• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.133-138
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• 1993

This paper presents neural network based position estimation method in slippery environment as an approach to solve one of problems which are engaged in dead reckoning method. Position estimator is composed of slip detector and linear velocity estimator. Both of them are based on the fact that dynamic characteristic of mobile robot in slippery environment is different from the case without slip. To find out the dynamic relation among driving torque, angular acceleration of driving wheel and linear acceleration of mobile robot, accelerometer is used for measuring acceleration of mobile robot and neural network is used for dynamic system identifier in slippery environment.

• The Bulletin of The Korean Astronomical Society
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• v.40 no.1
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• pp.63.3-64
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• 2015

In our previous work (Kim et al., 2015), we suggested a new classification scheme, which categorizes the SPEs into four groups based on association with flare or CME inferred from onset timings as well as proton acceleration patterns using multienergy observations. In this study, we have tried to find whether there are any typical characteristics of associated events and acceleration sites in each group using 42 SPEs from 1997 to 2012. We find: (i) if the proton acceleration starts from a lower energy, a SPE has a higher chance to be a strong event (>5000pfu) even if the associated flare and CME are not so strong. The only difference between the SPEs associated with flare and CME is the location of the acceleration site. For the former, the sites are very low (~1Rs) and close to the western limb, while the latter has a relatively higher and wider acceleration sites. (ii) When the proton acceleration starts from the higher energy, a SPE tends to be a relatively weak event (<1000pfu), in spite of its associated CME is relatively stronger than previous group. (iii) The SPEs categorized by the simultaneous proton acceleration in whole energy range within 10 minutes, tend to show the weakest proton flux in spite of strong related eruptions. Their acceleration heights are very close to the locations of type II radio bursts. Based on those results, we suggest that the different characteristics of the four groups are mainly due to the different mechanisms governing the acceleration pattern and interval, and different condition such as the acceleration location.

• Smart Structures and Systems
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• v.7 no.5
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• pp.393-416
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• 2011

Hybrid acceleration-impedance sensor nodes on Imote2-platform are designed for damage monitoring in steel girder connections. Thus, the feasibility of the sensor nodes is examined about its performance for vibration-based global monitoring and impedance-based local monitoring in the structural systems. To achieve the objective, the following approaches are implemented. First, a damage monitoring scheme is described in parallel with global vibration-based methods and local impedance-based methods. Second, multi-scale sensor nodes that enable combined acceleration-impedance monitoring are described on the design of hardware components and embedded software to operate. Third, the performances of the multi-scale sensor nodes are experimentally evaluated from damage monitoring in a lab-scaled steel girder with bolted connection joints.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.3
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• pp.258-266
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• 2013

This paper presents the correlation between psychological and physiological acoustics for the automotive acceleration sound. The research purpose of this paper is to evaluate the sound quality of acceleration sound of a passenger car based EEG signal. The previous method for the objective evaluation of sound quality is to use sound metrics based on psychological acoustics. This method uses not only psychological acoustics but also physiological acoustics. For this work, the sounds of 7 premium passenger cars are recorded and evaluated subjectively by 33 people. The correlation between the subjective rating and sound metrics is calculated based on physiological acoustics. Finally the correlation between the subjective rating and the EEG signal measured on the brain is also calculated. Throughout these results the new evaluation system for the sound quality on the automotive acceleration sound of a passenger car has been developed based on bio-signal.

• Smart Structures and Systems
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• v.15 no.3
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• pp.645-663
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• 2015

Recently, an indirect displacement estimation method using data fusion of acceleration and strain (i.e., acceleration-strain-based method) has been developed. Though the method showed good performance on beam-like structures, it has inherent limitation in applying to more general types of bridges that may have complex shapes, because it uses assumed analytical (sinusoidal) mode shapes to map the measured strain into displacement. This paper proposes an improved displacement estimation method that can be applied to more general types of bridges by building the mapping using the finite element model of the structure rather than using the assumed sinusoidal mode shapes. The performance of the proposed method is evaluated by numerical simulations on a deck arch bridge model and a three-span truss bridge model whose mode shapes are difficult to express as analytical functions. The displacements are estimated by acceleration-based method, strain-based method, acceleration-strain-based method, and the improved method. Then the results are compared with the exact displacement. An experimental validation is also carried out on a prestressed concrete girder bridge. The proposed method is found to provide the best estimate for dynamic displacements in the comparison, showing good agreement with the measurements as well.

