• 동력기계공학회지
• /
• 제21권3호
• /
• pp.66-73
• /
• 2017

In order to identify the design parameters of a hydraulic engine mount with a nonlinear characteristics, an experimental method has been used generally. The method takes a considerable time and expense because of preparing an experimental apparatus, conducting a test, and analyzing results. Therefore, this paper presents a simple method to identify the design parameters of a cylindrical hydraulic engine mount, and optimize the design parameters. The physical model and mathematical equations of the mount were derived, and values of the design parameters of the mount were identified by optimization method with minimizing difference between the analytical results with the equations and the experimental results. This method is more simpler than the conventional experiment method and identify successfully the design parameters. In addition, the technique can optimize the design parameters of the mount to improves the isolation performance of the mount.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2007년도 추계학술대회논문집
• /
• pp.863-869
• /
• 2007

An improved method based on a normal frequency response function (FRF) is proposed to identify structural parameters such as mass, stiffness and damping matrices directly from the FRFs of a linear mechanical system. The method for estimating structural parameters directly from the measured FRFs of a structure is presented. This paper demonstrates that the characteristic matrices are extracted more accurately by using a weighted equation and eliminating the matrix inverse operation. The method is verified for a four degree-of-freedom lumped parameter system and an eight degree-of-freedom finite element beam. Experimental verification is also performed for a free-free steel beam whose size and physical properties are the same as those of the finite element beam. The results show that the structural parameters, especially the damping matrix, can be estimated more accurately by the proposed method.

• 한국정밀공학회지
• /
• 제6권3호
• /
• pp.32-45
• /
• 1989

The positioning accuracy of robots depends upon a forward kinematics which relates the joint variables to the orientation and position of the robot extremity in the absolute coordinate system. The relationship between two connective joint coordi- nates of a robot, which is the basis of the kinematics, is defined by 4 Denavit-Hartenberg parameters. But manufacturing errors in machining and assembly process of robots lead to disctrepancies between the design parameters and the physical structure. Thus, improving the positioning accuracy of robots reguires the identification of the actual link parameters of each robot. In this study, the least-squares method is used to calibrate the link parameters and off-line parameter calibration software is developed. Computer simulation is done to study the dependence of the calibration performance upon the DOF of the robot and number of acquired data set used in the least-squares method. 3 DOF Robot/Controller and specially designed 3D coordinate measurer is made and experiment is carried out to verify the theoretical and computational analysis.

• 한국생산제조학회지
• /
• 제21권1호
• /
• pp.76-84
• /
• 2012

This paper presents the measurement system of arrow's point of impact using laser scan camera and describes the image calibration method. The calibration process of distorted image is primarily divided into explicit and implicit method. Explicit method focuses on direct optical property using physical camera and its parameter adjustment functionality, while implicit method relies on a calibration plate which assumed relations between image pixels and target positions. To find the relations of image and target position in implicit method, we proposed the performance criteria based polynomial theorem model that overcome some limitations of conventional image calibration model such as over-fitting problem. The proposed method can be verified with 2D position of arrow that were taken by SICK Ranger-D50 laser scan camera.

• Structural Engineering and Mechanics
• /
• 제63권6호
• /
• pp.743-750
• /
• 2017

Modal parameter identification plays a key role in the structural health monitoring (SHM) for civil engineering. Eigensystem realization algorithm (ERA) is one of the most popular identification methods. However, the complex environment around civil structures can introduce the noises into the measurement from SHM system. The spurious modes would be generated due to the noises during ERA process, which are usually ignored and be recognized as physical modes. This paper proposes an improved stabilization diagram method in ERA to distinguish the spurious modes. First, it is proved that the ERA can be performed by any two Hankel matrices with one time step shift. The effect of noises on the eigenvalues of structure is illustrated when the choice of two Hankel matrices with one time step shift is different. Then, a moving data diagram is proposed to combine the traditional stabilization diagram to form the improved stabilization diagram method. The moving data diagram shows the mode variation along the different choice of Hankel matrices, which indicates whether the mode is spurious or not. The traditional stabilization diagram helps to determine the concerned truncated order before moving data diagram is implemented. Finally, the proposed method is proved through a numerical example. The results show that the proposed method can distinguish the spurious modes.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1352-1355
• /
• 1996

The control of diamond turning is usually achieved through a laser-interferometer feedback of slide position. If the tool post is rigid and the material removal process is relatively static, then such a non-collocated position feedback control scheme may surface. However, as the accuracy requirement gets tighter and desired surface contours become more complex, the need for a direct tool-tip sensing becomes inevitable. The physical constraints of the machining process prohibit any reasonable implementation of a tool-tip motion measurement. It is proposed that the measured force normal to the face of the workpiece can be filtered through an appropriate admittance transfer function to result in the estimated depth of cut. This can be compared to the desired depth of cut to generate the adjustment control action in addition to position feedback control. In this work, the design methodology on the admittance model-based control with a conventional controller is presented. The recursive least-squares algorithm with forgetting factor is proposed to identify the parameters and update the cutting process in real time. The normal cutting forces are measured to identify the cutting dynamics in the real diamond turning process using the precision dynamometer. Based on the parameter estimation of cutting dynamics and the admittance model-based nanodynamic control scheme, simulation results are shown.

