• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.347-352
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• 2022

The paper presents how to update impedance control parameters for dual-arm manipulators using EMG signals and motions of the operator. Since the hand motions of the dual-arm are modeled to be the mass-spring-damper system in this paper, the impedance parameter update method is an important issue to reflect the operator's force. However, task space inertia to be used as the mass parameter goes to infinity if the manipulator approaches a kinematic singularity. To alleviate this issue, the impedance (stiffness and damping) parameters are divided with a diagonal element of the task space inertia. Also, the stiffness and damping matrices are updated using the normalized EMG signals captured from the operator's forearm. Through this process, the motion of the dual-arm manipulator is more stabilized even though it approaches the kinematic singularity.

• Structural Engineering and Mechanics
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• v.30 no.2
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• pp.165-176
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• 2008

In this paper, a new iterative method for solving vehicle-bridge interaction problems is proposed. Iterative methods have advantages over the non-iterative methods in that it is not necessary to update the system matrix for a given wheel location, and the method can be applied for a new type of car or bridge with few or no modifications. In the proposed method, the necessity of system matrices update is eliminated using the equivalent interaction force acting on the bridge, which is obtained iteratively. Ballast stiffness is included in the interaction forces and the geometric compatibility at the contact points are used as convergence criteria. The bridge is considered as an elastic Bernoulli-Euler beam with surface irregularity and ballast stiffness. The moving vehicle is modeled as a multi-axle mass-spring-damper system having many degrees of freedom depending on the number of axles. The pitching effect, which is the interaction effect between the rear and front wheels when a vehicle begins to enter or leave the bridge, is also considered in the formulation including extended ground boundaries having surface irregularity and ballast stiffness. The applicability of the proposed method is illustrated in the numerical studies.

• Smart Structures and Systems
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• v.10 no.4_5
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• pp.471-483
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• 2012

In this paper, the structural health monitoring (SHM) benchmark problem of the Canton tower is studied. Based on the field monitoring data from the 20 accelerometers deployed on the tower, some modal frequencies and mode shapes at measured degrees of freedom of the tower are identified. Then, these identified incomplete modal data are used to update the reduced finite element (FE) model of the tower by a novel algorithm. The proposed algorithm avoids the problem of subjective selection of updated parameters and directly updates model stiffness matrix without model reduction or modal expansion approach. Only the eigenvalues and eigenvectors of the normal finite element models corresponding to the measured modes are needed in the computation procedures. The updated model not only possesses the measured modal frequencies and mode shapes but also preserves the modal frequencies and modes shapes in their normal values for the unobserved modes. Updating results including the natural frequencies and mode shapes are compared with the experimental ones to evaluate the proposed algorithm. Also, dynamic responses estimated from the updated FE model using remote senor locations are compared with the measurement ones to validate the convergence of the updated model.

• Journal of Ocean Engineering and Technology
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• v.26 no.5
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• pp.11-17
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• 2012

In this study, a damage detection method that uses sensitivity-based finite (FE) element model updating with the natural frequency and zero frequency was proposed. The stiffness matrix for a structure was modified using the sensitivity-based FE model updating method. A sensitivity analysis was used to update the FE model, and the natural frequencies and zero frequencies were considered as target parameters to supplement the information on the vibration characteristics. The locations and values of the damages were estimated from the modified stiffness matrix. Several numerical examples were considered to verify the performance of the proposed method.

• Structural Engineering and Mechanics
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• v.62 no.3
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• pp.297-302
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• 2017

Structural reanalysis is frequently utilized to reduce the computational cost so that the process of design or optimization can be accelerated. The supports can be regarded as the design variables and may be modified in various types of structural optimization problems. The location, number, and type of supports can make a great impact on the performance of the structure. This paper presents a unified method for structural static reanalysis with imposition or relaxation of some support constraints. The information from the initial analysis has been fully utilized and the computational time can be significantly reduced. Numerical examples are used to validate the effectiveness of the proposed method.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.10a
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• pp.183-190
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• 2001

Topology optimization. has been evolved into a very efficient conceptual design tool and has been utilized into design engineering processes in many industrial parts. In recent years, topology optimization has become the focus of structural optimization design and has been researched and widely applied both in academy and industry. Traditional topology optimization has been using homogenization method and optimality criteria method. Homogenization method provides relationship equation between structure which includes many holes and stiffness matrix in FEM. Optimality criteria method is used to update design variables while maintaining that volume fraction is uniform. Traditional topology optimization has advantage of good convergence but has disadvantage of too much convergency time and additive checkerboard prevention algorithm is needed. In one way to solve this problem, element remove method is presented. Then, it is applied to many examples. From the results, it is verified that the time of convergence is very improved and optimal designed results is obtained very similar to the results of traditional topology using 8 nodes per element.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.52.3-52
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• 2002

Natural frequencies and mode shapes are two important modal data which specify the system. If the real system and FE model don't have the same local physical parameters, there will be a difference between modal data from real system and FE model. Because there is little difference in displacement mode shapes measured by an accelerometer, displacement modal update based on mode shapes including measurement errors may not be successful. In this research, strain mode shapes are used as modal data because the strain mode shapes measured by strain gauges are more sensitive than the displacement mode shapes with respect to the change of the parameters concerned in FE stiffness matrix...

• Journal of Ocean Engineering and Technology
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• v.26 no.4
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• pp.86-91
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• 2012

A new identification method for a nonproportional damping matrix using the finite element (FE) model updating technique is proposed. Mass and stiffness matrices of the undamped system are identified by FE model updating method. Sensitivity analysis is used to update the FE model, and zero frequencies are considered as design parameters to supplement the information of vibration characteristics. The nonproportional damping matrix is identified through the proposed method. A numerical example is considered to verify the performance of the proposed method. As a result, the damping matrix of the nonproportional system is estimated accurately.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.16 no.1
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• pp.1-8
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• 2003

Topology optimization has been evolved into a very efficient conceptual design tool and has been utilized into design engineering processes. Traditional topology optimization has been using homogenization method and optimality criteria method. homogenization method provides relationship equation between structure which includes many holes and stiffness matrix in FEM. Optimality criteria method is used to update design variables while maintaining that volume fraction is uniform. Traditional topology optimization has advantage of good convergence but has disadvantage of too much convergency time. In one way to solve this problem, element removal method using the criterion of an average stress is presented. As the result of examples, it is certified that convergency time is very reduced.

• Journal of the Korea institute for structural maintenance and inspection
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• v.20 no.3
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• pp.10-17
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• 2016

This paper presents a laboratory validation of a new approach for Finite Element Model Updating(FEMU) on short-span bridges by combining ambient vibration measurements with static load input-deflection output measurements. The conventional FEMU approach based on modal parameters requires the assumption on the system mass matrix for the eigen-value analysis. The proposed approach doesn't require the assumption and even provides a way to update the mass matrix. The proposed approach consists of two steps: 1) updating the stiffness matrix using the static input-deflection output measurements, and 2) updating the mass matrix using a few lower natural frequencies. For a validation of the proposed approach, Young's modulus of the laboratory model was updated by the proposed approach and compared with the value obtained from strain-stress tests in a Universal Testing Machine. Result of the conventional FEMU was also compared with the result of the proposed approach. It was found that proposed approach successfully estimated the Young's modulus and the mass density reasonably while the conventional FEMU showed a large error when used with higher-modes. In addition, the FE modeling error was discussed.