• 조명전기설비학회논문지
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• 제25권9호
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• pp.50-55
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• 2011

This research is to apply the adaptive control of neuron networks for the real-time attitude control of Multi-articulated robot. Multi-articulated robot is expressed with a complicated mathematical model on account of the mechanic, electric non-linearity which each articulation of mechanism has, and includes an unstable factor in time of attitude control. If such a complex expression is included in control operation, it leads to the disadvantage that operation time is lengthened. Thus, if the rapid change of the load or the disturbance is given, it is difficult to fulfill the control of desired performance. In this research we used the response property curve of the robot instead of the activation function of neural network algorithms, so the adaptive control system of neural networks constructed without the information of modeling can perform a real-time control. The proposed adaptive control algorithm generated control signs corresponding to the non-linearity of Multi-articulated robot, which could generate desired motion in real time.

• 한국안전학회지
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• 제22권5호
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• pp.1-6
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• 2007

Vibro-impacts in manual transmissions result due to several nonlinearities such as multi-staged clutch characteristics and gear backlashes. For the sake of understanding the torsional system, one specific manual transmission with front engine and front wheel drive configuration is investigated with a linear model under the several assumptions substituting the nonlinear factors. First, this system is examined with the mathematical approaches by expressing the governing equations to find out the torsional motions. Second, this system is analyzed using the linear model in order to understand its modal and frequency response characteristics using eigensolution method and the FRF(Frequency Responses Function) analysis. Third, with the given results from the eigensolutions, several mode shapes are investigated related to the torsional motion characteristics. Fourth, the system characteristics with the FRFs are studied with the basic approach, with which the several key parameters will be suggested based upon the results in the further studies.

• Structural Engineering and Mechanics
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• 제46권3호
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• pp.353-370
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• 2013

This paper presents a new method to study the impact factor of an old bridge based on the model updating technique. Using the genetic algorithm (GA) by minimizing an objective function of the residuals between the measured and predicted responses, the bridge and vehicle coupled vibration models were updated. Based on the displacement relationship and the interaction force relationship at the contact patches, the vehicle-bridge coupled system can be established by combining the equations of motion of both the bridge and vehicles. The simulated results show that the present method can simulate precisely the response of the tested bridge; compared with the other bridge codes, the impact factor specified by the bridge code of AASHTO (LRFD) is the most conservative one, and the value of Chinese highway bridge design code (CHBDC) is the lowest; for the large majority of old bridges whose road surface conditions have deteriorated, calculating the impact factor with the bridge codes cannot ensure the reliable results.

• 제어로봇시스템학회논문지
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• 제4권6호
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• pp.713-721
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• 1998

In this paper a new modeling and an optimal pole-placement control for the suspension system of Macpherson type are investigated. The rotational motion of the unsprung mass is emphasized in the new modeling. The two generalized coordinates selected in the new model are the vortical displacement of sprung mass and the angular displacement of control arm. Both variables are measured from their static equilibrium points. It is shown that the conventional model is a special case of the new model since the transfer function of the new model coincides with that of the conventional one if the lower support point of the shock absorber is located at the mass center of the unsprung mass. It is also shown that the resonance frequencies of the new model agree better with experimental results. Therefore, the new model is more general in the sense that it Provides an extra degree of freedom in determining the plant model for control system design. An optimal pole-placement control which combines LQ control and pole-placement technique is applied to the new model. Simulations are provided.

• Advances in biomechanics and applications
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• 제1권4호
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• pp.253-267
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• 2014

The human head is identified as the body region most frequently involved in life-threatening injuries. Extensive research based on experimental, analytical and numerical methods has sought to quantify the response of the human head to blunt impact in an attempt to explain the likely injury process. Blunt head impact arising from vehicular collisions, sporting injuries, and falls leads to relative motion between the brain and skull and an increase in contact and shear stresses in the meningeal region, thereby leading to traumatic brain injuries. In this paper the properties and material modeling of the subarachnoid space (SAS) as it relates to Traumatic Brain Injuries (TBI) is investigated. This was accomplished using a simplified local model and a validated 3D finite element model. First the material modeling of the trabeculae in the Subarachnoid Space (SAS) was investigated and validated, then the validated material property was used in a 3D head model. In addition, the strain in the brain due to an impact was investigated. From this work it was determined that the material property of the SAS is approximately E = 1150 Pa and that the strain in the brain, and thus the severity of TBI, is proportional to the applied impact velocity and is approximately a quadratic function. This study reveals that the choice of material behavior and properties of the SAS are significant factors in determining the strain in the brain and therefore the understanding of different types of head/brain injuries.

