• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.7-12
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• 1990

In this paper, we propose a new manipulator control scheme based on the CMAG neural network. The proposed control consists of two components. The feedforward component is an output of trained CMAC neural network and the feedback component is a modified sliding mode control. The CMAC accepts the position, velocity and acceleration of manipulator as input and outputs two values for the controller : One is the nominal torque used for feedforward compensation(M1 network) and the other is the inertia matrix related information used for the feedback component(M2 network). Since the used control algorithm guarantees the robust trajectory tracking in spite of modeling errors, the CMAC mapping errors due to the memory limitation are little worth consideration.

• Journal of Drive and Control
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• v.10 no.3
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• pp.1-6
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• 2013

Traction control suppresses the spinning of the driven wheel during drive away or acceleration on slippery road condition. In this study, the estimation method of brake pressure hardly measured is proposed. The estimation method of brake pressure and the brake pressure control with pulse width modulation(PWM) are verified a good performance through experiment. Also, the vehicle simulation on slippery road conditions is validated the applicability of brake pressure control for traction control. The simulation results have showed that the brake pressure can be used the control variable for traction control.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.12
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• pp.1278-1285
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• 2008

This paper presents an inertia type of piezostack based active mount fur unmanned aero vehicle (UAV) camera system. After identifying the stiffness and damping properties of the rubber element and piezostack a mechanical model of the active mount system is established. The governing equation of mount is then derived and expressed in a state space form. Subsequently, a sliding mode controller which is robust to uncertain parameters is designed in order to reduce the vibration imposed according to the military specification associated with UAV camera mount system operation. Control performances such as acceleration and transmitted force are evaluated through both computer simulation and experimental implementation.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.09a
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• pp.403-410
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• 2003

This paper presents the results of experimental studies on the equipment isolation effect in the nuclear containment. For this purpose, shaking table tests were performed. The isolation system, known as Friction Pendulum System (FPS), combines the concepts of sliding bearings and pendulum motion was selected. Peak ground acceleration, bidirectional motion, effect of vertical motion and frequency contents of selected earthquake motions were considered. Finally, it is presented that the FPS systems are effective for the small equipment isolation. Key word equipment isolation, nuclear containment, shaking table test, Friction Pendulum System (FPS)

• Earthquakes and Structures
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• v.3 no.3_4
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• pp.315-340
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• 2012

There are many types of seismic isolation devices that are being used today for structural control of earthquake response in buildings. The most commonly used are sliding bearings and elastomeric bearings, the latter with or without lead core. An alternative solution is the use of steel springs combined with viscoelastic fluid dampers, which is the case discussed in this paper. An analytical study of a three-story building supported on helical steel springs and viscoelastic fluid dampers, GERB Control System (GCS), subjected to near-fault earthquakes is presented. Several earthquakes records have been obtained by the acceleration network installed in the isolated building and in its non-isolated twin since they were finished. These experimental results are analysed and discussed. The aim is to show that the spring-based system can be an alternative for base isolation of small building located near active faults.

• Nuclear Engineering and Technology
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• v.30 no.2
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• pp.91-98
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• 1998

Time history analysis is usually performed to characterize the nonlinear seismic behavior of a spent fuel storage rack(SFSR). In the past, the seismic analyses of the SFSR were performed with two-dimensional planar models, which could not account for torsional response and simultaneous multi-directional seismic input In this study, three-dimensional seismic analysis methodology is developed for the single SFSR using the ANSYS code. The 3D- Model can be used to determine the nonlinear behavior of the rack, i.e., sliding, uplifting, and impact evaluation between the fuel assembly and rack, and rack and the pool wall, This paper also reviews the 3-D modeling of the SFSR and the adequacy of the ANSYS for the seismic analysis. AS a result of the adquacy study, the method of ANSYS transient analysis with acceleration time history is suitable for the seismic analysis of highly nonlinear structure such as an SFSR but it isn't appropriate to use displacement time history of seismic input.

