• 로봇학회논문지
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• 제17권3호
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• pp.288-295
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• 2022

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

• Structural Engineering and Mechanics
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• 제10권4호
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• pp.359-369
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• 2000

Random loading identification has long been a difficult problem for Multi-Input-Multi-Output (MIMO) structure. In this paper, the Pseudo Excitation Method (PEM), which is an exact and efficient method for computing the structural random response, is extended inversely to identify the excitation power spectral densities (PSD). This identified method, named the Inverse Pseudo Excitation Method (IPEM), resembles the general dynamic loading identification in the frequency domain, and can be used to identify the definite or random excitations of complex structures in a similar way. Numerical simulations are used to reveal the the difficulties in such problems, and the results of some numerical analysis are discussed, which may be very useful in the setting up and processing of experimental data so as to obtain reasonable predictions of the input loading from the selected structural responses.

• Structural Engineering and Mechanics
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• 제18권6호
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• pp.791-806
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• 2004

The inverse pseudo excitation method is used in the identification of random loadings. For structures subjected to stationary random excitations, the power spectral density matrices of such loadings are identified experimentally. The identification is based on the measured acceleration responses and the structural frequency response functions. Numerical simulation is used in the optimal selection of sensor locations. The proposed method has been successfully applied to the loading identification experiments of three structural models, two uniform steel cantilever beams and a four-story plastic glass frame, subjected to uncorrelated or partially correlated random excitations. The identified loadings agree quite well with actual excitations. It is proved that the proposed method is quite accurate and efficient in addition to its ability to alleviate the ill conditioning of the structural frequency response functions.

• Smart Structures and Systems
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• 제19권3호
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• pp.259-268
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• 2017

System identification of structures is one of the important aspects of structural health monitoring. The accuracy and efficiency of identification results is affected severely by measurement noises, especially when the structure system is large, such as bridge structures, and when online system identification is required. In this paper, the least square estimation (LSE) method is used combined with the substructure approach for identifying structural parameters of a cable-stay bridge with large degree of freedoms online. Numerical analysis is carried out by first dividing the bridge structure into smaller substructures and then estimates the parameters of each substructure online using LSE method. Simulation results demonstrate that the proposed approach is capable of identifying structural parameters, however, the accuracy and efficiency of identification results depend highly on the noise sensitivities of loading region, loading pattern as well as element size.

• Smart Structures and Systems
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• 제30권4호
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• pp.339-351
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• 2022

Evaluating the current condition of existing structures is of primary importance for economic and safety reasons. This can be addressed by Structural System Identification (SSI). A reliable static SSI depends on well-designed sensor configuration and loading cases, as well as efficient parameter estimation algorithms. Static SSI by the Measurement Error-Minimizing Observability Method (MEMOM) is a model-based deterministic static SSI method that could estimate structural parameters from static responses. In the current state of the art, this method is only applicable when structures are subjected to one loading case. This might lead to lack of information in some local regions of the structure (such as the null curvatures zones). To address this issue, the SSI by MEMOM using multiple loading cases is proposed in this work. Observability equations obtained from different loading cases are concatenated simultaneously and an optimization procedure is introduced to obtain the estimations by minimizing the discrepancy between the predicted response and the measured one. In addition, a Genetic-Algorithm (GA)-based Optimal Sensor Placement (OSP) method is proposed to tackle the OSP problem under multiple static loading cases for the very first time. In this approach, the Fisher Information Matrix (FIM)'s determinant is used as the metric of the goodness of sensor configurations. The numerical examples of a 3-span continuous bridge and a 13-story frame, are analyzed to validate the applicability of the extended SSI by MEMOM and the GA-based OSP method.

