• Journal of the Korean Society for Precision Engineering
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• v.32 no.5
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• pp.471-481
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• 2015

This paper presents the robot vision control schemes using Extended Kalman Filter (EKF) method for the slender bar placement in the appearance of obstacles during robot movement. The vision system model used for this study involves the six camera parameters($C_1{\sim}C_6$). In order to develop the robot vision control scheme, first, the six parameters are estimated. Then, based on the estimated parameters, the robot's joint angles are estimated for the slender bar placement. Especially, robot trajectory caused by obstacles is divided into three obstacle regions, which are beginning region, middle region and near target region. Finally, the effects of number of obstacles using the proposed robot's vision control schemes are investigated in each obstacle region by performing experiments of the slender bar placement.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.63-64
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• 2010

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.3
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• pp.305-315
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• 2016

This study aims to develop a robot vision control scheme using the Newton-Raphson (N-R) method for the uncertainty of circumstance caused by the appearance of obstacles during robot movement. The vision system model used for this study involves six camera parameters (C1-C6). First, the estimation scheme for the six camera parameters is developed. Then, based on the six estimated parameters for three of the cameras, a scheme for the robot's joint angles is developed for the placement of a slender bar. For the placement of a slender bar for the uncertainty of circumstances, in particular, the discontinuous robot trajectory caused by obstacles is divided into three obstacle regions: the beginning region, middle region, and near-target region. Then, the effects of obstacles while using the proposed robot vision control scheme are investigated in each obstacle region by performing experiments with the placement of the slender bar.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.50-58
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• 2017

This paper proposes a real-time robotic vision control scheme using the weighting matrix to efficiently process the vision data obtained during robotic movement to a target. This scheme is based on the vision system model that can actively control the camera parameter and robotic position change over previous studies. The vision control algorithm involves parameter estimation, joint angle estimation, and weighting matrix models. To demonstrate the effectiveness of the proposed control scheme, this study is divided into two parts: not applying the weighting matrix and applying the weighting matrix to the vision data obtained while the camera is moving towards the target. Finally, the position accuracy of the two cases is compared by performing the slender bar placement task experimentally.

• Structural Engineering and Mechanics
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• v.24 no.6
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• pp.709-725
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• 2006

In this paper the buckling and post-buckling behavior of slender bars under self-weight are studied. In order to study the post-buckling behavior of the bar, a geometrically exact formulation for the non-linear analysis of uni-directional structural elements is presented, considering arbitrary load distribution and boundary conditions. From this formulation one obtains a set of first-order coupled nonlinear equations which, together with the boundary conditions at the bar ends, form a two-point boundary value problem. This problem is solved by the simultaneous use of the Runge-Kutta integration scheme and the Newton-Raphson method. By virtue of a continuation algorithm, accurate solutions can be obtained for a variety of stability problems exhibiting either limit point or bifurcational-type buckling. Using this formulation, a detailed parametric analysis is conducted in order to study the buckling and post-buckling behavior of slender bars under self-weight, including the influence of boundary conditions on the stability and large deflection behavior of the bar. In order to evaluate the quality and accuracy of the results, an experimental analysis was conducted considering a clamped-free thin-walled metal bar. As this kind of structure presents a high index of slenderness, its answers could be affected by the introduction of conventional sensors. In this paper, an experimental methodology was developed, allowing the measurement of static or dynamic displacements without making contact with the structure, using digital image processing techniques. The proposed experimental procedure can be used to a wide class of problems involving large deflections and deformations. The experimental buckling and post-buckling behavior compared favorably with the theoretical and numerical results.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.04a
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• pp.202-212
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• 2000

This study investigates the ductility capacity of slender-wide reinforced concrete walls under predominant flexural moment loading. The experimental work for this study aims to provide design guidelines for bar detailing in critical regions under compressive stress in particular in case of slender-wide RC walls. According to the experimental observation the Bernoulli hypothesis of linear strain distribution is no longer valid and the ultimate compressive strain of concrete is significantly reduced, It is postulated that the nonlinear strain distribution causes the concentrated compressive stressed region and hence the premature crushing failure at the toe of walls. The reduced ultimate strain and nonlinear strain distribution need transverse reinforcement for confinement and more realistic models for the strength and displacement estimation of slender-wide RC wall.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.4
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• pp.447-459
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• 2013

Many problems need to be solved before vision systems can actually be applied in industry, such as the precision of the kinematics model of the robot control algorithm based on visual information, active compensation of the camera's focal length and orientation during the movement of the robot, and understanding the mapping of the physical 3-D space into 2-D camera coordinates. An algorithm is proposed to enable robot to move actively even if the relative positions between the camera and the robot is unknown. To solve the correction problem, this study proposes vision system model with six camera parameters. To develop the robot vision control algorithm, the N-R and EKF methods are applied to the vision system model. Finally, the position accuracy and processing time of the two algorithms developed based based on the EKF and the N-R methods are compared experimentally by making the robot perform slender bar placement task.

