• KSII Transactions on Internet and Information Systems (TIIS)
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• 제18권6호
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• pp.1562-1582
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• 2024

The prediction of pedestrian trajectory is conducive to reducing traffic accidents and protecting pedestrian safety, which is crucial to the task of intelligent driving. The existing methods mainly use the past pedestrian trajectory to predict the future deterministic pedestrian trajectory, ignoring pedestrian intention and trajectory diversity. This paper proposes a multi-modal trajectory prediction model that introduces pedestrian intention. Unlike previous work, our model makes multi-modal goal-conditioned trajectory pedestrian prediction based on the past pedestrian trajectory and pedestrian intention. At the same time, we propose a novel Gate Recurrent Unit (GRU) to process intention information dynamically. Compared with traditional GRU, our GRU adds an intention unit and an intention gate, in which the intention unit is used to dynamically process pedestrian intention, and the intention gate is used to control the intensity of intention information. The experimental results on two first-person traffic datasets (JAAD and PIE) show that our model is superior to the most advanced methods (Improved by 30.4% on MSE_0.5s and 9.8% on MSE_1.5s for the PIE dataset; Improved by 15.8% on MSE_0.5s and 13.5% on MSE_1.5s for the JAAD dataset). Our multi-modal trajectory prediction model combines pedestrian intention that varies at each prediction time step and can more comprehensively consider the diversity of pedestrian trajectories. Our method, validated through experiments, proves to be highly effective in pedestrian trajectory prediction tasks, contributing to improving traffic safety and the reliability of intelligent driving systems.

• 대한기계학회논문집A
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• 제24권10호
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• pp.2502-2512
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• 2000

Truss structures are widely used in many space structures, such as large antenna systems, space stations, precision segmented telescopes because they are light in weight and amenable in assembly or deployment. But, due to the low damping capacity, they remain excited for a long time once disturbed. These structural vibrations can reduce life of the structures and cause unstable dynamic characteristics. In this research, vibration suppression experiment has carried out with a three-dimensional 15-member truss structure using two piezoelectric actuators. Piezoelectric actuators which consist of stacks of thin piezoelectric material disks are directly inserted to the truss structure collocated with the strain sensors. Each actuator is controlled digitally in decentralized manner, based on local integral and proportional feedback. The optimal positions of the actuators are determined by the modal damping ratio and the control force. Numerical simulation has carried out to determine optimal position of each actuator.

• 한국소음진동공학회논문집
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• 제11권4호
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• pp.37-42
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• 2001

Active vibration control of laminated composite plates has been carried out to design structure with maximum possible damping capacity, using piezoceramic sensor/actuators and passive constrained-layer damping treatment. The equations of motion are derived for symmetrical, multi-layer laminated plates. The damping ratio(ζ) and modal damping(2ζ$\omega$) of the first bending and torsional modes are calculated by means of iterative complex eigensolution method for both passive and active vibration control. This paper addresses a design strategy of laminated composite plate under structural vibrations.

• Structural Engineering and Mechanics
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• 제75권4호
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• pp.415-424
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• 2020

Recently, many structural damage detection (SDD) methods have been proposed to monitor the safety of structures. As an important modal parameter, mode shape has been widely used in SDD, and the difference of vectors was adopted based on sensitivity analysis and mode shapes in the existing studies. However, amplitudes of mode shapes in different measured points are relative values. Therefore, the difference of mode shapes will be influenced by their amplitudes, and the SDD results may be inaccurate. Focus on this deficiency, a multi-strategy SDD method is proposed based on the included angle of vectors and sparse regularization in this study. Firstly, inspired by modal assurance criterion (MAC), a relationship between mode shapes and changes in damage coefficients is established based on the included angle of vectors. Then, frequencies are introduced for multi-strategy SDD by a weighted coefficient. Meanwhile, sparse regularization is applied to improve the ill-posedness of the SDD problem. As a result, a novel convex optimization problem is proposed for effective SDD. To evaluate the effectiveness of the proposed method, numerical simulations in a planar truss and experimental studies in a six-story aluminum alloy frame in laboratory are conducted. The identified results indicate that the proposed method can effectively reduce the influence of noises, and it has good ability in locating structural damages and quantifying damage degrees.

• Smart Structures and Systems
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• 제23권6호
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• pp.579-587
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• 2019

In this paper, pounding tuned mass dampers (PTMDs) were designed to mitigate the multi-mode vortex-induced vibration (VIV) of stay cable utilizing the viscous-elastic material's energy-dissipated ability. The PTMD device consists of a cantilever metal rod beam, a metal mass block and a specially designed damping element covered with viscous-elastic material layer. Wind-tunnel experiment on VIV of stay cable model was set up to validate the effectiveness of the PTMD on multi-mode VIV mitigation of stay cable. By analyzing and comparing testing results of all testing cases, it could be verified that the PTMD with viscous-elastic pounding boundary can obviously mitigate the VIV amplitude of the stay cable. Moreover, the installed location and the design parameters of the PTMD device based on the controlled modes of the primary stay cable, would have a certain extent suppression on the other modal vibration of the stay cable, which means that the designed PTMDs are effective among a large band of frequency for the multi-mode VIV control of the stay cable.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.397-401
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• 1994

This paper proposes an identification method for a thin plate where multiple actuators and sensors are bonded. Since a thin plate has small damping ratios of all modes, each mode can be identified seperately with a bandpass filter for each modal signal. With the bandpass filter and the characteristics of the plate, the Multi-Input Multi-Output (MIMO) model of the plate can be converted to several Multi-Input Single-Output(MISO) models of second order linear difference equations of the modes. Parameters for each mode are obtained by using the Least Square method. Form there MISO models, the MIMO model is obtained in the form of the state space. Experiments were performed for an all-clamped plate with two pairs of piezoelectric actuators and sensors. The outputs of the identified model and the experimental data match well.

