• 한국정밀공학회지
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• 제22권1호
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• pp.89-96
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• 2005

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped-walking robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a walking robot which have a prismatic balancing weight is conditionally linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. For a stable gait, stabilization equations of a biped-walking robot are modeled as non-homogeneous second order differential equations for each balancing weight type, and a trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3dimensional graphic simulator is developed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped-walking robot IWRⅢ. Walking of 4 steps will be simulated and experimented with a real biped-walking robot. This balancing system will be applied to a biped humanoid robot, which consist legs and upper body, as a future work.

• Earthquakes and Structures
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• 제12권5호
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• pp.569-581
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• 2017

The Monte Carlo Simulation (MCS) based seismic fragility analysis (SFA) approach allows defining more realistic relationship between failure probability and seismic intensity. However, the approach requires simulating large number of nonlinear dynamic analyses of structure for reliable estimate of fragility. It makes the approach computationally challenging. The response surface method (RSM) based metamodeling approach which replaces computationally involve complex mechanical model of a structure is found to be a viable alternative in this regard. An adaptive moving least squares method (MLSM) based RSM in the MCS framework is explored in the present study for efficient SFA of existing structures. In doing so, the repetition of seismic intensity for complete generation of fragility curve is avoided by including this as one of the predictors in the response estimate model. The proposed procedure is elucidated by considering a non-linear SDOF system and an existing reinforced concrete frame considered to be located in the Guwahati City of the Northeast region of India. The fragility results are obtained by the usual least squares based and the proposed MLSM based RSM and compared with that of obtained by the direct MCS technique to study the effectiveness of the proposed approach.

• Wind and Structures
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• 제26권1호
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• pp.25-34
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• 2018

This paper presents a beam finite element model of a vibrate wind blade in large elastic deformation subjected to the aerodynamic, centrifugal, gyroscopic and gravity loads. The gyroscopic loads applied to the blade are induced by her simultaneous vibration and rotation. The proposed beam finite element model is based on a simplex interpolation method and it is mainly intended to the numerical analysis of wind blades vibration in large elastic deformation. For this purpose, the theory of the sheared beams and the finite element method are combined to develop the algebraic equations system governing the three-dimensional motion of blade vibration. The applicability of the theoretical approach is elucidated through an original case study. Also, the static deformation of the used wind blade is assessed by appropriate software using a solid finite element model in order to show the effectiveness of the obtained results. To simulate the nonlinear dynamic response of wind blade, the predictor-corrector Newmark scheme is applied and the stability of numerical process is approved during a large time of blade functioning. Finally, the influence of the modified geometrical stiffness on the amplitudes and frequencies of the wind blade vibration induced by the sinusoidal excitation of gravity is analyzed.

• 제어로봇시스템학회논문지
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• 제22권5호
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• pp.320-325
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• 2016

This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제1권1호
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• pp.56-61
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• 2001

Activated sludge processes are broadly used in the biological wastewater treatment processes. The activated sludge processes are complex systems because of the many factors such as the variation of influent flowrate and ingredients, the complexity of biological reactions, and the various operation conditions. The main motivation o this research is to develop an intelligent control strategy for activated sludge process (ASP). ASP is a complex and nonlinear dynamic system owing to the characteristic of wastewater, the change in influent flowrate, weather conditions, and so on. The mathematical model of ASP also includes the uncertainty which is a ignored or unconsidered factor from process designers. The ASP model based on Matlabⓡ/Simulinkⓡ is developed in this paper. And the model performance is examined by IWA (International Water Association) and COST (European Cooperation in the filed of Scientific and Technical Research) data. The model tests derive steady-state results of 14 days. In this paper, fuzzy logic control approach is applied to handle DO concentrations. The fuzzy logic controller includes two inputs and one output to adjust air flowrate. The objective function for the optimization, in the implemented evolutionary strategy, is formed with focusing on improving the effluent quality and reducing the operating cost.

