• Computers and Concrete
• /
• 제31권5호
• /
• pp.457-468
• /
• 2023

Buildings, bridges, and dams are examples of civil infrastructure that play an important role in public life. These structures are prone to structural variations over time as a result of external forces that might disrupt the operation of the structures, cause structural integrity issues, and raise safety concerns for the occupants. Therefore, monitoring the state of a structure, also known as structural health monitoring (SHM), is essential. Owing to the emergence of the fourth industrial revolution, next-generation sensors, such as wireless sensors, UAVs, and video cameras, have recently been utilized to improve the quality and efficiency of building forensics. This study presents a method that uses a target-based system to estimate the dynamic displacement and its corresponding dynamic properties of structures using UAV-based video. A laboratory experiment was performed to verify the tracking technique using a shaking table to excite an SDOF specimen and comparing the results between a laser distance sensor, accelerometer, and fixed camera. Then a field test was conducted to validate the proposed framework. One target marker is placed on the specimen, and another marker is attached to the ground, which serves as a stationary reference to account for the undesired UAV movement. The results from the UAV and stationary camera displayed a root mean square (RMS) error of 2.02% for the displacement, and after post-processing the displacement data using an OMA method, the identified natural frequency and damping ratio showed significant accuracy and similarities. The findings illustrate the capabilities and reliabilities of the methodology using UAV to evaluate the dynamic properties of structures.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.648-653
• /
• 1993

This paper presents an nonlinear observer scheme for flexible joint robot manipulators. This nonlinear observer scheme is based on the sliding mode method. Sliding controllers have recently been shown to feature excellent robustness and performance properties for specific classes of nonlinear tracking problems. Dynamic equations of flexible joint robot manipulators are derived from the Euler-Lagrange equations by forming the corresponding Lagrangian. Simulation results are presented to show the validness of the proposed nonlinear observer scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.788-791
• /
• 1996

A mathematical model is developed for thermal solution copolymerization of styrene and acrylonitrile in a continuous stirred tank reactor(CSTR). Computational studies are carried out with the continuous copolymerization system model developed in this work to give the monomer conversion, copolymer composition and the average molecular weights of the copolymer. By performing the dynamic analysis of the reaction system, the polymer properties against the changes in the operating conditions are determined quantitatively. The cascade PID and fuzzy controller show satisfactory performances for both set point tracking and disturbance rejection. Especially, the fuzzy controller is superior to the PID controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
• /
• pp.734-740
• /
• 1987

Various kinds of predictive control design methods such as MAC(Model Algorithmic Control), DMC(Dynamic Matrix Control), MC(Extended Horizon Adaptive Control), GPC(Generalized Predictive Control), RHTC(Receding Horizon Tracking Controller), and PVC(PreView Controller) are surveyed and compared in this paper. In addition, stability properties of these control laws known to date are summarized and some new stability results are presented.

• 한국도로학회논문집
• /
• 제11권4호
• /
• pp.25-31
• /
• 2009

SMA 혼합물은 소성변형 저항성이 매우 큰 혼합물로 알려져있다. 하지만 실내 시험에서는 이를 측정할 수 있는 시험법이 아직 미흡한 실정이다. 따라서 본 연구의 목적은 소성변형에 대하여 높은 저항성을 가지는 SMA 혼합물의 변형강도치와 반복주행시험과의 상관성 분석을 통하여 SMA에 변형강도의 적용성을 고찰하는 것이다. 이를 위해 SMA 혼합물의 배합설계를 거쳐 최적 아스팔트함량의 혼합물에 대하여 변형강도 시험과 반복주행 시험을 수행하였다. 연구결과, 변형강도는 SMA 혼합물의 소성변형 특성을 보이기에는 매우 낮은 수준을 나타냈다. 따라서 김테스트에 의한 변형강도는 간접인장강도나 마샬 안정도와 마찬가지로 SMA 혼합물의 소성변형 저항성을 제대로 반영되지 못하는 것을 확인하였다. 또한 반복주행시험의 결과인 동적안정도나 최종침하깊이도 역시 SMA 혼합물의 소성변형 저항성을 평가하는데 문제가 있는 것으로 나타났다.

