• Korean Journal of Remote Sensing
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• v.24 no.4
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• pp.333-340
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• 2008

For the indoor spatial modeling by terrestrial LiDAR and the analyzing its positional accuracy result, two terrestrial LiDARs which have different specification each other were used at test site. This paper shows disparity of accuracy between (1) the structural coordinate transformation by point cloud unit using control points and (2) the relative registration among all point cloud units then structural coordinate transformation in bulk, under condition of limited number of control points. As results, the latter had smaller size and distribution of errors than the former although different specifications and acquistion methods are used.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.150-150
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• 2000

We as modal parameter estimation technique by developing a residual based system reconstruction and using the system matrix coordinate transformation. The modal parameters can be estimated from and residues of the system transfer functions expressed in modal coordinate basis, derived from the state space system matrices. However, for modal parameter estimation of multivariable and order structural systems over broad frequency bands, this non-iterative algorithm gives high accuracy in the natural fre- and damping ratios. From vibration tests on cross-ply and angle-ply composite laminates, the natural frequencies and damping ratios on be estimated using tile coordinates of the structural system reconstructed fro the experimental frequency response. These results are compared with those of finite element analysis and single-degree-of-freedom curve-fitting.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.527-527
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• 2000

Wean modal parameter estiimation technique by developing a residual based system reconstruction and using the system matrix coordinate transformation. The modal parameters can be estimated from and residues of the system transfer functions expressed in modal coordinate basis, derived from the state space system matrices. However, for modal parameter estimation of mllltivariable and order structural systems over broad frequency bands, this non-iterative algorithm gives high accuracy in the natural fre and damping ratios. From vibration tests on cross-ply and angle-ply composite laminates, the natural frequencies and damping ratios can be estimated using the coordinates of the structural system reconstructed from the experimental frequency response. These results are compared with those of finite element analysis and single-degree-of-freedom curve-fitting..

• Structural Engineering and Mechanics
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• v.44 no.3
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• pp.267-288
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• 2012

Free vibration analysis of arbitrary quadrilateral thick plates with internal columns and elastic edge supports is presented by using the powerful pb-2 Ritz method and Reddy's third order shear deformation plate theory. The computing domain of arbitrary quadrilateral planform is mapped onto a standard square form by coordinate transformation. The versatile pb-2 Ritz functions defined by the product of a two-dimensional polynomial and a basic function are taken to be the admissible functions. Substituting these displacement functions into the energy functional and minimizing the total energy by differentiation, leads to a typical eigenvalue problem, which is solved by a standard eigenvalue solver. Stiffness and mass matrices are numerically integrated over the plate by using Gaussian quadrature. The accuracy and efficiency of the proposed method are demonstrated through several numerical examples by comparison and convergency studies. A lot of numerical results for reasonable natural frequency parameters of quadrilateral plates with different combinations of elastic boundary conditions and column supports at any locations are presented, which can be used as a benchmark for future studies in this area.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.289-294
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• 1998

The distributed-parameter structures expressed with the partial differential equations are considered as the infinite-dimensional dynamic system. For implementation of a controller in multivariate systems, it is necessary to derive the state-space reduced order model. By the eigensystem realization algorithm, we can yield tile subspace system with the Markov parameters derived from the measured frequency response function by the inverse discrete Fourier transformation. We also review the necessary conditions for the convergence of the approximation system and the error bounds in terms of the singular values of Markov-parameter matrices. To determine the natural frequencies and modal damping ratios, the modal coordinate transformation is applied to the realization system. The vibration test for a smart structure is performed to provide the records of frequency response functions used in the subspace system realization.

• Smart Structures and Systems
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• v.31 no.4
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• pp.409-419
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• 2023

Structural integrity can be accessed from dynamic deformations of structures. Moreover, dynamic deformations can be acquired from non-contact sensors such as video cameras. Kanade-Lucas-Tomasi (KLT) algorithm is one of the commonly used methods for motion tracking. However, averaging throughout the extracted features would induce bias in the measurement. In addition, pixel-wise measurements can be converted to physical units through camera intrinsic. Still, the depth information is unreachable without prior knowledge of the space information. The assigned homogeneous coordinates would then mismatch manually selected feature points, resulting in measurement errors during coordinate transformation. In this study, a two-stage optimization method for video-based measurements is proposed. The manually selected feature points are first optimized by minimizing the errors compared with the homogeneous coordinate. Then, the optimized points are utilized for the KLT algorithm to extract displacements through inverse projection. Two additional criteria are employed to eliminate outliers from KLT, resulting in more reliable displacement responses. The second-stage optimization subsequently fine-tunes the geometry of the selected coordinates. The optimization process also considers the number of interpolation points at different depths of an image to reduce the effect of out-of-plane motions. As a result, the proposed method is numerically investigated by using a truss bridge as a physics-based graphic model (PBGM) to extract high-accuracy displacements from recorded videos under various capturing angles and structural conditions.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.905-908
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• 1988

