• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• Nuclear Engineering and Technology
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• 제54권12호
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• pp.4560-4570
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• 2022

Dynamic fault tree (DFT) and its related research methods have received extensive attention in safety analysis and reliability engineering. DFT can perform reliability modelling for systems with sequential correlation, resource sharing, and cold and hot spare parts. A technical modelling method of DFT is proposed for modelling ship collision accidents and loss-of-coolant accidents (LOCAs). Qualitative and quantitative analyses of DFT were carried out using the cutting sequence (CS)/extended cutting sequence (ECS) method. The results show nine types of dynamic fault failure modes in ship collision accidents, describing the fault propagation process of a dynamic system and reflect the dynamic changes of the entire accident system. The probability of a ship collision accident is 2.378 × 10^-9 by using CS. This failure mode cannot be expressed by a combination of basic events within the same event frame after an LOCA occurs in a marine nuclear reactor because the system contains warm spare parts. Therefore, the probability of losing reactor control was calculated as 8.125 × 10^-6 using the ECS. Compared with CS, ECS is more efficient considering expression and processing capabilities, and has a significant advantage considering cost.

• Carbon letters
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• 제5권1호
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• pp.1-5
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• 2004

The effects of fiber surface-treatment and sizing on the dynamic mechanical properties of unidirectional and 2-directional carbon fiber/nylon 6 composites by means of dynamic mechanical analysis have been investigated in the present study. The interlaminar shear strengths of 2-directional carbon/nylon 6 composites sized with various thermosetting and thermoplastic resins are also measured using a short-beam shear test method. The result suggests that different surface-treatment levels onto carbon fibers may influence the storage modulus and tan ${\delta}$ behavior of carbon/nylon 6 composites, reflecting somewhat change of the stiffness and the interfacial adhesion of the composites. Dynamic mechanical analysis and short-beam shear test results indicate that appropriate use of a sizing material upon carbon fiber composite processing may contribute to enhancing the interfacial and/or interlaminar properties of woven carbon fabric/nylon 6 composites, depending on their resin characteristics and processing temperature.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제7권4호
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• pp.236-241
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• 2007

This paper presents an adaptive controller using chaotic dynamic neural networks(CDNN) for nonlinear dynamic system. A new dynamic backpropagation learning method of the proposed chaotic dynamic neural networks is developed for efficient learning, and this learning method includes the convergence for improving the stability of chaotic neural networks. The proposed CDNN is applied to the system identification of chaotic system and the adaptive controller. The simulation results show good performances in the identification of Lorenz equation and the adaptive control of nonlinear system, since the CDNN has the fast learning characteristics and the robust adaptability to nonlinear dynamic system.

• 대한인간공학회지
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• 제33권4호
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• pp.267-279
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• 2014

Objective: The objective of this study was to define the Dynamic Sitting (DS) through trend analysis and research on the Dynamic Chair (DC) and applied technologies. Background: The effects of changing posture on the human body have been studied to find out healthy sitting postures. It is believed that changing posture is effective in reducing disc pressure on spinal cord and preventing back pain and musculoskeletal disease. But, the definition of DS and trends of DC have not been researched yet. Therefore, trend analysis of DC and its applied technologies are required to define dynamic sitting posture. Method: We researched the type of occupant postures from previous studies. And then, sitting behaviors were classified into three types; (1) sitting and standing, (2) working and studying, (3) taking a rest. Results: Variety shapes of DC and applied technologies were found out. From the result, the trend of DC and applied technology were summarized from three perspectives. ; (1) changing the chair functions according to user's intention, (2) conversion of dynamic chair technologies to office chair mechanism, (3) enables the user to change their sitting posture without operating control device. Conclusion: From this study, we defined dynamic sitting posture and analyzed the trend of DC and its applied technologies. This result might be used to develop an office chair for healthy sitting. But further investigation is required to figure out the technologies and functions for development of healthy chair. Application: The results of the publishing trend analysis might help to determine design concept of office chair.

