• Structural Engineering and Mechanics
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• v.29 no.6
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• pp.659-671
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• 2008

A procedure to analyse the space frame structure fixed at base as well as resting on sliding bearing using total or absolute displacement in dynamic equation is developed. In the present method, the effect of ground acceleration is not considered as equivalent force. Instead, the ground acceleration is considered as a known value in the acceleration vector at degree of freedom corresponding to base of the structure when the structure is in non-sliding phase. When the structure is in sliding phase, only a force equal to the maximum frictional resistance is applied at base. Also, in this method, the stiffness matrix, mass matrix and the damping matrix will not change when the structure enters from one phase to another. The results obtained from the present method using absolute displacement approach are compared with the results obtained from the analysis of structure using relative displacement approach. The applicability of the analysis is also demonstrated to obtain the response of the structure resting on sliding bearing with restoring force device.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.596-600
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• 1992

In CLOS guidance, feedback compensation of the Coriolis acceleration is used to reduce miss distance. This paper presents the effects of the bandwidth of target and missile on the optimal Coriolis acceleration compensation. A state space formulation of CLOS guidance is used to implement CLOS guidance in feedback form. And the LQR control method is applied to find the optimal feedback gain. From the analysis of the Riccati equations of the optimal control, the following facts are observed: When the target is agile, the optimal gain is reduced, since the compensation becomes ineffective. The missile bandwidth also affects the Coriolis accleration compensation. Narrower missile requires more compensation for the Coriolis acceleration.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.306-311
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• 1992

We propose software algorithms which provide the characteristics of acceleration/deceleration essential to high dynamic performance at the transient state where industrial robots or CNC machine tools start and stop. The path error, which is one of the most significant factors in performance evaluation of industrial robots and CNC machine tools, is analyzed for linear, exponential, and parabolic acceleration/deceleration algorithms in case of circular interpolation. The analysis shows that the path error depends on the acceleration/deceleration routine and the servo control system. In experiments, the entire control algorithm including the proposed acceleration/deceleration algorithms is executed on the motion control system with a floating point digital signal processor(DSP) TMS320C30 as a CPU. The experimental results demonstrate that the proposed algorithms are very effective in controlling axes of motion of industrial robots or CNC machine tools with the desired characteristics.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.498-505
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• 2002

Reducing odometer errors caused by kinematic imperfections in wheeled mobile robots is imestigated. Wheel diameters and wheelbase are corrected by using encoders without landmarks. A new velocity trajectory is proposed that compensates for an orientation error due to acceleration- resolution constraints on motor controllers. Based on this velocity trajectory, the wheel velocity of one out of two driven wheels may be changed by the traveled distance of the mobile robot. It is shown that a wheeled mobile robot can't move along a straight line exactly, even if kinematic correction are achieved perfectly, and this phenomenon is attributable to acceleration-resolution constraints on motor controllers. We experiment on a wheeled mobile robot with 2 d.o.f. are used in the experiment to verify the proposed scheme.

• ICROS
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• v.16 no.3
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• pp.40-45
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• 2010

물체의 운동을 측정하기 위하여 관성 센서(inertial sensor)에 대한 배경 지식이 없는 사용자가 가속도계(accelerometer)를 사용하고자 할 경우 센서의 이름이 주는 혼동에 의하여 물체의 운동 가속도(acceleration)를 쉽게 얻어낼 수 있으리라 기대하게 된다. 반면, 가속도계가 실제 측정하여 주는 값은 비력 가속도(acceleration due to specific force)에 해당되므로 적절한 처리를 부가하지 않으면 기대한 바와 같이 물체의 운동 가속도를 얻을 수 없다. 가속도계의 측정값으로부터 운동 가속도를 추출하기 위해서는 중력장 가속도 (gravitational acceleration), 중력 가속도 (acceleration due to gravity), 비력 가속도, 그리고 운동 가속도 사이의 관계를 명확하게 구분 이해할 필요가 있다. 본 고에서는 앞선 고들에서 다룬(막대) 벡터, 좌표값, 좌표계, 좌표변환행렬, 그리고 코리올리 효과 등의 개념을 확장하여 다양한 개념의 가속도들을 구분 설명하였다.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2002.09a
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• pp.61-71
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• 2002

Color-code imaging should be one of the best display tools for the quick perception of both damage area and its intensity, In this study we proposed the standard color code corresponding to maximum observed acceleration value. Since the acceleration value changes with frequency contents, we suggested to limit the frequency band less than 10Hz. The background considerations of this limitation, magnitude vs. dominant frequency, natural characteristics of artificial noises and the relationship between velocity and acceleration, were reviewed in detail. The standard of color code was assigned from 0.001%g to 20%g based on the possible earthquakes at Korean peninsula and the color imaging given by RGB value was shown to be very consistent, irrespective of hardware configuration.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2005.03a
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• pp.529-535
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• 2005

This paper presents a system identification (SI) scheme in time domain using measured acceleration data. The error function is defined as the time integral of the least squared errors between the measured acceleration and the calculated acceleration by a mathematical model. Damping parameters as well as stiffness properties of a structure are considered as system parameters. The structural damping is modeled by the Rayleigh damping. A new regularization function defined by the L1-norm of the first derivative of system parameters with respect to time is proposed to alleviate the ill-posed characteristics of inverse problems and to accommodate discontinuities of system parameters in time. The time window concept is proposed to trace variation of system parameters in time. Numerical simulation study is performed through a two-span continuous truss subject to ground motion.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.320-325
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• 2004

The paper deals with the dynamic response of a cantilevered beam under a travelling mass with constant acceleration. Governing equations of motion taking into account all inertia effects of the travelling mass are derived by Galerkin's mode summation method, and Runge-Kutta integration method is applied to solve the differential equations. The effects of the speed, acceleration and the magnitude of the travelling mass on the response of the beam are fully investigated. A variety of numerical results allows us to draw important conclusions for structural design purposes.

• Proceedings of the Korea Concrete Institute Conference
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• 1997.10a
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• pp.581-586
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• 1997

The objective of this study is to investigate the behavior of a 1/5-scale 3-story nonductile reinforced concrete frame subjected to earthquake excitation. For this purpose, Taft N21E earthquake accelerogram was simulated by using 3m${\times}$5m shaking table. When the input acceleration is compared to that of output, it can be found that simulation of shaking table is excellent. From the results of test with Taft N21E earthquake accelerogram adjusted to peak ground acceleration(PGA) 0.06g and 0.12g(maximum acceleration in korea seismic code) the model responded in elastic behavior and it is found that the existing building in our country are safe against the levels of PGA 0.06g and 0.12g.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.12
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• pp.1694-1699
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• 2013

Frequency accelerated partial discharge resistance (PDR) aging of epoxy/layered silicate nanocomposite with 1.5wt % additions of layered silicate was investigated in comparison with that of epoxy without layered silicate in terms of PD(partial discharge) erosion depth. It was found that the change in the erosion depth is far smaller in specimens with layered silicate than those without layered silicate nano particles. Frequency acceleration can be done from 60Hz to 1000Hz. But the depth of erosion is less proportional to frequency. Acceleration factor is almost 2 times between 500Hz and 1000Hz, but it is much less than about 8.3 times between 60Hz and 500Hz. This superior PD resistance is caused by the presence of nanofillers, anano-effect due to closely packed nanofillers, and strong chemical bonds at layered silicate nanofillers /resin interfaces.