a multibody system that consists of a floating crane, two elastic booms, and a wind turbine are derived. The six-degree-of-freedom (DOF) motions for the floating crane and the wind turbine are considered in the equations of motions. The hydrostatic force, the hydrodynamic force due to a regular wave, the mooring force, the wire rope force, and the gravitational force are considered as external forces. By solving the equations numerically, the dynamic responses of cargo are simulated. The simulation results are compared with those in the case of one elastic boom. Finally, the dynamic responses of the wind turbine lifted by the floating crane are analyzed under regular wave condition.

• Journal of the Korean Society of Industry Convergence
• /
• v.20 no.1
• /
• pp.34-48
• /
• 2017

This study proposes a new approach to control a trajectory control of vertical type articulated robot arm with six revolution joints by computed torque method for manufacturing process automation. The proposed control scheme takes advantage of the properties of the fuzzy controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator for forging manufacturing process automation. The results is illustrated that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. This study is included with an analytical methodology of inverse kinematic computation for 6 DOF manipulators. And an intelligent PID based on feed forward fuzzy control structure is applied to control the working path control with disturbances caused by uncertainty parameters of the manipulator dynamic model. Lastly, the validity of proposed is verified by simulations and experiments.

• Structural Engineering and Mechanics
• /
• v.75 no.4
• /
• pp.477-485
• /
• 2020

Finite element (FE) model based structural damage detection (SDD) methods play vital roles in effectively locating and quantifying structural damages. Among these methods, structural model updating should be conducted before SDD to obtain benchmark models of real structures. However, the characteristics of updating parameters are not reasonably considered in existing studies. Inspired by the l_∞ norm regularization, a novel anti-sparse representation method is proposed for structural model updating in this study. Based on sensitivity analysis, both frequencies and mode shapes are used to define an objective function at first. Then, by adding l_∞ norm penalty, an optimization problem is established for structural model updating. As a result, the optimization problem can be solved by the fast iterative shrinkage thresholding algorithm (FISTA). Moreover, comparative studies with classical regularization strategy, i.e. the l₂ norm regularization method, are conducted as well. To intuitively illustrate the effectiveness of the proposed method, a 2-DOF spring-mass model is taken as an example in numerical simulations. The updating results show that the proposed method has a good robustness to measurement noises. Finally, to further verify the applicability of the proposed method, a six-storey aluminum alloy frame is designed and fabricated in laboratory. The added mass on each storey is taken as updating parameter. The updating results provide a good agreement with the true values, which indicates that the proposed method can effectively update the model parameters with a high accuracy.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.3
• /
• pp.175-185
• /
• 2020

The six-DOF aerodynamic coefficients of a missile entail inherent physical gradient constraints originated from the geometric characteristics of a cylindrical fuselage. To effectively adopt the freely available gradient information in aerodynamic coefficients modeling, this research employed gradient-enhanced (GE) Gaussian process. To investigate the accuracy of aerodynamic coefficients predicted with gradients information, we compared two Gaussian-process-based models: ordinary and GE Gaussian process models with and without gradient information, respectively. As a result, we found that GE Gaussian process models were able to comply with imposed gradient information and more accurate than ordinary Gaussian process models. However, we also found that GE Gaussian process modeling cannot handle gradient information continuously and ends up with more samples due to additional gradient information.