• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.37 no.2
• /
• pp.1-7
• /
• 2000

In this paper, an adaptive control law for nonlinear systems represented by input-output models are proposed under the assumption that unknown system parameters are in a known compact and convex set. Contrary to the previous results, the compact and convex set is not restricted to a ball whose center is at the origin or convex hypercube. It is proven that the proposed parameter update rule produces a sequence of parameters which reside in the set and guarantees that the position, velocity, and acceleration error converges to zero as time goes to infinity. This theoretical result was justified through simulations.

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.893-898
• /
• 2004

This research proposes an implementation method of linearized equations of motion for multibody systems with closed loops. The null space of the constraint Jacobian is first pre multiplied to the equations of motion to eliminate the Lagrange multiplier and the equations of motion are reduced down to a minimum set of ordinary differential equations. The resulting differential equations are functions of all relative coordinates, velocities, and accelerations. Since the coordinates, velocities, and accelerations are tightly coupled by the position, velocity, and acceleration level constraints, direct substitution of the relationships among these variables yields very complicated equations to be implemented. As a consequence, the reduced equations of motion are perturbed with respect to the variations of all coordinates, velocities, and accelerations, which are coupled by the constraints. The position, velocity and acceleration level constraints are also perturbed to obtain the relationships between the variations of all relative coordinates, velocities, and accelerations and variations of the independent ones. The perturbed constraint equations are then simultaneously solved for variations of all coordinates, velocities, and accelerations only in terms of the variations of the independent coordinates, velocities, and accelerations. Finally, the relationships between the variations of all coordinates, velocities, accelerations and these of the independent ones are substituted into the variational equations of motion to obtain the linearized equations of motion only in terms of the independent coordinate, velocity, and acceleration variations.

• Journal of the Korean Society of Safety
• /
• v.26 no.5
• /
• pp.136-140
• /
• 2011

In this study, to investigate the dangerous driving on the curves, a driving test was performed in 10 km from Jinan and to Jeonju(Bugui Gas Station~Whasim Intersection), on the national highway No. 26. For the dangerous driving felt by the driver when a driver is driving on the curves, lateral acceleration and yaw rate were analyzed. And then, the reference value of lateral acceleration and yaw rate was computed. Through observing the driving speed and the characteristics of ordinary drivers using the applicable roads or following them as they drive, the driving test was performed again and the section exceeding the reference value set as above was computed. On the dangerous driving area, exceeding the reference value, total 10 accidents took place from 2006 till 2010, and slipping caused by speeding accounted for more than 70% of the accidents. It was concluded that the result of an analysis through recording drivers' driving characteristics, was reliable.

• Journal of Korea Multimedia Society
• /
• v.20 no.8
• /
• pp.1421-1429
• /
• 2017

Human activity recognition has been studied using various sensors and algorithms. Human activity recognition can be divided into sensor based and vision based on the method. In this paper, we proposed an activity recognition system using acceleration sensor and gyroscope sensor in smartphone among sensor based methods. We used Deep Belief Network (DBN), which is one of the most popular deep learning methods, to improve an accuracy of human activity recognition. DBN uses the entire input set as a common input. However, because of the characteristics of different time window depending on the type of human activity, the RBMs, which is a component of DBN, are configured hierarchically by combining them from different time windows. As a result of applying to real data, The proposed human activity recognition system showed stable precision.

• Journal of the Korean Society for Precision Engineering
• /
• v.4 no.4
• /
• pp.56-71
• /
• 1987

Determination of navigation variables (latitude, longitude, and altitude) near the earth's surface is termed 'Terrestrial Navigation'. The quantities that are measured inertially are the total acceleration (or the integral fo this acceleration over a fixed time interval) and the total angular rate (or the integral of this angular rate over the same time interval). These measurements when suitably compensated can be manipulated to yield the navigation variables. Hence, it is essential that the initial values of position, orientation and velocity are accurately set up during the initial alignment process. Initial alignment of gimballed inertial navigation system ( GINS) is accomplished by gyrocompassing techniques. These cannot be used, in the case of strapdown inertial navigation system(SDINS), where the inertial instruments are directly strapped down to a vehicle frame. The basic objective of this paper is the development of digital method for the determination of the initial axes erection of a SDINS from vibration and sway currupted data on the launch pad.

