• Structural Engineering and Mechanics
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• v.12 no.1
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• pp.1-16
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• 2001

A reliable and accurate method has been developed to predict the flexural deformation response of structural concrete members subject to service load. The method that has been developed relates the extent of concrete cracking, measured as a function of the magnitude of applied moment in a member, to the reduction in the effective moment of inertia of cracked reinforced concrete members under service load conditions. The ratio of the area of the moment diagram where the moment exceeds the cracking moment, to the total area of the moment diagram for any loading, provides the basis for the calculation of the effective moment of inertia. This ratio also represents mathematically a probability of crack occurrence. Verification of this method for the determination of the effective moment of inertia has been achieved from an experimental test program, and has included beam tests with different loading configurations, and shear wall tests subjected to a range of vertical and lateral load levels. Further verification of this method has been made with reference to the experimental investigation of other recently published work.

• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.5
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• pp.467-477
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• 2004

A new scheme to estimate the moment of inertia in the servo motor drive system in very low speed is proposed in this paper. The typical speed estimation scheme in most servo system for low speed operation is sensitive to the variation of machine parameters, especially the moment of inertia. To estimate the motor inertia value, the observer using the Radial Basis Function Networks(RBFN) is applied. The effectiveness of the proposed inertia estimation method is verified by experiments. It is concluded that the speed control performance in the low speed region is improved with the proposed disturbance observer using RBFN.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.203-210
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• 2009

The problem of outdoor localization can be practically solved by GPS. However, GPS is not perfect and some areas of outdoor navigation should consider other solutions. This research deals with outdoor localization using an elevation map without GPS. This paper proposes a novel feature, elevation moment of inertia (EMOI), which represents the distribution of elevation as a function of distance from a robot in the elevation map. Each cell of an elevation map has its own EMOI, and outdoor localization can be performed by matching EMOIs obtained from the robot and the pre-given elevation map. The experiments and simulations show that the proposed EMOI can be usefully exploited for outdoor localization with an elevation map and this feature can be easily applied to other probabilistic approaches such as Markov localization method.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2000.07a
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• pp.654-657
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• 2000

In the winding system, the constant tension control is too important. In this study, we've used a variable PID system as a function of a radius of winding roll. As a result, it was possible to measure a winding roll radius in the real time by making a mathematical model for measuring a winding roll radius. Finally, we've compared PID parameters as a function of winding roll radius after getting PID parameters in terms of the Ziegler & Nichols(ZN) method.

• Journal of the Korea Concrete Institute
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• v.21 no.1
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• pp.93-103
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• 2009

The concept of the effective moment of inertia has been generally used for the deflection estimation of reinforced concrete flexural members. The KCI design code adopted Branson's equation for simple calculation of deflection, in which a representative value of the effective moment of inertia is used for the whole length of a member. However, the code equation for the effective moment of inertia was formulated based on the results of beam tests subjected to uniformly distributed loads, which may not effectively account for those of members under different loading conditions. Therefore, this study aimed to verify the influences of moment shapes resulting from different loading patterns by experiments. Six beams were fabricated and tested in this study, where primary variables were concrete compressive strengths and loading distances from supports, and test results were compared to the code equation and other existing approaches. A method utilizing variational analysis for the deflection estimation has been also proposed, which accounts for the influences of moment shapes to the effective moment of inertia. The test results indicated that the effective moment of inertia was somewhat influenced by the moment shape, and that this influence of moment shape to the effective moment of inertia was not captured by the code equation. Compared to the code equation, the proposed method had smaller variation in the ratios of the test results to the estimated values of beam deflections. Therefore, the proposed method is considered to be a good approach to take into account the influence of moment shape for the estimation of beam deflection, however, the differences between test results and estimated deflections show that more researches are still required to improve its accuracy by modifying the shape function of deflection.

