• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.12
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• pp.1220-1226
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• 2012

This paper proposes a novel type of tactile device utilizing magnetorheological(MR) fluid which can be applicable for haptic master of minimally invasive surgery(MIS) robotic system. The salient feature of the controllability of rheological properties by the intensity of the magnetic field(or current) makes this potential candidate of the tactile device. As a first step, an appropriate size of the tactile device is designed and manufactured via magnetic analysis. Secondly, in order to determine proper input magnetic field the repulsive forces of the real body parts such as hand and neck are measured. Subsequently, the repulsive forces of the tactile device are measured by dividing 5 areas. The final step of this work is to obtain desired force in real implementation. Thus, in order to demonstrate this goal a neuro-fuzzy logic is applied to get the desired repulsive force and the error between the desired and actual force is evaluated.

• Structural Engineering and Mechanics
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• v.17 no.3_4
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• pp.493-526
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• 2004

Semiactive control systems have received considerable attention for protecting structures against natural hazards such as strong earthquakes and high winds, because they not only offer the reliability of passive control systems but also maintain the versatility and adaptability of fully active control systems. Among the many semiactive control devices, magnetorheological (MR) fluid dampers comprise one particularly promising class. In the field of civil engineering, much research and development on MR fluid damper-based control systems has been conducted since this unique semiactive device was first introduced to civil engineering applications in mid 1990s. In 2001, MR fluid dampers were applied to the full-scale in-service civil engineering structures for the first time. This state-of-the-art paper includes a detailed literature review of dynamic models of MR fluid dampers for describing their complex dynamic behavior and control algorithms considering the characteristics of MR fluid dampers. This extensive review provides references to semiactive control systems using MR fluid dampers. The MR fluid damper-based semiactive control systems are shown to have the potential for mitigating the responses of full-scale civil engineering structures under natural hazards.

• Smart Structures and Systems
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• v.3 no.3
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• pp.321-340
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• 2007

Structural control technologies have attracted great interest from the earthquake engineering community over the last few decades as an effective method of reducing undesired structural responses. Traditional structural control systems employ large quantities of cables to connect structural sensors, actuators, and controllers into one integrated system. To reduce the high-costs associated with labor-intensive installations, wireless communication can serve as an alternative real-time communication link between the nodes of a control system. A prototype wireless structural sensing and control system has been physically implemented and its performance verified in large-scale shake table tests. This paper introduces the design of this prototype system and investigates the feasibility of employing decentralized and partially decentralized control strategies to mitigate the challenge of communication latencies associated with wireless sensor networks. Closed-loop feedback control algorithms are embedded within the wireless sensor prototypes allowing them to serve as controllers in the control system. To validate the embedment of control algorithms, a 3-story half-scale steel structure is employed with magnetorheological (MR) dampers installed on each floor. Both numerical simulation and experimental results show that decentralized control solutions can be very effective in attaining the optimal performance of the wireless control system.

• Smart Structures and Systems
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• v.3 no.3
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• pp.385-403
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• 2007

The effectiveness of the newly developed smart passive control system employing a magnetorheological (MR) damper and an electromagnetic induction (EMI) part for seismic protection of base isolated structures is numerically investigated. An EMI part in the system consists of a permanent magnet and a coil, which changes the kinetic energy of the deformation of an MR damper into the electric energy (i.e. the induced current) according to the Faraday's law of electromagnetic induction. In the smart passive control system, the damping characteristics of an MR damper are varied with the current input generated from an EMI part. Hence, it does not need any control system consisting of sensors, a controller and an external power source. This makes the system much simpler as well as more economic. To verify the efficacy of the smart passive control system, a series of numerical simulations are carried out by considering the benchmark base isolated structure control problems. The numerical simulation results show that the smart passive control system has the comparable control performance to the conventional MR damper-based semiactive control system. Therefore, the smart passive control system could be considered as one of the promising control devices for seismic protection of seismically excited base isolated structures.

• Journal of Korean Association for Spatial Structures
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• v.16 no.1
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• pp.43-51
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• 2016

A novel vibration control method for vibration reduction of a spacial structure subjected to earthquake excitation was proposed in this study. Generally, spatial structures have various vibration modes involving high-order modes and their natural frequencies are closely spaced. Therefore, in order to control these modes, a spatially distributed MTMDs (Multiple TMDs) method is proposed previously. MR (Magnetorheological) damper were used to enhance the control performance of the MTMDs. Accordingly, MSTMDs (Multiple Smart TMDs) were proposed in this study. An arch structure was used as an example structure because it has primary characteristics of spatial structures and it is a comparatively simple structure. MSTMDs were applied to the example arch structure and the seismic control performance were evaluated based on the numerical simulation. Fuzzy logic control algorithm (FLC) was used to generate command voltages sent for MSTMSs and the FLC was optimized by genetic algorithm. Based on the analytical results, it has been shown that the MSTMDs effectively decreased the dynamic responses of the arch structure subjected to earthquake loads.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.8
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• pp.714-719
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• 2011