• 센서학회지
• /
• 제20권6호
• /
• pp.375-381
• /
• 2011

Ionic polymer-metal composite(IPMC) consists of an ion conductive membrane plated by metallic electrodes on both surfaces. When it bends, a voltage is generated between two electrodes. Since IPMC is flexible and thin, it can be easily mounted on the various surfaces of a body. The present study investigates a sensor system using IPMC to effectively detect the bending angles applied on IPMC sensor. The paper evaluates several R and C circuit models that describe the physical composition of IPMC and selects the best model for the detection of angles. The circuit models implemented with a charge model describe the relationship between input bending angles and output voltages. The identification of R and C values was performed by minimizing the error between the real output voltages and the simulated output voltages from the circuit models of IPMC sensor. Then the output signal of a sensor was fed into the inverse model of the identified model to reproduce the bending angles. In order to support the validation of the model, the output voltages from an arbitrary bending motion were also applied to the selected inverse model, which successfully reproduced the arbitrary bending motion.

• 지질공학
• /
• 제27권3호
• /
• pp.323-330
• /
• 2017

지하 지층의 확인은 지표면 지질조사, 시추코어 분석, 시추코어 관찰, 물리검층 자료 분석 등의 다양한 방법을 이용한다. 이 가운데 물리검층 자료는 원위치에서 연속적으로 물성을 제공하므로 시추코어 분석 자료와 더불어 지층의 확인에 활용되고 있다. 본 연구에서는 완전파형 음파검층과 밀도검층 자료에서 이방성 변수를 구하고 이를 이용하여 지층의 구분에 적용하고자 하였다. 톰슨 이방성 변수(${\varepsilon},\;{\delta},\;{\eta}$)는 바쿠스(Backus) 평균법을 P파와 S파 속도, 밀도검층 자료에 적용하여 계산하였다. 이와 같은 방법을 캐나다 블랙풋의 물리검층 자료에 적용한 결과, 12개 구간으로 지층을 구분 할 수 있 수 있었다. 즉, 탄성파 속도 이방성을 반영하는 톰슨 이방성 값의 변화에서 지층의 구분이 가능하였고 지층 구분에 많이 이용하는 자연감마선검층 자료가 없는 경우에도 톰슨 이방성 변수를 이용하여 지층 구분이 가능함을 알 수 있었다.

• Smart Structures and Systems
• /
• 제26권6호
• /
• pp.693-701
• /
• 2020

The conventional Kalman Filter (KF) provides a promising way for structural state estimation. However, the physical parameters of structural systems or models should be available for the estimation. Moreover, it is not applicable when the loadings applied to the structures are unknown. To circumvent the aforementioned limitations, a two-stage KF with unknown input approach is proposed for the simultaneous identification of structural parameters and unknown loadings. In stage 1, a modified observation equation is employed. The structural state vector is estimated by KF on the basis of structural parameters identified at the previous time-step. Then, the unknown input is identified by Least Squares Estimation (LSE). In stage 2, based on the concept of sensitivity matrix, the structural parameters are updated at the current time-step by using the estimated structural states obtained from stage 1. The effectiveness of the proposed approach is numerically validated via a five-story shearing model under random and earthquake excitations. Shaking table tests on a five-story structure are also employed to demonstrate the performance of the proposed approach. It is demonstrated from numerical and experimental results that the proposed approach can be used for the identification of parameters of structure and the external force applied to it with acceptable accuracy.

• Smart Structures and Systems
• /
• 제31권4호
• /
• pp.421-436
• /
• 2023

This paper presents a vibration displacement measurement and damage identification method for a space truss structure from its vibration videos. Features from Accelerated Segment Test (FAST) algorithm is combined with adaptive threshold strategy to detect the feature points of high quality within the Region of Interest (ROI), around each node of the truss structure. Then these points are tracked by Kanade-Lucas-Tomasi (KLT) algorithm along the video frame sequences to obtain the vibration displacement time histories. For some cases with the image plane not parallel to the truss structural plane, the scale factors cannot be applied directly. Therefore, these videos are processed with homography transformation. After scale factor adaptation, tracking results are expressed in physical units and compared with ground truth data. The main operational frequencies and the corresponding mode shapes are identified by using Subspace Stochastic Identification (SSI) from the obtained vibration displacement responses and compared with ground truth data. Structural damages are quantified by elemental stiffness reductions. A Bayesian inference-based objective function is constructed based on natural frequencies to identify the damage by model updating. The Success-History based Adaptive Differential Evolution with Linear Population Size Reduction (L-SHADE) is applied to minimise the objective function by tuning the damage parameter of each element. The locations and severities of damage in each case are then identified. The accuracy and effectiveness are verified by comparison of the identified results with the ground truth data.