• International Journal of Precision Engineering and Manufacturing
• /
• v.9 no.2
• /
• pp.3-7
• /
• 2008

Vibratory conveyors are widely used in industry to transport granular materials and products. A theoretical point mass model for vibratory conveying was studied. The results agreed well with experimental observations. The model theory included the resting, sliding and flight states of the material. Each state was considered separately when determining the equations of motion. For the coefficients of restitution, values of zero for the normal component and 0.8 for the tangential component were found to be appropriate for modeling the collisions of the granular particles with the conveying surface. The vibration angle had a large influence on the mode and rate of transport. There was an optimum vibration angle for a given set of conditions. The optimum vibration angle decreased and was better defined as the coefficient of friction increased. The results suggest the existence of an optimum dimensionless track acceleration (throw number), which does not support general industrial practice in which the track acceleration is limited when the feed cycle becomes erratic and unstable.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.49 no.1
• /
• pp.62-69
• /
• 2000

The strip tension as well as the line speed should be controlled tightly for the quality of products and productivity of the continuous strip processing line. In this paper, a new tension control algorithm with tension observer is proposed using observed tension as regulator feedback. The tension observer is based on the torque balance of a roller stand including the acceleration torque. Using this estimated tension, new tension controller can be constructed with faster dynamic response in case of line speed acceleration or deceleration. The proposed scheme needs no additional hardware because the inputs of observer, current and speed, are already being monitored by the motor drive system. Through the simulations and experiments with laboratory set up, performances fo conventional schemes and proposed one are compared. The results show the effectiveness of the proposed tension controller.

• Structural Engineering and Mechanics
• /
• v.85 no.1
• /
• pp.55-64
• /
• 2023

Energy-based seismic design and evaluation methods are promising to be involved in the next generation design codes. Accordingly, determining the distribution of earthquake input energy demand among floor levels is quite imperative in order to develop an energy-based seismic design procedure. In this paper, peak floor input energy demands are achieved from relative input energy response histories of several reinforced concrete (RC) frames. A set of 22 horizontal acceleration histories selected from recorded near-fault earthquakes and scaled in time domain to be compatible with the elastic acceleration design spectra of Turkish Seismic Design Code are used in time history analyses. The distribution of the computed input energy per mass values and the arithmetic means through the height of the considered RC frames are presented as a result. It is found that spatial distribution of input energy per mass is highly affected by the number of stories. Very practical yet consistent formulation of distributing the total input energy to story levels is achieved, as a most important contribution of the study.

• Geomechanics and Engineering
• /
• v.31 no.2
• /
• pp.183-195
• /
• 2022

Under the effects of the near-field earthquakes, the incident angle of the incoming wave could be different. In this study, the influences of some parameters such as incident angle, basin edge, peak ground acceleration level of the bedrock motion as well as different clay types with different consistency on the amplification behavior of the shallow basins are investigated. To attain this goal, the numerical analyses of the basins filled with three different clay types are performed using a fully nonlinear method. The two dimensional models of the basins are subjected to a set of strong ground motions with different peak ground acceleration levels and three different incident angles of 30◦, 45◦ and 90◦ with respect to the horizontal axes. The results show the dominant effect of the obliquely subjected waves at most cases. The higher effect of the 45◦ incident angle on the basin response was concluded. In the other part of this study, the spectral amplification curves of the surface points were compared. It was seen that the maximum spectral amplification of different surface points occurs at different periods. Also, it is affected by the increase in the peak acceleration level of the incoming motions.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1424-1429
• /
• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.