• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1125-1130
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• 2014

In this paper, we discuss the relation between the motion profile and pre-filter. As previously reported in various literatures [1-3], a tuned motion profile can effectively reduce residual vibration by placing inherent zeros of the motion profile at the vibratory pole of systems similar to the role of the input shaping technique. From the results, we factorize the motion profile into a basis function and an input shaper. In contrast to the previously reported impulse-sequence-based input shapers, the input shaper extracted from the motion profile has unique characteristics. Thanks to the characteristics of the input shaper extracted from the motion profile, it has advantages to reduce the vibrations caused by not only the modeled vibratory mode but also unmodeled dynamics which exist in higher frequency ranges.

• 한국지진공학회논문집
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• 제17권5호
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• pp.209-217
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• 2013

In order to verify the reliability of numerical site response analysis program, both soil free-field and base rock input motions should be provided. Beside the field earthquake motion records, the most effective testing method for obtaining the above motions is the dynamic geotechnical centrifuge test. However, need is to verify if the motion recorded at the base of the soil model container in the centrifuge facility is the true base rock input motion or not. In this paper, the appropriate input motion measurement method for the verification of seismic response analysis is examined by dynamic geotechnical centrifuge test and using three-dimensional finite difference analysis results. From the results, it appears that the ESB (equivalent shear beam) model container distorts downward the propagating wave with larger magnitude of centrifugal acceleration and base rock input motion. Thus, the distortion makes the measurement of the base rock outcrop motion difficult which is essential for extracting the base rock incident motion. However, the base rock outcrop motion generated by using deconvolution method is free from the distortion effect of centrifugal acceleration.

• Earthquakes and Structures
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• 제2권2호
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• pp.171-187
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• 2011

Rational scaling of design earthquake ground motions for tall buildings is essential for safer, risk-based design of tall buildings. This paper provides the structural designers with an insight for more rational scaling based on drift and input energy demands. Since a resonant sinusoidal motion can be an approximate critical excitation to elastic and inelastic structures under the constraint of acceleration or velocity power, a resonant sinusoidal motion with variable period and duration is used as an input wave of the near-field and far-field ground motions. This enables one to understand clearly the relation of the intensity normalization index of ground motion (maximum acceleration, maximum velocity, acceleration power, velocity power) with the response performance (peak interstory drift, total input energy). It is proved that, when the maximum ground velocity is adopted as the normalization index, the maximum interstory drift exhibits a stable property irrespective of the number of stories. It is further shown that, when the velocity power is adopted as the normalization index, the total input energy exhibits a stable property irrespective of the number of stories. It is finally concluded that the former property on peak drift can hold for the practical design response spectrum-compatible ground motions.

• 한국해양공학회지
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• 제24권1호
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• pp.76-82
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• 2010

This paper presents a seismic response analysis of bridge structures considering the spatial variation of input ground motion. In earthquake analyses of structures, it is usually assumed that the input ground motion is the same at every support. However, this assumption is not justified for long structures like bridges, because observations have shown that the earthquake ground motion can vary considerably within relatively small distances. When the soil under the foundation is relatively soft and deep, an analysis of the foundation-soil interaction must always be performed. To consider the foundation-soil interaction, a soil response analysis is performed first, and after determining the material characteristics of the foundation element obtained by this foundation-soil interaction analysis, the seismic response analysis of a bridge superstructure with equivalent springs and dampers is performed. Finally, the influences of the spatial variation in the input motion, which are affected by different soil characteristics, are considered.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2006년도 학술발표회 논문집
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• pp.284-291
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• 2006

This paper presents a seismic response analysis of bridge structures considering foundation-soil interaction and multi-support input motion. In the earthquake analysis of structures it is usually assumed that the input ground motion is the same at all supports. However, this assumption is not justified for long structures like bridges, because observations have shown the earthquake ground motion can vary considerably within relatively small distances. When the soil under the foundation is relatively soft and deep, analysis for foundation-soil interaction always must be peformed. To consider foundation-soil interaction, soil response analysis is preceded, and after determining the material characteristics of foundation element obtained by foundation-soil interaction analysis at the frequency domain, the seismic response analysis of bridge superstructure with the equivalent spring and damper is performed. Finally, influences of multi-support input motion, which are affected by different soil characteristics, are also considered in this paper.

