• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.6
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• pp.587-593
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• 2017

In this paper, we propose a method to solve the difficulties in constructing an environment capable of practical training on the theoretical contents of robot control field. We make a two-wheeled mobile robot with Segway structure using LEGO block. In order to demonstrate the validity of using the developed robot as a practical application of advanced control theory of robotics education such as dynamic system and nonlinear system, the robot takes a stable posture while balancing the change of gravity during running. The results of the experiment are shown. By presenting the results, the robots made using the LEGO block are used for practical training of advanced control theory of robotics. It can be used as a tool.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.306-309
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• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.2
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• International journal of steel structures
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• v.18 no.4
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• pp.1325-1335
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• 2018

This study dealt with investigating the seismic performance of the smart and shape memory alloy (SMA) and magnets plus rubber-spring (MRS) dampers and their effects on the seismic resistance of multiple-span simply supported bridges. The rubber springs in the MRS dampers were pre-compressed. For this aim, a set of experimental works was performed together with developing nonlinear analytical models to investigate dynamic responses of the bridges subjected to earthquakes. Fragility analysis and probabilistic assessment were conducted to assess the seismic performance for the overall bridge system. Fragility curves were then generated for each model and were compared with those of as-built. Results showed dampers could increase the seismic capacity of bridges. Furthermore, from system fragility curves, use of damper models reduced the seismic vulnerability in comparison to the as-built bridge model. Although the SMA damper showed the best seismic performance, the MRS damper was the most appropriate one for the bridge in that the combination of magnetic friction and pre-compressed rubber springs was cheaper than the shape memory alloy, and had the similar capability of the damper.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.367-375
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• 2020

This paper presents an integrated analysis about dynamic performance of a Floating Offshore Wind Turbine (FOWT) OC4 DeepCwind with semi-submersible platform under real sea environment. The emphasis of this paper is to investigate how the wave mean drift force and slow-drift wave excitation load (Quadratic transfer function, namely QTF) influence the platform motions, mooring line tension and tower base bending moments. Second order potential theory is being used for computing linear and nonlinear wave effects, including first order wave force, mean drift force and slow-drift excitation loads. Morison model is utilized to account the viscous effect from fluid. This approach considers floating wind turbine as an integrated coupled system. Two time-domain solvers, SIMA (SIMO/RIFLEX/AERODYN) and FAST are being chosen to analyze the global response of the integrated coupled system under small, moderate and severe sea condition. Results show that second order mean drift force and slow-drift force will drift the floater away along wave propagation direction. At the same time, slow-drift force has larger effect than mean drift force. Also tension of the mooring line at fairlead and tower base loads are increased accordingly in all sea conditions under investigation.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.301-307
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• 1998

The goal of this paper is to describe an advanced method of the fault diagnois using Control Theory with reference to a crack detection, a new way to localize the crack position under infulence of the plant disturbance and white measurement noise on a rotating shaft. As a first step, the shaft is physically modelled with a finite element method as usual and the dynamic mathematical model is derived from it using the Hamilton - principle and in this way the system is modelled by various subsystems. The equations of motion with crack is established by adaption of the local stiffness change through breathing and gaping from the crack to the equation of motion with un-damaged shaft. This is supposed to be regarded as reference for the given system. Based on the fictitious model of the time behaviour induced from vibration phenomena measured at the bearings, a nonlinear State Observer is designed in order to detect the crack on the shaft. This is elementary NL- observer(EOB). Using the elementary observer, an Estimator(Observer) Bank is established and arranged at the certain position on the shaft. In case a crack is found and its position is known, the procedure for the estimation of the depth is going to begin.