• Journal of Mechanical Science and Technology
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• 제17권5호
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• pp.654-667
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• 2003

This paper presents a consequence of the systematic approach to identify the aerodynamic parameters of an unmanned aerial vehicle (UAV) equipped with the automatic flight control system. A 3-2-1-1 excitation is applied for the longitudinal mode while a multi-step input is applied for lateral/directional excitation. Optimal time step for excitation is sought to provide the broad input bandwidth. A fully automated programmed flight test method provides high-quality flight data for system identification using the flight control computer with longitudinal and lateral/directional autopilots, which enable the separation of each motion during the flight test. The accuracy of the longitudinal system identification is improved by an additional use of the closed-loop flight test data. A constrained optimization scheme is applied to estimate the aerodynamic coefficients that best describe the time response of the vehicle. An appropriate weighting function is introduced to balance the flight modes. As a result, concurrent system models are obtained for a wide envelope of both longitudinal and lateral/directional flight maneuvers while maintaining the physical meanings of each parameter.

• 한국소음진동공학회논문집
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• 제23권1호
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• pp.25-33
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• 2013

The floating offshore wind turbines are usually exposed to the wave and wind excitations which are irregular and undirected. In this paper, the sloshing characteristics of annular cylindrical tank were experimentally investigated to reduce the structural dynamic motion of floating offshore wind turbine which is robust to the irregular change of excitation direction of wind and wave. The formula for the natural sloshing frequencies of this annular cylindrical tank was derived theoretically. In order to validate this formula, the shaking equipment was established and frequency response functions were measured. Two types of tank were considered. The first and second natural sloshing frequencies were investigated according to the depth of the water. It has been observed that between theoretical and experimental results shows a good agreement.

• 한국해양공학회지
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• 제15권2호
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• pp.22-32
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• 2001

The numerical investigation of obliquely incident wave interactions with fully submerged dual buoy/porous-membrane floating breakwaters placed in parallel with spacing is studied based on linear potential theory and Darcy's law. The numerical solutions are obtained by using a discrete-membrane dynamic model and second-kind modified Bessel function distribution over the entire boundaries of fluid regions. First, numerical solutions for an idealized dual submerged system without buoys are obtained. Second, a more practical dual submerged system with membrane tension provided by buoys at its tops is investigated by the multi-domain boundary element method particularly devised for dual buoy/porous-membrane problems with gaps. The velocity potentials of wave motion are coupled with porous-membrane deformation, and solved simultaneously since the boundary condition on porous-membrane is not known in advance. The effects of varying permeability on membranes and wave characteristics are discussed for the optimum design parameters of systems previously studied. The inclusion of permeability on membrane eliminates the resonances that aggravate the breakwater performance. The system is highly efficient when waves generated by the buoys and membranes were mutually canceled and its energy at resonance frequency dissipates through fine pores on membranes.

• 전기학회논문지
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• 제61권12호
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• pp.1948-1952
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• 2012

The paper presents modal testing and analysis in order to obtain the dynamic characteristics of a middle spacer grids of a nuclear fuel rod. A spacer grid is one of the important structural elements supporting nuclear fuel rods. Such a fuel rod can be oscillated by its thermal expansion, neutron irradiation and etc. due to cooling water flow under the operation of a nuclear power plant. When the fuel rod vibrates, fretting wear due to repeated friction motion between the fuel rods and spacer grids can be occurred, and so the fuel rod is damaged. In this paper, through modal analysis and testing, natural frequencies and modes of a middle spacer grid were calculated, and the following conclusions were obtained. Firstly the numerical first-seven natural frequencies for spacer grids of a fuel rod having complicated structures have a small difference within 3.8% with experimental natural frequencies, and so the suitability of simulation results was verified. Secondly, experimental mode shapes for a middle spacer grid of a nuclear fuel rod were verified by obtaining lower non-diagonal terms through MAC(Modal Assurance Criteria), and were confirmed by the simulation modes.

• Structural Engineering and Mechanics
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• 제66권1호
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• pp.139-149
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• 2018

Many practical engineering problems are associated with nonlinear systems subjected to nonstationary random excitations. Equivalent linearization methods are commonly used to seek for approximate solutions to this kind of problems. Compared to various approaches developed in the frequency and mixed time-frequency domains, though directly solving the system equation of motion in the time domain would improve computation efficiency, only limited studies are available. Considering the fact that the orthogonal functions have been widely used to effectively improve the accuracy of the approximated responses and reduce the computational cost in various engineering applications, an orthogonal-function-based equivalent linearization method in the time domain has been proposed in the current paper for nonlinear systems subjected to nonstationary random excitations. In the numerical examples, the proposed approach is applied to a SDOF system with a set-up spring and a SDOF Duffing oscillator subjected to stationary and nonstationary excitations. In addition, its applicability to nonlinear MDOF systems is examined by a 3DOF Duffing system subjected to nonstationary excitation. Results show that the proposed method can accurately predict the nonlinear system response and the formulation of the proposed approach allows it to be capable of handling any general type of nonstationary random excitations, such as the seismic load.