• Computational Structural Engineering : An International Journal
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• v.1 no.2
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• pp.89-96
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• 2001

A study on the topology optimization of a Hard-Disk-Driver(HDD) actuator arm is presented. The purpose of the present wert is to increase the natural frequency of tole first lateral mode of the HDD actuator arm under the constraint of total moment of inertia, so as to facilitate the position control of the high speed actuator arm. The first lateral mode is an important factor in the position control process. Thus the topology optimization for 2-D model of the HDD actuator arm is considered. A new objective function corresponding to multieigenvalue optimization is suggested to improve the solution of the eigenvalue optimization problem. The material density of the structure is treated as the design variable and the intermediate density is penalized. The effects of different element types and material property functions on the final topology are studied. When the problem is discretized using 8-node element of a uniform density, tole smoothly-varying density field is obtained without checker-board patterns incurred. AS a result of 7he study, an improved design of the HDD actuator arm is suggested. Dynamic characteristics of the suggested design are compared computationally with those of the old design. With the same amount of the moment of inertia, the natural frequency of the first lateral mode of the suggested design is subsequently increased over the existing one.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1801-1809
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• 2000

A study on the topology optimization of Hard-Disk-Driver(HDD) actuator arm in free vibration is presented. The purpose of this research is to increasse the natural frequency of the first lateral mode of the HDD actuator arm under the constraint of total moment of inertia, so as to facilitate the position control of high speed actuator am. The first lateral mode is an important factor in the position control process. Thus the topology optimization for 2-D model of the HDD actuator arm is considered. A new objective function corresponding to multieigenvalue optimization is suggested to improve the solution of the eigenvalue optimization problem. The material density of the structure is treated as the design variable and the intermediate density is penalized. The effects of different element types and material property functions on the final topology are studied. When the problem is discretized using 8-node element of a uniform density, the smoothly-varying density field is obtained without checker-board patterns incurred. As a result of the study an improved design of the HDD actuator arm is suggested. Dynamic characteristics of the suggested design are compared computationally with those of the old design. With the same amount of the moment of inertia, the natural frequency of the first lateral mode or the suggested design is subsequently increased over the existing one.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.3
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• pp.323-330
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• 2016

This paper describes real-time unbalance moment compensation method for line of sight(LOS) stabilization control systems. The factors of system inertia, frictions and unbalance moment affect the control accuracy of drive systems that are equipped to on the move(OTM) platforms requiring LOS stabilization function. In case of the unbalance moment among those factors is continuously changed as variation of relative angle between gravity vector and drive torque vector. Then, consideration of the effect in real-time is very complicate. Therefore, its effect should be designed to be minimized, however, designing it almost zero is impossible in real condition. In other words, it is hard to achieve target performance overcoming stability issue of highly unbalanced systems. To solve these problems, this paper proposes calculation method of unbalance moment by using measured sensor data for LOS stabilization control and its use for control compensation. Also, kinematical converting process and control structure for compensation are explained. The effectiveness of the proposed method as variation of unbalance moment is verified under simulation circumstance modeled by assuming LOS control system with 2-axis gimbal structure.

• Journal of the Korean Professional Engineers Association
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• v.16 no.4
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• pp.4-14
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• 1983

when one is designing a continuous bridge with variable cross sections, it is very troublesome to integrate explicitly load terms and various factor under consideration so that it has different moment of inertia at each cross section. In this paper to obtain the influence line of a arbitary-span continuous beam with variable cross sections, the value of some particular function due to a load at any point can be carried out by numerical integration instead of definite integral. The ordinate of the influence line equals the product of the magnitude of the final moment at each support due to unit moment at any support and the load terms due to unit load, measured at the point of application of the load. It is concluded that this method can be easily used to design continuous bridges with arbitary cross sections.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2331-2336
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• 2005

This paper proposes a new haptic device using a parallel mechanism with gimbal type actuators. This device has three legs actuated by 2-DOF gimbal mechanisms, which make the device simple and light by fixing all the actuators to the base. Three extra sensors are placed at passive joints to obtain a unique solution of the forward kinematics problem. The proposed haptic device is developed for an operator to use it on a desktop in due consideration of the size of an average Korean. The proposed haptic device has a small workspace for on operator to use it on a desktop and more sensitivity than a serial type haptic device. Therefore, the motors of the proposed haptic device are fixed at the base plate so that the proposed haptic device has a better dynamic bandwidth due to a low moving inertia. With this conceptual design, optimization of the design parameters is carried out. The objective function is defined by the fuzzy minimum of the global design indices, global force/moment isotropy index, global force/moment payload index, and workspace. Each global index is calculated by a SVD (singular value decomposition) of the force and moment parts of the jacobian matrix. Division of the jacobian matrix assures a consistency of the units in the matrix. Due to the nonlinearity of this objective function, Genetic algorithms are adopted for a global optimization.