• Journal of the Korea Concrete Institute
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• v.22 no.6
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• pp.797-803
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• 2010

A dynamic analysis procedure is developed to provide a better estimation of the dynamic responses of pre-stressed concrete (PSC) box girder bridges on the Korea high speed railway. Particularly, a three dimensional numerical model including the structural interaction between high speed vehicles, bridges and railway endures to analyze accurately and evaluate with in-depth parametric studies for dynamic responses of bridge due to the high speed railway vehicles. Three dimensional frame element is used to model the PSC box girder bridges, simply supported span lengths 40 m. The high-speed railway vehicles (K-TGV) including a locomotive are used as 38-degree of freedom system. Three displacements (vertical, lateral, and longitudinal) as well as three rotational components (pitching, rolling, and yawing) are considered in the 38-degree of freedom model. The dynamic analysis by Runge-Kutta method which are able to analyze considering the dynamic impact factors are compared and contrasted. It is proposed as an empirical formula that the impact factors damaged the bridge load-carrying capacities occurs to the bride due to high-speed vehicle.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.33-48
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• 2000

Limitations of the simple single degree of freedom vibration isolation theory in real applications are discussed and a theory of multi-dimensional vibration/noise isolation by power approach is introduced. Illustrations of the application to compressor of an air-conditioner are presented together with problems caused by approximations. Then possible sources of distortions in the vibration power estimation are looked into and some relevant research topics are suggested.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.8
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• pp.175-183
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• 1996

This paper presents three-dimensional robot task using the vision control method. A minimum of two cameras is required to place points on end dffectors of n degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known three-axis manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method.

• Smart Structures and Systems
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• v.4 no.3
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• pp.279-290
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• 2008

The modeling and parameter estimation of a damped one-degree-of-freedom mass-spring system is examined. This paper presents a method for estimating the system parameters (damping coefficients and natural frequency) from measured free-vibration motion of a system that is modeled to include both subcritical viscous damping and kinetic Coulomb friction. The method applies a commercially available least-squares curve-fitting software function to fit the known solution of the equations of motion to the measured response. The method was tested through numerical simulation, and it was applied to experimental data collected from a laboratory mass-spring apparatus. The mass of this apparatus translates on linear bearings, which are the primary source of light inherent damping. Results indicate that the curve-fitting method is effective and accurate for both perfect and noisy measurements from a lightly damped mass-spring system.

• 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..

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.206-216
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• 2017

This paper proposes a method to simultaneously estimate two degrees of freedom in wrist forces (extension - flexion, adduction - abduction) and one degree of freedom in grasping forces using Electromyography (EMG) signals of the forearms. To correlate the EMG signals with the forces, we applied a multi - layer perceptron(MLP), which is a machine learning method, and used the characteristics of the muscles constituting the forearm to generate learning data. Through the experiments, the similarity between the MLP target value and the estimated value was investigated by applying the coefficient of determination ($R^2$) and root mean square error (RMSE) to evaluate the performance of the proposed method. As a result, the $R^2$ values with respect to the wrist flexion-extension, adduction - abduction and grasping forces were 0.79, 0.73 and 0.78 and RMSE were 0.12, 0.17, 0.13 respectively.

• Structural Engineering and Mechanics
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• v.20 no.5
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• pp.527-542
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• 2005

The main objective of this study is to examine the accuracy of the complete quadratic combination (CQC) rule with the modal responses defined by the ordinates of the uniform hazard spectra (UHS) to evaluate the peak responses of the multi-degree-of-freedom (MDOF) systems subjected to nonstationary seismic excitations. For the probabilistic analysis of the peak responses, it is considered that the seismic excitations can be modeled using evolutionary power spectra density functions with uncertain model parameters. More specifically, a seismological model and the Kanai-Tajimi model with the boxcar or the exponential modulating functions were used to define the evolutionary power spectral density functions in this study. A set of UHS was obtained based on the probabilistic analysis of transient responses of single-degree-of-freedom systems subjected to the seismic excitations. The results of probabilistic analysis of the peak responses of MDOF systems were obtained, and compared with the peak responses calculated by using the CQC rule with the modal responses given by the UHS. The comparison seemed to indicate that the use of the CQC rule with the commonly employed correlation coefficient and the peak modal responses from the UHS could lead to significant under- or over-estimation when contributions from each of the modes are similarly significant.

• Journal of Ocean Engineering and Technology
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• v.22 no.4
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• pp.97-105
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• 2008

This paper represents the experimental identification of a finite-dimensional dynamical plant model for the HEMIRE Remotely Operated Vehicle. The experiments were conducted during sea trials in the East Sea in October 2006 and peer testing by the South Sea Research Institute in January 2007. A least-squares method was employed to identify decoupled single degree-of-freedom plant dynamical models for the X, Y, Z and heading degree-of-freedom from experimental data. The performance of the identified plant dynamical model was evaluated by directly comparing simulations of the identified plant model to the experimentally observed motion data from the actual vehicle.

• Smart Structures and Systems
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• v.14 no.5
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• pp.943-960
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• 2014

A visually servoed paired structured light system (ViSP) was recently proposed as a novel estimation method of the 6-DOF (Degree-Of-Freedom) relative displacement in civil structures. In order to apply the ViSP to massive structures, multiple ViSP modules should be installed in a cascaded manner. In this configuration, the estimation errors are propagated through the ViSP modules. In order to resolve this problem, a displacement estimation error back-propagation (DEEP) method was proposed. However, the DEEP method has some disadvantages: the displacement range of each ViSP module must be constrained and displacement errors are corrected sequentially, and thus the entire estimation errors are not considered concurrently. To address this problem, a pose-graph optimized displacement estimation (PODE) method is proposed in this paper. The PODE method is based on a graph-based optimization technique that considers entire errors at the same time. Moreover, this method does not require any constraints on the movement of the ViSP modules. Simulations and experiments are conducted to validate the performance of the proposed method. The results show that the PODE method reduces the propagation errors in comparison with a previous work.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.