• International Journal of Ocean System Engineering
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• 제4권1호
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• pp.19-28
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• 2014

The tension leg platform (TLP) is a vertically moored structure with excess buoyancy. The TLP is regarded as moored structure in horizontal plan, while inherit stiffness of fixed platform in vertical plane. In this paper, a numerical study using modified Morison equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between surge, sway, heave, roll, pitch and yaw degrees of freedom on the dynamic behavior of TLP's. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark's beta integration scheme. The effect of tethers length and wave characteristics such as wave period and wave height on the response of TLP's was evaluated. Only uni-directional waves in the surge direction was considered in the analysis. It was found that for short wave periods (i.e. 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on tether length, wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations about that is significantly dependent on tether length.

• 대한기계학회논문집A
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• 제21권5호
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• pp.746-755
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• 1997

This paper addresses the systematic procedure using sequential approach for the analysis of the coupled thermo-mechanical behavior of a steady rolling tire. Not only the knowledge of mechanical stresses but also of the temperature loading in a rolling tire are very important because material damage and material properties are significantly affected by the temperature. In general, the thermo-mechanical behavior of a pneumatic tire is highly complex transient phenomenon that requires the solution of a dynamic nonlinear coupled themoviscoelasticity problem with heat source resulting from internal dissipation and friction. In this paper, a sequential approach, with effective calculation schemes, to modeling this system is presented in order to predict the temperature distribution with reasonable sccuracies in a steady state rolling tire. This approach has the three major analysis modules-deformation, dissipation, and thermal modules. In the dissipation module, an analytic method for the calculation of the heat source in a rolling tire is established using viscoelastic theory. For the verification of the calculated temperature profiles and rolling resistance at different velocities, they were compared with the measured ones.

• Wind and Structures
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• 제22권3호
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• pp.369-391
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• 2016

Electricity is transmitted by transmission lines from the source of production to the distribution system and then to the end users. Failure of a transmission line can lead to devastating economic losses and to negative social consequences resulting from the interruption of electricity. A comprehensive in-house numerical model that combines the data of computational fluid dynamic simulations of tornado wind fields with three dimensional nonlinear structural analysis modelling of the transmission lines (conductors and ground-wire) is used in the current study. Many codes of practice recommend neglecting the tornado forces acting on the conductors and ground-wires because of the complexity in predicting the conductors' response to such loads. As such, real transmission line systems are numerically simulated and then analyzed with and without the inclusion of the lines to assess the effect of tornado loads acting on conductors on the overall response of transmission towers. In addition, the behaviour of the conductors under the most critical tornado configuration is described. The sensitivity of the lines' behaviour to the magnitude of tornado loading, the level of initial sag, the insulator's length, and lines self-weight is investigated. Based on the current study results, a recommendation is made to consider conductors and ground-wires in the analysis and design of transmission towers under the effect of tornado wind loads.

• Computers and Concrete
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• 제25권3호
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• pp.255-266
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• 2020

This study presents comparation of fixed and viscos boundary condition effects on three-dimensional earthquake response and performance of a RCC dam considering linear and non-linear response. For this purpose, Cine RCC dam constructed in Aydın, Turkey, is selected in applications. The Drucker-Prager material model is considered for concrete and foundation rock in the nonlinear time-history analyses. Besides, hydrodynamic effect was considered in linear and non-linear dynamic analyses for both conditions. The hydrodynamic pressure of the reservoir water is modeled with the fluid finite elements based on the Lagrangian approach. The contact-target element pairs were used to model the dam-foundation-reservoir interaction system. The interface between dam and foundation is modeled with welded contact for both fixed and viscos boundary conditions. The displacements and principle stress components obtained from the linear and non-linear analyses are compared each other for empty and full reservoir cases. Seismic performance analyses considering demand-capacity ratio criteria were also performed for each case. According to numerical analyses, the total displacements and besides seismic performance of the dam increase by the effect of the viscous boundary conditions. Besides, hydrodynamic pressure obviously decreases the performance of the dam.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.223-226
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• 1995

New output voltage control technique based on the simple feedback linearization is proposed. The system states are first divided into fast states and slow states. Then, the control stage is composed of the fast inner current control loop and the slow outer voltage control loop. From the inner loop, the average control is derived by the sliding mode concept and it is inserted into the dynamic equations of the slow states in the outer loop. Applying the feedback linearization technique to the obtained large-signal models of the PWM dc-dc converters, linearized large-signal models are obtained for the slow states. With this technique, the output voltage controller of the PWM dc-dc converters can be designed easily in the global state space and its control performance can also be much improved.