• 한국지진공학회논문집
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• 제12권1호
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• pp.11-20
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• 2008

비선형 구조계의 확률론적 지진해석 방법 중 대표적인 것은 지진 재해도 수준에 해당하는 입력지반운동 모델을 사용한 시간이력을 수행하여 그 응답의 확률분포를 예측하는 것이다. 이 연구에서는 널리 사용되고 있는 두 가지 입력지반운동 모델에 따른 구조계 응답의 분포특성 및 파손확률의 차이와 그 원인을 분석한다 입력지반운동 모델로는 실제 지진기록을 배율 조정하여 사용하는 배율조정 입력지반운동과 설계 응답스펙트럼에 상응하는 인공 지진기록을 사용하는 스펙트럼 맞춤 입력지반운동 두 가지를 고려한다. 동일한 지진재해도 수준을 고려한 해석결과 설계 응답스펙트럼에 상응하는 인공 지진기록을 사용한 입력지반운동 모델은 실제 지진기록을 배율 조정한 입력지반운동 모델보다 평균적으로 응답을 크게 평가하였고 이로 인해 파손확률 또한 더 큰 것으로 나타났다 이러한 경향은 연약한 지반에서 더욱 현저한 것으로 나타났다. 이러한 입력지반운동 모델에 따른 파손확률의 차이는 스펙트럼 맞춤 입력지반운동의 목표로 사용된 도로교 설계기준의 설계 응답스펙트럼이 실제 지진기록의 응답스펙트럼보다 장주기로 갈수록 응답을 크게 평가하도록 보수적으로 만들어졌기 때문인 것으로 나타났다.

• 한국실천공학교육학회논문지
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• 제5권1호
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• pp.34-39
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• 2013

본 연구에서는 사용자에게 가상환경에 존재하는 교육컨텐츠와 자연스럽게 안터랙션 할 뿐 아니라 인터랙션 양에 따라서 사용자에게 햅틱 정보를 전달해 줄수 있는 휴대용 입력장치를 제시한다. 제안하는 시스템은 사용자의 움직임을 측정하고 움직임에 따라서 사용자에게 햅틱 정보를 되돌려 준다. 교육 컨텐츠와 사용자의 인터랙션에 따른 햅틱 감각을 생성하기 위해 제안하는 입력장치는 모션 제어기, 햅틱 액츄에이터, 무선 통신 모듈, 그리고 모션센서로 구성한다. 사용자의 모션 입력을 측정하기 위해서 가속도 선서를 사용한다. 실험을 통해 제안하는 시스템이 떨림없이 안정적이고 연속적인 햅틱 감각이 생성됨을 파악한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.631-636
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• 1995

A robotic wrist with three rolling motion is considered. It has the gear trains with three independent input parameters and mechanical interference in their motion. This paper presents dervation of basic kinematic equations that relate the input parameters and the orientation of the end-effector, determination of singularities in its motion, and the computational procedure of the inverse kinematics.

• 제어로봇시스템학회논문지
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• 제19권1호
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• pp.56-64
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• 2013

We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.

• Geomechanics and Engineering
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• 제22권1호
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• pp.25-33
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• 2020

In metropolitan areas, the quantity and density of the underground structure increase rapidly in recent years. Even though most damage incidents of the underground structure were minor, there were still few incidents causing a great loss in lives and economy. Therefore, the safety evaluation of the underground structure becomes an important issue in the disaster prevention plan. Liquefaction induced uplift is one important factor damaging the underground structure. In order to perform a preliminary evaluation on the safety of the underground structure, simplified prediction equations were introduced to provide a first order estimation of the liquefaction induced uplift. From previous studies, the input motion is a major factor affecting the magnitude of the uplift. However, effects of the input motion were not studied and included in these equations in an appropriate and rational manner. In this article, a numerical simulation approach (FLAC program with UBCSAND model) is adopted to study effects of the input motion on the uplift. Numerical results show that the uplift and the Arias Intensity (Ia) are closely related. A simple modification procedure to include the input motion effects in the Sasaki and Tamura prediction equation is proposed in this article for engineering practices.