• Journal of the Earthquake Engineering Society of Korea
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• v.2 no.4
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• pp.145-154
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• 1998

The motion-limiting devices can be used for reducing the maximum and residual displacements of the multi-span continuous bridges with inelastic elements such as isolation bearings and plastic hinges formed in piers. For the design of motion-limiting device, the nonlinear time history analysis is required. But the time history analysis is time consuming and very complex. This study suggests the simple design procedure of the motion-limiting devices using the equivalent elastic analysis method and the acceleration-displacement spectrum concept. The suggested design procedure can be used very effectively for determining the location and gap size of the motion-limiting devices.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.4
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• pp.736-739
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• 2009

In this paper, an efficient lossless compression algorithm using motion adaptation is proposed. It is divided into two parts: a motion adaptation based nonlinear predictor part and a residual data coding part. The proposed nonlinear predictor can reduce prediction error by learning from its past prediction errors using motion adaption. The predictor decides the proper selection of the intra and inter prediction values according to the past prediction error. The reduced error is coded by existing context adaptive coding method. Experimental results show that the proposed algorithm has the higher compression ratio than context modeling methods, such as FELICS, CALIC, and JPEG-LS.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.23-31
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• 1997

The sway control problem of pendulum motion of a container hanging on a Portainer Crane, which transports containers from a container ship to trucks, is considered in the paper. The equations of motion are obtained through the Lagrange mechanics and simplified for control purposes. Considering that the fast traveling of trolley and no residual swing motion of the container at the end of acceleration and deceleration are crucial for quick transportation, several velocity patterns of trolley movement including the time-optimal control are investigated. Incorporating the change of rope length, a reference swing trajectory is introduced in the control loop and the error signal between the reference sway angle and the measured sway angle is feedbacked. Proposed control strategy is shown to be robust to disturbances like winds and initial sway motion.

• Nuclear Engineering and Technology
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• v.53 no.12
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• pp.3930-3943
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• 2021

To improve the capability of the SAS4A code, which simulates the initiating phase of core disruptive accidents for MOX-fueled Sodium-cooled Fast Reactors (SFRs), the authors have investigated in detail the physical phenomena under unprotected loss-of-flow (ULOF) conditions in a previous paper (Kawada and Suzuki, 2020) [1]. As the conclusion of the last article, fuel stub motion, in which the residual fuel pellets would move toward the core central region after fuel pin disruption, was identified as one of the key phenomena to be appropriately simulated for the initiating phase of ULOF. In the present paper, based on the analysis of the experimental data, the behaviors related to the stub motion were evaluated and quantified by the author from scratch. A simple model describing fuel stub motion, which was not modeled in the previous SAS4A code, was newly proposed. The applicability of the proposed model was validated through a series of analyses for the CABRI experiments, by which the stub motion would be represented with reasonable conservativeness for the reactivity evaluation of disrupted core.

• Journal of Broadcast Engineering
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• v.12 no.4
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• pp.360-372
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• 2007

We propose a fast inter-layer mode decision method by utilizing coding information of base layer upward its enhancement layer inscalable video coding (SVC), also called MPEG-4 part 10 Advanced Video Coding Amendment 3 or H.264 Scalable Extension (SE) which is being standardized. In this paper, when the motion vectors from the base layer have zero motion (0, 0) in inter-layer motion prediction or the Integer Transform coefficients of the residual between current MB and the motion compensated MB by the predicted motion vectors from the base layer are all zero, the block mode of the corresponding block to be encoded at the enhancement layer is determined to be the $16{\times}16$ mode. In addition, if the predicted mode of the MB to be encoded at the enhancement layer is not equal to the $16{\times}16$ mode, then the rate-distortion optimization is only performed on the reduced candidated modes which are same or smaller partitioned modes. Our proposed method exhibits the complexity reduction in encoding time up to 72%. Nevertheless, it shows negligible PSNR degradation and bit rate increase up to 0.25dB and 1.73%, respectively.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.9
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• pp.1025-1031
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• 2011

Take-out robots used for handling of the plastic parts manufactured with the injection mold are usually the gantry type that consists of long and thin links, The performance of the take-out robot is determined by the speed of the motion and the positioning accuracy to grab the part out of the mold, As the speed of the robot increases the flexure in the links of the take-out robot becomes more significant and it results in more residual vibration, The residual vibration deteriorates the positioning accuracy and compels the operator to slow down the motion of the robot. The typical method to reduce the vibration in the robot requires stiffening the links and/or slowing down the robot, Vibration control could achieve the desired performance without increasing the manufacturing cost or the operation cost that would be incurred otherwise, Considering the point-to-point nature of the task to be performed by the take-out robot the time-delay command (or input) shaping filter approach would be the most effective control method to be adopted among a few available control schemes. In this paper a direct adaptive command shaping filter (ACSF) algorithm has been modified and applied to design the optimal command shaping filters for various configuration of the take-out robot. Optimal filters designed by ACSF algorithm have been implemented on a take-out robot and the effectiveness of the designed filters in terms of vibration suppression has been verified for multiple positions of the robot.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.31-37
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• 2011

Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot's head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.9
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• pp.807-813
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• 2016

Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.

• Advances in nano research
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• v.13 no.3
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• pp.285-295
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• 2022

Creation of plastic deformation under seismic loads, is one of the most serious subjects in RC structures with steel bars which reduces the life threatening risks and increases dissipation of energy. Shape memory alloy (SMA) is one of the best choice for the relocating plastic hinges. In a challenge to study the seismic response of concrete moment resisting frame (MRF), this article investigates numerically a new type of concrete frames with nano fiber reinforced polymer (NFRP) and shape memory alloy (SMA) hinges, simultaneously. The NFRP layer is containing carbon nanofibers with agglomeration based on Mori-Tanaka model. The tangential shear deformation (TASDT) is applied for modelling of the structure and the continuity boundary conditions are used for coupling of the motion equations. In SMA connections between beam and columns, since there is phase transformation, hence, the motion equations of the structure are coupled with kinetic equations of phase transformation. The Hernandez-Lagoudas theory is applied for demonstrating of pseudoelastic characteristics of SMA. The corresponding motion equations are solved by differential cubature (DC) and Newmark methods in order to obtain the peak ground acceleration (PGA) and residual drift ratio for MRF-2%. The main impact of this paper is to present the influences of the volume percent and agglomeration of nanofibers, thickness and length of the concrete frame, SMA material and NFRP layer on the PGA and drift ratio. The numerical results revealed that the with increasing the volume percent of nanofibers, the PGA is enhanced and the residual drift ratio is reduced. It is also worth to mention that PGA of concrete frame with NFRP layer containing 2% nanofibers is approximately equal to the concrete frame with steel bars.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.5 s.236
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• pp.777-785
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• 2005

The swing motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. And, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called 'Structure/control Simultaneous Method' is used. In this paper, the simultaneous design method is used to determine the optimum weight of moving mass such that the optimal system performance would be achieved. And the experimental result shows that the proposed control strategy is useful to the case of that the controlled system is exposed to the uncertainties and, robust to the unexpected disturbance inputs.