In recent, Kalman filter technique has been much used as one of technique for tracking of the moving target. But some problem are still remained to be resolved. For example, when Kalman filter technique is applied to nonlinear system, the technique is nonoptimal estimator. Therefore, extended Kalman filter is proposed to reduce modeling error for nonlinear system. In this study, an extended Kalman filter in Cartesian coordinates is described for moving target, when the radar sensor measures range, azimuth and elevation angle in polar coordinates. And an approximate gain computation algorithm is proposed. In this approach, Kalman gains are computed for three uncoupled filter and multiplied by a Jacobian transformation determined from the measured target position and orientation.

• Structural Engineering and Mechanics
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• v.24 no.6
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• pp.647-664
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• 2006

In this study, an improved finite element formulation with a scheme of solution for the large deflection analysis of inextensible prismatic and nonprismatic slender beams is developed. For this purpose, a three-noded Lagrangian beam-element with two dependent degrees of freedom per node (i.e., the vertical displacement, y, and the actual slope, $dy/ds=sin{\theta}$, where s is the curved coordinate along the deflected beam) is used to derive the element stiffness matrix. The element stiffness matrix in the global xy-coordinate system is achieved by means of coordinate transformation of a highly nonlinear ($6{\times}6$) element matrix in the local sy-coordinate. Because of bending with large curvature, highly nonlinear expressions are developed within the global stiffness matrix. To achieve the solution after specifying the proper loading and boundary conditions, an iterative quasi-linearization technique with successive corrections are employed considering these nonlinear expressions to remain constant during all iterations of the solution. In order to verify the validity and the accuracy of this study, the vertical and the horizontal displacements of prismatic and nonprismatic beams subjected to various cases of loading and boundary conditions are evaluated and compared with analytic solutions and numerical results by available references and the results by ADINA, and excellent agreements were achieved. The main advantage of the present technique is that the solution is directly obtained, i.e., non-incremental approach, using few iterations (3 to 6 iterations) and without the need to split the stiffness matrix into elastic and geometric matrices.

• Structural Engineering and Mechanics
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• v.51 no.4
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• pp.685-705
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• 2014

This paper presents a new formulation for forward scalar wave simulations in semi-infinite media. Perfectly-Matched-Layers (PMLs) are used as a wave absorbing boundary layer to surround a finite computational domain truncated from the semi-infinite domain. In this work, a hybrid formulation was developed for the simulation of scalar wave motion in two-dimensional PML-truncated domains. In this formulation, displacements and stresses are considered as unknowns in the PML domain, while only displacements are considered to be unknowns in the interior domain. This formulation reduces computational cost compared to fully-mixed formulations. To obtain governing wave equations in the PML region, complex coordinate stretching transformation was introduced to equilibrium, constitutive, and compatibility equations in the frequency domain. Then, equations were converted back to the time-domain using the inverse Fourier transform. The resulting equations are mixed (contain both displacements and stresses), and are coupled with the displacement-only equation in the regular domain. The Newmark method was used for the time integration of the semi-discrete equations.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.759-765
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• 2016

This paper presents the principle, dynamics modeling and control, hardware implementation, and flight test result of a hybrid-type unmanned aerial vehicle (UAV). The proposed UAV was designed to provide both hovering and fixed-wing type aerodynamic flight modes. The UAV's flight mode transition was achieved through the attitude transformation in pitch axis, which avoids a complex rotor tilt mechanism from a structural and control viewpoint. To achieve this, a different navigation coordinate was introduced that avoids the gimbal lock in pitch singularity point. Attitude and guidance control algorithms were developed for the flight control system. For flight test purposes, a quadrotor attached with a tailless fixed-wing structure was manufactured. An onboard flight control computer was designed to realize the navigation and control algorithms and the UAV's performance was verified through the outdoor flight tests.