• Earthquakes and Structures
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• v.25 no.6
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• pp.443-454
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• 2023

Steel shear walls are used to strengthen steel and concrete structures. One such system is Partial Attached Steel Shear Walls (PASSW), which are only connected to frame beams. This system offers both structural and architectural advantages. This study first calibrated the numerical model of RC frames with and without PASSW using an experimental sample. The seismic performance of the RC frame was evaluated by 30 non-linear static analyses, which considered stiffness, ductility, lateral strength, and energy dissipation, to investigate the effect of PASSW width and column axial load. Based on numerical results and a curve fitting technique, a lateral stiffness equation was developed for frames equipped with PASSW. The effect of the shear wall location on the concrete frame was evaluated through eight analyses. Nonlinear dynamic analysis was performed to investigate the effect of the shear wall on maximum frame displacement using three earthquake records. The results revealed that if PASSW is designed with appropriate stiffness, it can increase the energy dissipation and ductility of the frame by 2 and 1.2 times, respectively. The stiffness and strength of the frame are greatly influenced by PASSW, while axial force has the most significant negative impact on energy dissipation. Furthermore, the location of PASSW does not affect the frame's behavior, and it is possible to have large openings in the frame bay.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 1995.12a
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• pp.9-21
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• 1995

A planning support system enhances our ability to use water capacity expansion as an urban growth management strategy. This paper reports the development of capacity expansion modeling of water supply as part of the continuing development of such a planning support system (PEGASUS: Planning Environment for Generation and Analysis of Spatial Urban Systems) to incorporate water supply, This system is designed from the understanding that land use and development drive the demand for infrastructure and infrastructure can have a significant influence on the ways in which land is developed and used. Capacity expansion Problems of water supply can be solved in two ways: 1) optimal control theory, and 2) mixed integer nonlinear programming (MINLP). Each method has its strengths and weaknesses. In this study the MINLP approach is used because of its strength of determining expansion sizing and timing simultaneously. A dynamic network optimization model and a water-distribution network analysis model can address the dynamic interdependence between water planning and land use planning. While the water-distribution network analysis model evaluates the performance of generated networks over time, the dynamic optimization model chooses alternatives to meet expanding water needs. In addition, the user and capacity expansion modeling-to-generate-alternatives (MGA) can generate alternatives. A cost benefit analysis module using a normalization technique helps in choosing the most economical among those alternatives. GIS provide a tool for estimating the volume of demanded water and showing results of the capacity expansion model.

• Journal of the Korea institute for structural maintenance and inspection
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• v.14 no.6
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• pp.238-245
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• 2010

Progressive collapse is defined as a collapse caused by sectional destruction of a structural member which links to other surrounding structures. Currently the design guidelines for the prevention of progressive collapse is not available in Korea. So, structural engineers have a difficulty in evaluating progressive collapse. In this study, the static and dynamic analysis to evaluate the methods and procedures are conducted using commercial analysis program for RC moment resisting frames. According to the study, DCR value of RC moment resisting frame system based on code in Korea is over 2 and it shows that it can't provide alternate load paths due to the progressive collapse. And additional reinforcement should be considered for the progressive collapse resistance. As a result of vertical deflection and DCR value of linear static analysis and linear dynamic analysis, the results of dynamic analysis were underestimated more than the result of static analysis. Thus, the dynamic coefficient value of 2 provides conservative estimation.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.1
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• pp.10-18
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• 2010

The purpose of this paper deals with direct multiple-shooting method (DMS) to resolve helicopter maneuver problems of helicopters. The maneuver problem is transformed into nonlinear problems and solved DMS technique. The DMS method is easy in handling constraints and it has large convergence radius compared to other strategies. When parameterized with piecewise constant controls, the problems become most effectively tractable because the search direction is easily estimated by solving the structured Karush-Kuhn-Tucker (KKT) system. However, generally the computation of function, gradients and Hessian matrices has considerably time-consuming for complex system such as helicopter. This study focused on the approximation of the KKT system using the matrix exponential and its integrals. The propose method is validated by solving optimal control problems for the linear system where the KKT system is exactly expressed with the matrix exponential and its integrals. The trajectory tracking problem of various maneuvers like bob up, sidestep near hovering flight speed and hurdle hop, slalom, transient turn, acceleration and deceleration are analyzed to investigate the effects of algorithmic details. The results show the matrix exponential approach to compute gradients and the Hessian matrix is most efficient among the implemented methods when combined with the mixed time integration method for the system dynamics. The analyses with the proposed method show good convergence and capability of tracking the prescribed trajectory. Therefore, it can be used to solve critical areas of helicopter flight dynamic problems.