• Journal of Mechanical Science and Technology
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• v.15 no.5
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• pp.580-591
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• 2001

This paper proposes a fuzzy-sliding mode control which is designed by a self tuning fuzzy inference method based on a genetic algorithm. Using the method, the number of inference rules and the shape of the membership functions of the proposed fuzzy-sliding mode control are optimized without the aid of an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. It is further guaranteed that the selected solution becomes the global optimal solution by optimizing Akaikes information criterion expressing the quality of the inference rules. In order to evaluate the learning performance of the proposed fuzzy-sliding mode control based on a genetic algorithm, a trajectory tracking simulation of the polishing robot is carried out. Simulation results show that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the trajectory control result is similar to the result of the fuzzy-sliding mode control which is selected through trial error by an expert. Therefore, a designer who does not have expert knowledge of robot systems can design the fuzzy-sliding mode controller using the proposed self tuning fuzzy inference method based on the genetic algorithm.

• International Journal of Ocean System Engineering
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• v.3 no.2
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• pp.50-60
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• 2013

This paper presents a novel approach to the design of an adaptive fuzzy sliding mode controller for depth control of an autonomous underwater vehicle (AUV). So far, AUV's dynamics are highly nonlinear and the hydrodynamic coefficients of the vehicles are difficult to estimate, because of the variations of these coefficients with different operating conditions. These kinds of difficulties cause modeling inaccuracies of AUV's dynamics. Hence, we propose an adaptive fuzzy sliding mode control with novel fuzzy adaptation technique for regulating vertical positioning in presence of parametric uncertainty and disturbances. In this approach, two fuzzy approximator are employed in such a way that slope of the linear sliding surface is updated by first fuzzy approximator, to shape tracking error dynamics in the sliding regime, while second fuzzy approximator change the supports of the output fuzzy membership function in the defuzzification inference module of fuzzy sliding mode control (FSMC) algorithm. Simulation results shows that, the reaching time and tracking error in the approaching phase can be significantly reduced with chattering problem can also be eliminated. The effectiveness of proposed control strategy and its advantages are indicated in comparison with conventional sliding mode control FSMC technique.

• Earthquakes and Structures
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• v.21 no.5
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• pp.551-562
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• 2021

In this study, the generalized intensity measure (IM) named I_Npg is analyzed. The recently proposed proxy of the spectral shape named N_pg is the base of this intensity measure, which is similar to the traditional N_p based on the spectral shape in terms of pseudo-acceleration; however, in this case the new generalized intensity measure can be defined through other types of spectral shapes such as those obtained with velocity, displacement, input energy, inelastic parameters and so on. It is shown that this IM is able to increase the efficiency in the prediction of nonlinear behavior of structures subjected to earthquake ground motions. For this work, the efficiency of two particular cases (based on acceleration and velocity) of the generalized I_Npg to predict the peak floor acceleration demands on steel frames under 30 earthquake ground motions with respect to the traditional spectral acceleration at first mode of vibration Sa(T₁) is compared. Additionally, a 3D reinforced concrete building and an irregular steel frame is used as a basis for comparison. It is concluded that the use of velocity and acceleration spectral shape increase the efficiency to predict peak floor accelerations in comparison with the traditional and most used around the world spectral acceleration at first mode of vibration.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.12
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• pp.1201-1206
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• 2008

This study is focused on the investigation of the modal characteristics of the preliminary models of science technology satellite-3 (STSAT-3). Prior to the final decision of the composite structure model, several candidate structure models have been developed so as to find the most qualified structures with respect to the satellite structure systems' requirements and then utilize the information achieved to a real design. The main structure is composed of fiber reinforced composite faced honeycomb sandwich panel whose modal characteristics are found and compared to each other by means of finite element numerical analyses. Results from the current study demonstrate that a rectangular box shape having supporting inner panel shows relatively higher fundamental mode frequencies than octagonal box shape and etc., and regardless of the structure model shape tested herein, the fundamental mode turns out lateral bending mode.

• Smart Structures and Systems
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• v.4 no.3
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• pp.343-365
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• 2008

In this study, the frequency domain method which utilizes the evaluation of changes in the structural mode shape is adopted to identify regions which contain localized damages. Frequency response function (FRF) values corresponding to the modal frequency, analogous to the mode shape coefficients, are used since change in natural frequency of the system is usually insignificant for localized damage. This method requires only few sensors to obtain the dynamic response of the structure at specific locations to determine the FRF via fast-Fourier transform (FFT). Numerical examples of an aluminum plate, which includes damages of varying severity, locations and combinations of multiple locations, are presented to demonstrate the feasibility of the method. An experimental verification of the method is also done using an aluminum plate with two different degrees of damage, namely a half-through notch and a through notch. The inconsistency in attaining the FRF values for practical applications due to varying impact load may be overcome via statistical averaging, although large variations in the loading in terms of the contact duration should still be avoided. Nonetheless, this method needs special attention when the damages induce notable changes in the modal frequency, such as when the damages are of high severity or cover more extensive area or near the boundary where the support condition is modified. This is largely due to the significant decrease in the frequency term compared to the increase in the vibration amplitude. For practical reasons such as the use of limited number of sensors and to facilitate automation, extending the resolution of this method of identification may not be efficient. Hence, methods based on wave propagation can be employed as a complement on the isolated region to provide an accurate localization as well as to trace the geometry of the damage.