• Computers and Concrete
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• v.8 no.5
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• pp.541-561
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• 2011

The Finite Element Method (FEM) was employed to demonstrate that accurate simulations of seismically repaired and retrofitted reinforced concrete shear walls can be achieved provided a good analysis program with comprehensive models for material and structural behaviour is used. Furthermore, the analysis tool should have the capability to retain residual damage experienced by the original structure and carry it forward in the repaired and retrofitted structure. The focus herein is to provide quick, simple, but reliable modelling procedures for repair and retrofitting strategies such as concrete replacement, addition of diagonal reinforcing bars, bolting of external steel plates, and bonding of external steel plates and fibre reinforced polymer sheets, thus illustrating versatility in the modelling. Slender, squat, and slender-squat shear walls were investigated. The modelling utilized simple rectangular membrane elements for the concrete, truss bar elements for the steel and FRP retrofitting materials, and bond-link elements for the bonding interface between steel or FRP to concrete. The analyses satisfactorily simulated seismic behaviour, including lateral load capacity, displacement capacity, energy dissipation, hysteretic response, and failure mode.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.8
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• pp.62-69
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• 2010

Internal lathe machining with a boring bar is weak with respect to vibration because the bar is long and slender. Therefore, it is important to study the dynamic characteristics of a boring bar. The purpose of this study was to identify the effects of overhang and cutting conditions on the dynamic response characteristics of a boring bar. For an efficient experiment, an $L_g(3^3)$ orthogonal array was applied and the results were quantitatively analyzed by ANOVA. Overhang, feed per revolution, and depth of cut were selected as independent variables. Meanwhile, dynamic stiffness, damping ratio, damping coefficient, and acceleration were chosen as dependent variables. The vibration signal was obtained from an accelerometer attached to the boring bar, followed by visualization by a signal analyzer. The effect of overhang was found to have a significant effect on the dynamic stiffness, damping ratio, and damping coefficient, but the other variables did not. As the length of the overhang increased, the dynamic stiffness decreased and the damping ratio increased. In addition, the damping coefficient increased until the length of the overhang was 4D (where D is the shank diameter), after which it remained constant. The acceleration decreased until the overhang length was 4D, and then increased sharply when the overhang was increased further. From these results, the behavioral trend of the damping characteristics changed when its overhang length was 4D. Consequently, there is a critical point that the dynamic characteristics of boring bar change.

• Smart Structures and Systems
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• v.18 no.2
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• pp.335-354
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• 2016

This contribution presents an extended one-dimensional theory for piezoelectric beam-type structures with non-ideal electrodes. For these types of electrodes the equipotential area condition is not satisfied. The main motivation of our research is originated from passive vibration control: when an elastic structure is covered by several piezoelectric patches that are linked via resistances and inductances, vibrational energy is efficiently dissipated if the electric network is properly designed. Assuming infinitely small piezoelectric patches that are connected by an infinite number of electrical, in particular resistive and inductive elements, one obtains the Telegrapher's equation for the voltage across the piezoelectric transducer. Embedding this outcome into the framework of Bernoulli-Euler, the final equations are coupled to the wave equations for the longitudinal motion of a bar and to the partial differential equations for the lateral motion of the beam. We present results for the wave propagation of a longitudinal bar for several types of electrode properties. The frequency spectra are computed (phase angle, wave number, wave speed), which point out the effect of resistive and inductive electrodes on wave characteristics. Our results show that electrical damping due to the resistivity of the electrodes is different from internal (=strain velocity dependent) or external (=velocity dependent) mechanical damping. Finally, results are presented, when the structure is excited by a harmonic single force, yielding that resistive-inductive electrodes are suitable candidates for passive vibration control that might be of great interest for practical applications in the future.