• Structural Engineering and Mechanics
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• v.67 no.1
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• pp.69-78
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• 2018

The study presented herein focused on the change in hysteretic force-deformation behavior of lead rubber bearings (LRBs). The material model used to idealize response of LRBs under cyclic motion is capable of representing the gradual attrition in strength of isolator unit on account of lead core heating. To identify the effect of loading history on the hysteretic response of LRBs, a typical isolator unit is subjected to cyclic motions with different velocity, amplitude and number of cycles. Furthermore, performance of an LRB isolated single degree of freedom system is studied under different seismic input levels. Finally, the significance of lead core heating effect on LRBs is discussed by considering the current design approach for base isolated structures. Results of this study show that the response of an LRB is governed strongly by the amplitude and number of cycles of the motion and the considered seismicity level.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.2
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• pp.48-56
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• 2001

This paper presents the position tracking control of a closed-loop cylinder system using electro-rheological (ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system, Sliding mode controllers are the designed for these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2007.05a
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• pp.374-378
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• 2007

As people's living standard is being improved, human works are being replaced by robots. However, because roost robots are used in process industry, fixed on the ground, we need to develop human robots that have wide applications. Currently many researches are being conducted on human robots with the object of replacing human works, but because of lack of relevant hardware, such robots are being applied limitedly to very simple tasks. To overcome the limitation, the present study developed a kinematical mechanism and a controller. Based on human kinematics, the shoulders and the arms were composed of master arms with 3 degree of freedom, and we reproduced motions similar to human ones through the characteristics of joint variables and experiment on the trajectory of the end effector.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.432-432
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• 2000

The above-Knee Prosthesis has been used by the handicapped person and become a important part of their life. But uniform above-knee prosthesis only increases inconvenience And so the tool that can estimate and help to design of suitable prosthesis for user need to be developed. The simulator developed in this research is composed of two part. One is hardware that can realize various walking motions. The other is software that can display and analyze the results of walking mot ion. Three motors constitute hardware of Simulator. Two motors are used to realize heap motion that need two degree of freedom and the rest one used to realize swing motion. Software of Simulator display results of three motor trajectories and walking mot ion of hardware using computer graphic. Therefore, The simulator developed in this research which is able to realize human gait and results are analyzed through simulation program at PC will be some help to design and produce of prosthesis suitable to user.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.484-489
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• 1998

In this paper, we examine the displacement characteristics of the parallel leaf spring mechanism with large-deflective elastic hinges, and the validity of this mechanism as a translational and rotational mechanism is confirmed with multi-input system. This study is focused on the linear driving force as an input force, which is applied to the large-deflective elastic mechanism, and the displacement characteristics are discussed with theoretically and experimentally. The motions of this mechanism due to large-deflective hinges are changed by the position of loading force regardless of a single driving force. The numbers of degree of freedom are increased with the hinges, and we can be used to a multiple driving force in order to obtain many types of Output.

• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.359-362
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• 1996

This paper describes a development of traction control algorithm to investigate dynamic behavior of 2-motor driven electric vehicle. A electric vehicle is represented by a nonlinear seven degree of freedom including accelerations of wheels, longitudinal, lateral, and yaw motions. A nonlinear control algorithm is proposed in order to enhance the driveability of the electric vehicle with torque split control system. With the proposed control algorithm, numerical simulations are performed to analyze the dynamic behavior of the electric vehicle.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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• pp.165-173
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• 2000

This Paper presents the position tracking control of a closed-loop cylinder system using electro-rheological(ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-of-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system. Sliding mode controllers are then designed fer these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• Wind and Structures
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• v.9 no.2
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• pp.159-178
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• 2006

For the slender and flexible cable supported bridges, identification of all the flutter derivatives for the vertical, lateral and torsional motions is essential for its stability investigation. In all, eighteen flutter derivatives may have to be considered, the identification of which using a three degree-of-freedom elastic suspension system has been a challenging task. In this paper, a system identification technique, known as covariance-driven stochastic subspace identification (COV-SSI) technique, has been utilized to extract the flutter derivatives for a typical bridge deck. This method identifies the stochastic state-space model from the covariances of the output-only (stochastic) data. All the eighteen flutter derivatives have been simultaneously extracted from the output response data obtained from wind tunnel test on a 3-DOF elastically suspended bridge deck section-model. Simplicity in model suspension and measurements of only output responses are additional motivating factors for adopting COV-SSI technique. The identified discrete values of flutter derivatives have been approximated by rational functions.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2005.03a
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• pp.42-46
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• 2005

Ground motions with the near fault effects are studied for the seismic design and the analysis of structures. The characteristics of the velocity pulse by the forward directivity are studied and the relations between velocity pulse and earthquake magnitude are investigated. The elastic response spectra of the near fault ground motion are compared with these of the far fault ground motion. And effects on the behaviors of structures are studied by the analysis of the elastic and the inelastic single degree of freedom system in terms of the response spectrum and the ductility demand.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.17-22
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• 2002

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.