• Earthquakes and Structures
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• v.17 no.4
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• pp.365-372
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• 2019

Post-earthquake crisis management is a key capability for a country to be able to recover after a major seismic event. Instrumental seismic data transmitted and processed in a very short time can contribute to better management of the emergency and can give insights on the earthquake's impact on a specific area. Romania is a country with a high seismic hazard, mostly due to the Vrancea intermediate-depth earthquakes. The elastic acceleration response spectrum of a seismic motion provides important information on the level of maximum acceleration the buildings were subjected to. Based on new data analysis and knowledge advancements, the acceleration elastic response spectrum for horizontal ground components recommended by the Romanian seismic codes has been evolving over the last six decades. This study aims to propose a framework for post-earthquake warning based on code spectrum exceedances. A comprehensive background analysis was undertaken using strong motion data from previous earthquakes corroborated with observational damage, to prove the method's applicability. Moreover, a case-study for two densely populated Romanian cities (Focsani and Bucharest) is presented, using data from a $5.5M_W$ earthquake (October 28, 2018) and considering the evolution of the three generations of code-based spectral levels for the two cities. Data recorded in free-field and in buildings were analyzed and has confirmed that no structural damage occurred within the two cities. For future strong seismic events, this tool can provide useful information on the effect of the earthquake on structures in the most exposed areas.

• Smart Structures and Systems
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• v.29 no.4
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• pp.599-616
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• 2022

Bridge displacement contains vital information for bridge condition and performance. Due to the limits of direct displacement measurement methods, the indirect displacement reconstruction methods based on the strain or acceleration data are also developed in engineering applications. There are still some deficiencies of the displacement reconstruction methods based on strain or acceleration in practice. This paper proposed a novel method based on long short-term memory (LSTM) networks to reconstruct the bridge dynamic displacements with the strain and acceleration data source. The LSTM networks with three hidden layers are utilized to map the relationships between the measured responses and the bridge displacement. To achieve the data fusion, the input strain and acceleration data need to be preprocessed by normalization and then the corresponding dynamic displacement responses can be reconstructed by the LSTM networks. In the numerical simulation, the errors of the displacement reconstruction are below 9% for different load cases, and the proposed method is robust when the input strain and acceleration data contains additive noise. The hyper-parameter effect is analyzed and the displacement reconstruction accuracies of different machine learning methods are compared. For experimental verification, the errors are below 6% for the simply supported beam and continuous beam cases. Both the numerical and experimental results indicate that the proposed data fusion method can accurately reconstruct the displacement.

• Nuclear Engineering and Technology
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• v.46 no.6
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• pp.783-796
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• 2014

The coarse mesh finite difference (CMFD) method is applied to the discontinuous finite element method based discrete ordinate calculation for source convergence acceleration. The three-dimensional (3-D) DFEM-Sn code FEDONA is developed for general geometry applications as a framework for the CMFD implementation. Detailed methods for applying the CMFD acceleration are established, such as the method to acquire the coarse mesh flux and current by combining unstructured tetrahedron elements to rectangular coarse mesh geometry, and the alternating calculation method to exchange the updated flux information between the CMFD and DFEM-Sn. The partial current based CMFD (p-CMFD) is also implemented for comparison of the acceleration performance. The modified p-CMFD method is proposed to correct the weakness of the original p-CMFD formulation. The performance of CMFD acceleration is examined first for simple two-dimensional multigroup problems to investigate the effect of the problem and coarse mesh sizes. It is shown that smaller coarse meshes are more effective in the CMFD acceleration and the modified p-CMFD has similar effectiveness as the standard CMFD. The effectiveness of CMFD acceleration is then assessed for three-dimensional benchmark problems such as the IAEA (International Atomic Energy Agency) and C5G7MOX problems. It is demonstrated that a sufficiently converged solution is obtained within 7 outer iterations which would require 175 iterations with the normal DFEM-Sn calculations for the IAEA problem. It is claimed that the CMFD accelerated DFEM-Sn method can be effectively used in the practical eigenvalue calculations involving general geometries.

• International Journal of Advanced Culture Technology
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• v.5 no.2
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• pp.54-62
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• 2017

Currently, falling to industrial field workers is causing serious injuries. Therefore, many researchers are actively studying the fall by using acceleration sensor, gyro sensor, pressure sensor and image information.Also, as the spread of smartphones becomes common, techniques for determining the fall by using an acceleration sensor built in a smartphone are being studied. The proposed method has complexity due to fusion of various sensor data and it is still insufficient to develop practical application. Therefore, in this paper, we use acceleration sensor module built in smartphone to collect acceleration data, propose a simple falling algorithm based on accelerometer sensor data after normalization and preprocessing, and implement an Android based app.