• Wind and Structures
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• 제27권5호
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• pp.283-291
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• 2018

This study presents the reliability assessment of a 100.5 m tall reinforced concrete chimney at a glass factory under wind loading by using vibration-based identified modal values. Ambient vibration measurements were recorded and modal values such as frequencies, shapes and damping ratios were identified by using Enhanced Frequency Domain Decomposition (EFDD) method. Afterwards, Finite Element Model (FEM) of the chimney was verified based on identified modal parameters. Reliability assessment of the chimney under wind loading was performed by obtaining the exceedance probability of demand to capacity distribution. Demand distribution of the chimney was developed under repetitive seeds of multivariate stochastic wind fields generated along the height of chimney. Capacity distribution of the chimney was developed by Monte Carlo simulation. Finally, it was found that reliability of the chimney is lower than code suggested limit values.

• Coupled systems mechanics
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• 제7권5호
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• pp.555-581
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• 2018

The moment-resistant steel frames are frequently used as a load-bearing structure of buildings. Global response of a moment-resistant frame structure strongly depends on connections behavior, which can significantly influence the response and load-bearing capacity of a steel frame structure. The analysis of a steel frame with included joints behavior is the main focus of this work. In particular, we analyze the behavior of two connection types through experimental tests, and we propose numerical beam model capable of representing connection behavior. The six experimental tests, under monotonic and cyclic loading, are performed for two different types of structural connections: end plate connection with an extended plate and end plate connection. The proposed damage-plasticity model of Reissner beam is able to capture both hardening and softening response under monotonic and cyclic loading. This model has 18 constitutive parameters, whose identification requires an elaborate procedure, which we illustrate in this work. We also present appropriate loading program and arrangement of measuring equipment, which is crucial for successful identification of constitutive parameters. Finally, throughout several practical examples, we illustrate that the steel structure connections are very important for correct prediction of the global steel frame structure response.

• Smart Structures and Systems
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• 제15권1호
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• pp.169-189
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• 2015

Convergence difficulty and available complete measurement information have been considered as two primary challenges for the identification of large-scale engineering structures. In this paper, a time domain substructural identification approach by combining a weighted adaptive iteration (WAI) algorithm and an extended Kalman filter method with a weighted global iteration (EFK-WGI) algorithm was proposed for simultaneous identification of physical parameters of concerned substructures and unknown external excitations applied on it with limited response measurements. In the proposed approach, according to the location of the unknown dynamic loadings and the partially available structural response measurements, part of structural parameters of the concerned substructure and the unknown loadings were first identified with the WAI approach. The remaining physical parameters of the concerned substructure were then determined by EFK-WGI basing on the previously identified loadings and substructural parameters. The efficiency and accuracy of the proposed approach was demonstrated via a 20-story shear building structure and 23 degrees of freedom (DOFs) planar truss model with unknown external excitation and limited observations. Results show that the proposed approach is capable of satisfactorily identifying both the substructural parameters and unknown loading within limited iterations when both the excitation and dynamic response are partially unknown.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2001년도 가을 학술발표회 논문집
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• pp.261-268
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• 2001

Highway bridges are important infrastructures for national transportation systems. However, due to overweight trucks frequently moving on highways, highway structures have been gradually damaged and economical loss has grown severe. To maintain a highway bridge safe and sound, properties and loading characteristics of passing trucks on the bridge must be evaluated WIM(Weigh-In-Motion) systems have been developed by many research groups for multiple purposes. Most of the developed WIM systems have applied moment influence lines to identify loading characteristics. Since passing trucks are dynamic loads, however, the identified loads by the influence lines for static loads cannot represent the actual situation correctly. The current research investigates the effects of problem of different loading characteristics on load identification and proposes a new algorithm using the concept of moment influence surface. A numerical simulation study is carried out.

• Structural Engineering and Mechanics
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• 제17권3_4호
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• pp.445-466
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• 2004

In this paper, several modal identification techniques for output-only structural systems are extensively investigated. The methods considered are the power spectral method, the frequency domain decomposition method, the Ibrahim time domain method, the eigensystem realization algorithm, and the stochastic subspace identification method. Generally, the power spectral method is most widely used in practical area, however, the other methods may give better estimates particularly for the cases with closed modes and/or with large measurement noise. Example analyses were carried out on typical structural systems under three different loading cases, and the identification performances were examined throught the comparisons between the estimates by various methods.