• 대한전자공학회논문지SP
• /
• 제44권4호통권316호
• /
• pp.86-92
• /
• 2007

2D 영상의 특징점을 추적하는 이산동적 모델을 고안한다. 종래의 스네이크 접근은 내외 추진력으로 구성된 에너지함수를 최소화하도록 구획을 변형시켜가면서 영상 내의 원하는 특징에 밀착시켜간다. 이 때 스네이크화소를 중심한 인접화소군은 사각형 같은 평면 2차 행렬이다. 본 논문에서는 유사 특성점들을 상호 연결하는 모델 구조를 제시한다. 에너지모델은 그 국부최소점이 활성처리에 유용한 교차 해법에 적합하도록 설계한다. 추적시 선 형태의 1차 행렬 블록을 사용한다. 진행 방향의 반대 끝 라인으로부터 굴곡상태를 만족하는 시발점들을 선정하고 에너지 최소처리를 통해 이웃 라인으로 순차 자동 이동한다. 추적 경로는 상승 하강점 또는 극대 극소점과 같은 굴곡 한계에 의존한다. 이와 같은 층위적 접근은 인접데이터 라인 사이에 수직 또는 수평 방향으로 높은 상관성을 갖는 일방향 특성이 있는 디지털 영상의 특징점 추적에 유용하다. 그리고 인체 경동맥초음파영상에서 그 내 외막 시점을 추적하는 실험으로 알고리즘의 효과를 확인하였다.

• 폴리머
• /
• 제31권6호
• /
• pp.538-542
• /
• 2007

도로포장용 아스팔트의 성능을 개선하기 위하여 유화중합법으로 여러 가지 조성의 반응성 고분자 개질제들을 합성하여 아스팔트와 혼합 후 성능을 시험 분석하였다. 합성된 고분자 개질제들을 아스팔트와 혼합 후 시차주사열량계(DSC)로 아스팔트의 열적 특성 변화를 측정하였고, 형광현미경으로 개질제들의 아스팔트에 대한 분산 상태를 확인하였다. 또한 각각의 개질제들을 아스팔트에 대하여 2% 혼합하여 침입도를 측정하였으며, 개질 아스팔트의 동적 안정도와 영구 변형 속도를 측정하기 위하여 개질제 각각을 아스팔트에 대하여 1%씩 혼합하여 wheel tracking 실험을 수행하였고, 그 중 가장 성능이 좋은 개질제 6번을 1.0, 1.5, 2.0% 혼합 후 wheel tracking 실험을 실시하였다. 이러한 침입도와 wheel tracking 실험에서 6번 개질제가 가장 좋은 성능을 나타내었으며, 이는 개질제의 MMA 부분이 styrene 부분보다 개질제의 성능 향상에 더 많은 기여를 하는 것으로 판단된다.

• Smart Structures and Systems
• /
• 제29권4호
• /
• pp.617-624
• /
• 2022

A new intelligent adaptive control scheme was proposed that combines the control based on interference observer and fuzzy adaptive s-curve for flight path tracking control of unmanned aerial vehicle (UAV). The most important contribution is that the control configurations don't need to know the uncertainty limit of the vehicle and the influence of interference is removed. The proposed control law is an integration of fuzzy control estimator and adaptive proportional integral (PI) compensator with input. The rated feedback drive specifies the desired dynamic properties of the closed control loop based on the known properties of the preferred acceleration vector. At the same time, the adaptive PI control compensate for the unknown of perturbation. Additional terms such as s-surface control can ensure rapid convergence due to the non-linear representation on the surface and also improve the stability. In addition, the observer improves the robustness of the adaptive fuzzy system. It has been proven that the stability of the regulatory system can be ensured according to linear matrix equality based Lyapunov's theory. In summary, the numerical simulation results show the efficiency and the feasibility by the use of the robust control methodology.

• Journal of Electrical Engineering and Technology
• /
• 제9권5호
• /
• pp.1447-1453
• /
• 2014

This paper proposes the new method based on the availability of three points measurement and convexity of photovoltaic (PV) curve characteristic at the maximum power point (MPP). In general, the MPP tracking (MPPT) function is the important part of all PV systems due to their power-voltage (P-V) characteristics related with weather conditions. Then, the analog-to-digital converter (ADC) and low pass filter (LPF) are required to measure the voltage and current for MPPT by the digital controller, which is used to implement the PV power conditioning system (PCS). The measurement and quantization error due to rounding or truncation in ADC and the delay of LPF might degrade the reliability of MPPT. To overcome this limitation, the proposed method is proposed while improving the performances in both steady-state and dynamic responses based on the detailed investigation of its properties for availability and convexity. The performances of proposed method are evaluated with the several case studies by the PSCAD/EMTDC$^{(R)}$ simulation. Then, the experimental results are given to verify its feasibility in real-time.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.265-270
• /
• 2001

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by using Lyapunov's direct method. The results of computer simulations also show that the robot system is stable, and has excellent trajectory tracking performance.