• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.432-432
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• 2000

The above-Knee Prosthesis has been used by the handicapped person and become a important part of their life. But uniform above-knee prosthesis only increases inconvenience And so the tool that can estimate and help to design of suitable prosthesis for user need to be developed. The simulator developed in this research is composed of two part. One is hardware that can realize various walking motions. The other is software that can display and analyze the results of walking mot ion. Three motors constitute hardware of Simulator. Two motors are used to realize heap motion that need two degree of freedom and the rest one used to realize swing motion. Software of Simulator display results of three motor trajectories and walking mot ion of hardware using computer graphic. Therefore, The simulator developed in this research which is able to realize human gait and results are analyzed through simulation program at PC will be some help to design and produce of prosthesis suitable to user.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2171-2175
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• 2002

Helicopter dynamics are plenty of nonlinearity. A complete mathematical model including propeller dynamics and fortes generated by the propellers is very difficult to obtain. So the method used to design to design a controller is a parameter estimation. Design controller based on variable structure system. This paper deals with LQR control technique to control efficiently, its elevation angle and azimuth one. The purpose of the experiment is to design a controller allows to use a desired elevation angle and azimuth ones. The system model has a helicopter model with 2-degree-of freedom. The simulation results were verified usefulness of controller.

• Structural Engineering and Mechanics
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• 제29권4호
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• pp.433-453
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• 2008

The equation of motion of a one way (vertical) spanning strip wall, as an assembly of two rigid bodies, is presented. Only one degree of freedom is needed to completely describe the wall response as the bodies are assumed to be perfectly rectangular and are allowed to rock but not to slide horizontally. Furthermore, no arching action occurs since vertical motion of the upper body is not restrained. Consequently, the equation of motion is nonlinear, with non constant coefficients and a Coriolis acceleration term. Phenomena associated with overburden to self weight ratio, motion triggering, impulsive energy dissipation, amplitude dependency of damping and period of vibration, and scale effect are discussed, contributing to a more complete understanding of experimental observations and to an estimation of system parameters based on the wall characteristics, such as intermediate hinge height and energy damping, necessary to perform nonlinear time history analyses. A comparison to a simple standing, or parapet, wall is developed in order to better highlight the characteristics of this assembly.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권7호
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• pp.339-345
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• 2000

This paper deals with the displacement estimation of magnetically suspended simple 1 DOF(degree of freedom) system without the displacement sensor. Inherently electro-magnet for control has two natural feedback loops. One is the transfer function which represents the dependance of the amount of the magnetic flux on the gap displace-ments. The other is the transfer function expressing the properties that the back electromotive force is derived from the time derivative of the magnetic flux. Through these two feedback loops, information about the gap length can be represented by the magnetic flux and the coil current. This means that the gap length can be detected from these two states variables of the electromagnet without a displacements sensor(self-sensing). The displacement can be estimated with the magnetic flux subtracted by the coil current. In this paper we use a balance beam in order to deal with the displacement sensorless estimation of the magnetic bearing system. For the stable estimation of the gap displacements by using the method of self-sensing simple PD controller is used. We first show the mathematical model of the balance beam, and then we show the effectiveness of the current and flux feedback for making stable estimation of the gap displacements for the balance beam. Simulation results show the effectiveness of the current and flux feedback for good estimation of the displacement without using displacement sensor.

• Structural Engineering and Mechanics
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• 제10권4호
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• pp.405-426
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• 2000

Two approximate methods based on mechanism analysis suitable for seismic assessment/design of structural concrete are reviewed. The methods involve use of equal energy concept or equal displacement concept along with appropriate patterns of inelastic deformations to relate structure's maximum lateral displacement to member and plastic deformations. One of these methods (Clough's method), defined here as a ductility-based approach, is examined in detail and a modification for its improvement is suggested. The modification is based on estimation of maximum inelastic displacement using inelastic design response spectra (IDRS) as an alternative to using equal energy concept. The IDRS for demand displacement ductilities are developed for a single degree of freedom model subjected to several accelerograms as functions of response modification factor (R), damping ratios, and strain hardening. The suggested revised methodology involves estimation of R as the ratio of elastic strength demand to code level demand, and determination of design base shear using $R_{design}{\leq}R$ and maximum displacement, determination of plastic displacement using IDRS and subsequent local plastic deformations. The methodology is demonstrated for the case of a 10-story precast wall panel building.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 춘계학술대회논문집
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• pp.1260-1264
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• 2006