This paper presents vibration characteristics of magnetorheological(MR) elastomer, whose elastic modulus are controllable by applied magnetic field. By using this property, the material can be applied to vibration absorber, so that the stiffness of the absorber can be changed and actively controlled according to the magnetic flux density. However, the various performances of MR elastomer depends on different polarized direction of particles by applied magnetic field and dimension during the manufacturing process. In this paper, in order to obtain the optimal characteristics of MR elastomer, MR elastomers with different types and dimensions are prepared for a series tests. Using this test setup, extent of natural frequency shifted against magnetic field at various excitation frequencies can be measured. Specimens are prepared with 3 types, as cylinder samples exposed to magnetic field vertically, horizontally and unexposed during cure, respectively. Also, a set of design variables are considered to produce MR elastomers. Through the modal tests of mass structure with MR elastomer, the optimal design as well as the polarization direction of MR elastomer is obtained among the various dimensions and 3 directional types of MR elastomers.

• Structural Engineering and Mechanics
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• v.58 no.6
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• pp.1127-1143
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• 2016

The pounding phenomenon in adjacent structures happens in severing earthquakes that can cause great damages. Connecting neighboring structures with active and semi-active control devices is an effective method to avoid mutual colliding between neighboring buildings. One of the most important issues in control systems is applying online control force. There will be a time delay if the prose of producing control force does not perform on time. This paper proposed a time-delay compensation method in coupled structures control, with semi-active Magnetorheological (MR) damper. This method based on Newmark's integration is adopted to mitigate the time-delay effect. In this study, Lyapunov's direct approach is employed to compute demanded voltage for MR dampers. Using Lyapunov's direct algorithm guarantees the system stability to design a controller based on feedback. Because of the strong nonlinearity of MR dampers, the equation of motion of coupled structures becomes an involved equation, and it is impossible to solve it with the common time step methods. In present paper modified Newmark-Beta integration based on the instantaneous optimal control algorithm, used to solve the involved equation. In this method, the response of a coupled system estimated base on optimal control force. Two MDOF structures with different degrees of freedom are finally considered as a numeric example. The numerical results show, the Newmark compensation is an efficient method to decrease the negative effect of time delay in coupled systems; furthermore, instantaneous optimal control algorithm can estimate the response of structures suitable.

• Structural Engineering and Mechanics
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• v.36 no.3
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• pp.381-399
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• 2010

A fuzzy hybrid control technique using a semi-active tuned mass damper (STMD) has been proposed in this study for mitigation of wind induced motion of a tall building. For numerical simulation, a third generation benchmark is employed for a wind-excited 76-story building. A magnetorheological (MR) damper is used to compose an STMD. The proposed control technique employs a hierarchical structure consisting of two lower-level semi-active controllers (sub-controllers) and a higher-level fuzzy hybrid controller. Skyhook and groundhook control algorithms are used as sub-controllers. When a wind load is applied to the benchmark building, each sub-controller provides different control commands for the STMD. These control commands are appropriately combined by the fuzzy hybrid controller during realtime control. Results from numerical simulations demonstrate that the proposed fuzzy hybrid control technique can effectively reduce the STMD motion as well as building responses compared to the conventional hybrid controller. In addition, it is shown that the control performance of the STMD is superior to that of the sample TMD and comparable to an active TMD, but with a significant reduction in power consumption.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.451-458
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• 2006

The goal of many researchers in the field of structural engineering is to reduce both damage to building structures and discomfort of their inhabitants during strong motion seismic events. The present paper reports on analytical work conducted with this aim in mind as a prior research of experimental study. A four-story, 6.4 m tall, laboratory model of a building is employed as a example structure. The laboratory structure has graphite epoxy columns and each floor is equipped with a chevron brace that serves to resist inter-story drift with the installation of a magnetorheological (MR) damper. An artificial excitation has been generated with a robust range of seismic characteristics. A series of numerical simulations demonstrates that an optimized fuzzy controller is capable of robust performance for a variety of seismic base motions. Optimization of the fuzzy controller is achieved using multi-objective genetic algorithm(MOGA), i.e. NSGA-II. Multiple objective functions are used in order to reduce both peak and root-means-squared displacement and accelerations at the floor levels of the building.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.5
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• pp.511-517
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• 2016

This paper presents dynamic characteristics of a new actuator using magneto-rheological(MR) fluid between two electrode type coils. The concept of the actuator is to strengthen the force due to the magnetic field produced by the electrode-coil for MR fluid. The amount and direction of current input to the electrode-coils decide the characteristics of contraction-mode and extension-mode. For achieving the required actuating displacement and actuating force, the yield stress of the MR fluid between two electrode-coils is precisely changed by the input current. In this work, the MR fluid is operated in squeeze mode. The experimental results shown in this paper depict that it can be applied in the micro-level displacement and vibration control system.