• Journal of the Korean Geotechnical Society
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• v.34 no.1
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• pp.5-16
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• 2018

In this study, seismic performance of geotechnical seismic isolation system capable of primary seismic isolation in the ground was evaluated. 1-G shaking table test was used to assess the performance of Teflon or steel slag as geotechnical seismic isolation systems installed beneath superstructure foundation. Response acceleration and response spectra were analyzed considering different input motions. The results were compared with those of fixed foundation structure without seismic isolation system. The steel slag-type seismic isolation system showed significant reduction in acceleration. The teflon-type seismic isolation system did not show significant effects on acceleration reduction in low-to-moderate seismicity condition, but it did show better effects in case of strong seismic condition. As input motion was transferred to the upper mass, the response spectrum of the fixed foundation structure was amplified in the short period range. In contrast, the response spectrum of the structure with seismic isolation using teflon or steel slag amplified in the long period range. It is found that the change of periodicity and the friction characteristics between isolation materials and foundations affected acceleration reduction.

• Structural Engineering and Mechanics
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• v.23 no.6
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• pp.615-634
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• 2006

Seismic response of the liquid storage tanks isolated by the elastomeric bearings and sliding systems is investigated under near-fault earthquake motions. The fault normal and parallel components of near-fault motion are applied in two horizontal directions of the tank. The continuous liquid mass of the tank is modeled as lumped masses known as sloshing mass, impulsive mass and rigid mass. The corresponding stiffness associated with these lumped masses has been worked out depending upon the properties of the tank wall and liquid mass. It is observed that the resultant response of the isolated tank is mainly governed by fault normal component with minor contribution from the fault parallel component. Further, a parametric study is also carried out to study the effects of important system parameters on the effectiveness of seismic isolation for liquid storage tanks. The various important parameters considered are: aspect ratio of tank, the period of isolation and the damping of isolation bearings. There exists an optimum value of isolation damping for which the base shear in the tank attains the minimum value under near-fault motion. The increase of damping beyond the optimum value will reduce the bearing and sloshing displacements but increases the base shear. A comparative performance of five isolation systems for liquid storage tanks is also studied under normal component of near-fault motion and found that the EDF type isolation system may be a better choice for design of isolated tank in near-fault locations. Finally, it is also observed that the satisfactory response can be obtained by analysing the base-isolated tanks under simple cycloidal pulse instead of complete acceleration history.

• Tunnel and Underground Space
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• v.25 no.1
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• pp.76-85
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• 2015

We have developed a software to predict failure time of the rock slope based on analysis of the data from real time displacement measurements with respect to time. The software consists of four modules that play roles in analytical methods such as inverse velocity method, log time-log velocity method, log velocity-log acceleration method and nonlinear least square method to estimate failure time. VisualBasic.NET on the MS Visual Studio platform was utilized as a development tool to efficiently implement the modules and the graphical user interface of the software. Displacement data obtained from laboratory physical model studies of plane sliding were used to explore the applicability of the software, and to evaluate the possibility of predicting potential slope failure. It seems possible to estimate failure time using developed software for sliding plane having exponential type of deformability.

• Geomechanics and Engineering
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• v.19 no.2
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• pp.105-114
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• 2019

In this paper, simulation tests were conducted with similar materials to study the distribution of residual voids in longwall goaf. Short-time step loading was used to simulate the obvious deformation period in the later stage of arch breeding. Long-time constant loading was used to simulate the rheological stage of the arch forming. The results show that the irregular caving zone is the key area of old goaf for the subsidence control. The evolution process of the stress arch and fracture arch in stope can be divided into two stages: arch breeding stage and arch forming stage. In the arch breeding stage, broken rocks are initially caved and accumulated in the goaf, followed by the step deformation. Arch forming stage is the rheological deformation period of broken rocks. In addition, under the certain loads, the broken rock mass undergoes single sliding deformation and composite crushing deformation. The void of broken rock mass decreases gradually in short-time step loading stage. Under the water lubrication, a secondary sliding deformation occurs, leading to the acceleration of the broken rock mass deformation. Based on above research, the concept of equivalent height of residual voids was proposed, and whose calculation equations were developed. Finally, the conceptual model was verified by the field measurement data.