Shock-type vibrations are usually experienced in vehicles excited by impulsive forces. Fifteen subjects used magnitude estimation to judge the discomfort of vertical shock-type vibration generated on a rigid seat. The shocks had different frequencies and magnitudes and were produced from the response of a 1 degree-of-freedom model to a half-sine force input. The magnitudes of the shocks, expressed in terms of both peak-to-peak value and un-weighted vibration dose values, VDVs, were correlated with magnitude estimates of the discomfort. In this study, equivalent comfort contour of shock-type vibration were obtained. From the contour, it was investigated that shock-type vibration at frequency below 0.8 Hz and between 4.0 Hz and 10.0 Hz is highly sensitive to the discomfort than at other frequencies.

• Earthquakes and Structures
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• 제22권6호
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• pp.585-595
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• 2022

Using the nonlinear static procedures has become very common in seismic codes to achieve the nonlinear response of the structure during an earthquake. The capacity spectrum method (CSM) adopted in ATC-40 is considered as one of the most known and useful procedures. For this procedure the seismic demand can be approximated from the maximum deformation of an equivalent linear elastic Single-Degree-of-Freedom system (SDOF) that has an equivalent damping ratio and period by using an iterative procedure. Data from the results of this procedure are plotted in acceleration- displacement response spectrum (ADRS) format. Different improvements have been made in order to have more accurate results compared to the Non Linear Time History Analysis (NL-THA). A new procedure is presented in this paper where the iteration process shall not be required. This will be done by estimation the ductility demand response spectrum (DDRS) and the corresponding effective damping of the bilinear system based on a new parameter of control, called normalized yield strength coefficient (η), while retaining the attraction of graphical implementation of the improved procedure of the FEMA-440. The proposed procedure accuracy should be verified with the NL-THA analysis results as a first implementation. The comparison shows that the new procedure provided a good estimation of the nonlinear response of the structure compared with those obtained when using the NL-THA analysis.

• 산업기술연구
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• 제21권B호
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• pp.265-272
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• 2001

The human arm is modeled by three rigid bodies(the upper arm, the forearm and the hand)with seven degree of freedom(three in the shoulder, two in the elbow and two in the wrist). The objective of this work is to present a method to determine the three-dimensional kinematics of the human elbow joint using a magnetic tracking device. Euler angle were used to determine the elbow flexion-extension, and the pronation-supination. The elbow motion for the various driving conditions is measured through the driving test using a simulator. Discomfort levels of elbow joint motions were obtained as discomfort functions, which were based on subjects' perceived discomfort level estimated by magnitude estimation. The results showed that the discomfort posture of elbow joint motions occurred in the driving motion.

• 한국소음진동공학회논문집
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• 제14권3호
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• pp.208-213
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• 2004

This paper is concerned with the theoretical estimation of the single-input single-output(SISO) positive position feedback(PPF) controller and the derivation of the stability conditions for the multi-input multi-output (MIMO) PPF controller. Although the stability condition for the SISO PPF controller was derived in the earlier works, the question regarding the performance estimation of the SISO PPF controller has never been studied theoretically. Hence, the SISO PPF controller for the single degree-of-freedom system was first investigated and then control parameters including gain, the filter frequency, and the damping factor of the PPF controller were analyzed in detail thus providing the design methodology for the SISO PPF controller. In the case of real structure. there are infinite number of natural modes so that some modes are to be controlled by a limited number of actuator and sensor. Based on the theoretical results on the SISO PPF controller, the stability condition for the multi-input multi-output PPF controller was derived when only the few number of modes are to be controlled. The control spillover problem is also discussed in detail.

• 동력기계공학회지
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• 제6권1호
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.