• Advances in aircraft and spacecraft science
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• 제5권3호
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• pp.385-400
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• 2018

In this paper dynamic behavior (modal analysis and dynamic transient response) of a novel sandwich T-joint is numerically and experimentally investigated. An epoxy adhesive is selected for bonding purpose and making the step wise graded behavior of adhesive region. The effect of the step graded behavior of the adhesive zone on dynamic behavior of a sandwich T-joint is numerically studied. Finite element analysis (FEA) of the T-joints with carbon fiber reinforced polymer (CFRP) face-sheets is performed by ABAQUS 6.12-1 FEM code software. Modal analysis and dynamic half-sine transient response of the sandwich T-joint are presented in this paper. Two verification processes employed to verify the dynamic modeling of the manufactured sandwich panels and T-joint modeling. It has been shown that the step wise graded adhesive zone cases have changed the second natural frequency by about 5%. Also, it has been shown that the different arranges in the step wise graded adhesive zone significantly affect the maximum stresses due to transient dynamic loading by 1112% decrease in maximum peel stress and 691.9% decrease in maximum shear stress on the adhesive region.

• Geomechanics and Engineering
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• 제32권4호
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• pp.411-426
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• 2023

Soft clay is widely distributed in the southeast coastal areas of China. Many large underground structures, such as subway stations and underground pipe corridors, are shallow buried in the soft clay foundation, so the dynamic characteristics of the soft clay must be considered to the seismic design of underground structures. In this paper, the dynamic characteristics of saturated soft clay in Shanghai under the bidirectional excitation for earthquake loading are studied by dynamic triaxial tests, comparing the backbone curve and hysteretic curve of the saturated soft clay under different confining pressures with those under different vibration frequencies. Considering the coupling effects of the confining pressure and the vibration frequency, a fitting model of the maximum dynamic shear modulus was proposed by the multiple linear regression method. The M-D model was used to fit the variations of the dynamic shear modulus ratio with the shear strain. Based on the Chen model and the Park model, the effects of the consolidation confining pressure and the vibration frequency on the damping ratio were studied. The results can provide a reference to the earthquake prevention and disaster reduction in soft clay area.

• Structural Engineering and Mechanics
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• 제62권4호
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• pp.381-389
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• 2017

In the present study, the advanced procedure has been proposed to estimate higher accuracy of embedment of pipes that are installed on soft clay seabed. Numerical simulation by OrcaFlex simulation code was performed to investigate dynamic seabed embedment, and two steps, i.e., static and dynamic analysis, were adopted. In total, four empirical curves were developed to estimate the seabed embedment including dynamic phenomena, i.e., behaviour of vessel, environmental condition, and behaviour of nonlinear soil. The obtained results were compared with existing methods (named general method) such as design code or guideline to examine the difference of seabed embedment for existing and advance methods. Once this process was carried out for each case, a diagram for estimating seabed embedment was established. The applicability of the proposed method was verified through applied examples with field survey data. This method will be very useful in predicting seabed embedment on soft clay, and the structural behaviours of installed subsea pipelines can be changed by the obtained seabed embedment in association with on-bottom stability, free span, and many others.

• 반도체디스플레이기술학회지
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• 제14권3호
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• pp.37-43
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• 2015

In this paper, a new background subtraction algorithm for video based fence monitoring surveillance systems is proposed. We adopt the sampling based background subtraction technique and focus on the two main issues: handling highly dynamic environment and handling the flickering nature of pulse based IR (infrared) lamp. Natural scenes from fence monitoring system are usually composed of several dynamic entities such as swaying trees, moving water, waves and rain. To deal with such dynamic backgrounds, we utilize the confidence factor for each background value of the input image. For the flickering IR lamp, the original sampling based technique is extended to handle double background models. Experimental results revealed that our method works well in real fence monitoring surveillance systems.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2009년도 제37회 하계학술대회 초록집
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• pp.308-308
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• 2009