• Ocean Systems Engineering
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• v.10 no.1
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• pp.67-86
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• 2020

The main goal of this study is to investigate the free vibration analysis of a large sag catenary with application to the jumper in hybrid riser system. The equation of motion is derived by using the variational method based on the virtual work principle. The finite element method is applied to evaluate the numerical solutions. The large sag catenary is utilized as an initial configuration for vibration analysis. The nonlinearity due to the large sag curvature of static configuration is taken into account in the element stiffness matrix. The natural frequencies of large sag catenary and their corresponding mode shapes are determined by solving the eigenvalue problem. The numerical examples of a large sag catenary jumpers are presented. The influences of bending rigidity and large sag shape on the free vibration behaviors of the catenary jumper are provided. The results indicate that the increase in sag reduces the jumper natural frequencies. The corresponding mode shapes of the jumper with large sag catenary shape are comprised of normal and tangential displacements. The large sag curvature including in the element stiffness matrix increases the natural frequency especially for a case of very large sag shape. Mostly, the mode shapes of jumper are dominated by the normal displacement, however, the tangential displacement significantly occurs around the lowest point of sag. The increase in degree of inclination of the catenary tends to increase the natural frequencies.

• Smart Structures and Systems
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• v.11 no.4
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• pp.411-433
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• 2013

Due to its easy operation and wide applicability, the ambient vibration method is commonly adopted to determine the cable force by first identifying the cable frequencies from the vibration signals. With given vibration length and flexural rigidity, an analytical or empirical formula is then used with these cable frequencies to calculate the cable force. It is, however, usually difficult to decide the two required parameters, especially the vibration length due to uncertain boundary constraints. To tackle this problem, a new concept of combining the modal frequencies and mode shape ratios is fully explored in this study for developing an accurate method merely based on ambient vibration measurements. A simply supported beam model with an axial tension is adopted and the effective vibration length of cable is then independently determined based on the mode shape ratios identified from the synchronized measurements. With the effective vibration length obtained and the identified modal frequencies, the cable force and flexural rigidity can then be solved using simple linear regression techniques. The feasibility and accuracy of the proposed method is extensively verified with demonstrative numerical examples and actual applications to different cable-stayed bridges. Furthermore, several important issues in engineering practice such as the number of sensors and selection of modes are also thoroughly investigated.

• Journal of the Korea institute for structural maintenance and inspection
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• v.16 no.2
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• pp.87-94
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• 2012

A damage estimation method of wind turbine tower using natural frequency and mode shape is presented for effective condition monitoring. Dynamic analysis for a wind turbine was carried out to obtain the response of tower from which modal properties were identified. A neural network was learned based on training patterns generated by the changes of natural frequency and mode shape due to various damages. The changes of modal property were calculated using a program for modal parameter estimation. Damage locations and severities could be successfully estimated for 10 damage cases including multi-damage cases using the trained neural network. The damage severities for very small damages generally tends to be slightly under-estimated however, the identified damage locations agreed reasonably well with the accurate locations. Enhancement of the estimation result for very small damage and verification of the proposed method through experiment will be carried out by further study.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.43 no.2
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• pp.187-193
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• 2023

This paper presents the buckling behavior of a pile considering its self-weight. The differential equation and boundary conditions governing the buckling of partially embedded piles in nonhomogeneous soils are derived. The buckling load and mode shape of the pile are numerically computed by the Runge-Kutta method combined with the Regula-Falsi algorithm. The obtained numerical solutions for bucking loads agree well with the results available from the literature. Numerical examples are given to analyze the buckling load and mode shape of the piles as affected by the self-weight, embedment ratio, slenderness ratio and boundary condition of the pile as well as the aspect ratio and rigidity ratio of the subgrade reaction. It is found that the self-weight of the pile leads to the reduction of the buckling load, indicating that neglecting the effect of self-weight may overestimate the buckling load of partially embedded piles.

• Coupled systems mechanics
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• v.9 no.4
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• pp.311-323
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• 2020

This paper deals with the effect of the mode shapes on the dynamic response of a multi-storey frame subjected to moving train loads which are modelled as loads of constant intervals with constant velocity using the finite element method. The multi-storey frame is modelled as a number of Bernoulli-Euler beam elements. First, the first few modes of the multi-storey frame are determined. Then, the effects of force span length to beam length ratio and velocity on dynamic magnification factor (DMF) are evaluated via 3D velocity-force span length to beam length ratio-DMF graphics and its 2D projections. By using 3D and 2D graphics, the directions of critical speeds that force the structure under resonance conditions are determined. Last, the mode shapes related to these directions are determined by the time history and frequency response graphs. This study has been limited by the vibration of the frame in the vertical direction.