• 로봇학회논문지
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• 제8권3호
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• pp.197-205
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• 2013

This paper presents a robotic system that provides telepresence to the visually impaired by combining real-time haptic rendering with multi-modal interaction. A virtual-proxy based haptic rendering process using a RGB-D sensor is developed and integrated into a unified framework for control and feedback for the telepresence robot. We discuss the challenging problem of presenting environmental perception to a user with visual impairments and our solution for multi-modal interaction. We also explain the experimental design and protocols, and results with human subjects with and without visual impairments. Discussion on the performance of our system and our future goals are presented toward the end.

• Wind and Structures
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• 제37권6호
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• pp.445-460
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• 2023

Accurate estimation of modal parameters (i.e., natural frequency, damping ratio) of tall buildings is of great importance to their structural design, structural health monitoring, vibration control, and state assessment. Based on the combination of variational mode decomposition, smoothed discrete energy separation algorithm-1, and Half-cycle energy operator (VMD-SH), this paper presents a method for structural modal parameter estimation. The variational mode decomposition is proved to be effective and reliable for decomposing the mixed-signal with low frequencies and damping ratios, and the validity of both smoothed discrete energy separation algorithm-1 and Half-cycle energy operator in the modal identification of a single modal system is verified. By incorporating these techniques, the VMD-SH method is able to accurately identify and extract the various modes present in a signal, providing improved insights into its underlying structure and behavior. Subsequently, a numerical study of a four-story frame structure is conducted using the Newmark-β method, and it is found that the relative errors of natural frequency and damping ratio estimated by the presented method are much smaller than those by traditional methods, validating the effectiveness and accuracy of the combined method for the modal identification of the multi-modal system. Furthermore, the presented method is employed to estimate modal parameters of a full-scale tall building utilizing acceleration responses. The identified results verify the applicability and accuracy of the presented VMD-SH method in field measurements. The study demonstrates the effectiveness and robustness of the proposed VMD-SH method in accurately estimating modal parameters of tall buildings from acceleration response data.

• Smart Structures and Systems
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• 제23권6호
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• pp.615-626
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• 2019

Inerter-based damping devices (IBBDs), which consist of inerter, spring and viscous damper, have been extensively investigated in vehicle suspension systems and demonstrated to be more effective than the traditional control devices with spring and viscous damper only. In the present study, the control performance on cable vibration reduction was studied for four different inerter-based damping devices, namely the parallel-connected viscous mass damper (PVMD), series-connected viscous mass damper (SVMD), tuned inerter dampers (TID) and tuned viscous mass damper (TVMD). Firstly the mechanism of the ball screw inerter is introduced. Then the state-space formulation of the cable-TID system is derived as an example for the cable-IBBDs system. Based on the complex modal analysis, single-mode cable vibration control analysis is conducted for PVMD, SVMD, TID and TVMD, and their optimal parameters and the maximum attainable damping ratios of the cable/damper system are obtained for several specified damper locations and modes in combination by the Nelder-Mead simplex algorithm. Lastly, optimal design of PVMD is developed for multi-mode vibration control of cable, and the results of damping ratio analysis are validated through the forced vibration analysis in a case study by numerical simulation. The results show that all the four inerter-based damping devices significantly outperform the viscous damper for single-mode vibration control. In the case of multi-mode vibration control, PVMD can provide more damping to the first four modes of cable than the viscous damper does, and their maximum control forces under resonant frequency of harmonic forced vibration are nearly the same. The results of this study clearly demonstrate the effectiveness and advantages of PVMD in cable vibration control.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
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• pp.413-417
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• 1997

Distributed piezoelectric sensor and actuator have been designed for efficient vibration control of a cantilevered beam. Both PZT and PVDF are used in this study, the former as an actuator and the latter as a sensor for our integrated structure. For the PZT actuator, the position and size have been optimized. Optimal electrode shape of the PVDF sensor has been determined. For multi-mode vibration control, we have used two PZT actuators and a PVDF sensor. Electrode shading of PVDF is more powerful for modal force adjustment than the sizing and positioning of PZT. Finite element method is used to model the structure that includes the PZT actuator and the PVDF sensor. By deciding on or off of each PZT segment, the length and the location of the PZT actuator are optimize. Considering both of the host structure and the optimized actuators, it is designed that the active electrode width of PVDF sensor along the span of the beam. Actuator design is based on the criterion of minimizing the system energy in the control modes under a given initial condition. Sensor is designed to minimize the observation spill-over. Modal control forces for the residual(uncontrolled) modes have been minimized during the sensor design. Genetic algorithm, which is suitable for this kind of discrete problems, has been utilized for optimization. Discrete LQG control law has been applied to the integrated structure for real time vibration control. Performance of the sensor, the actuator, and the integrated smart structure has been demonstrated by experiments.