• Proceedings of the KSME Conference
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• 2005.11a
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• pp.126.2-126.2
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• 2005

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.70-71
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• 2007

This paper presents an application of LQR(Linear Quadratic Regulator) for experimental control moment gyroscope. To be specific, mathematical model is first derived based on the quaternion and Lagrange's equation, state feedback controller using LQR scheme is designed, and to show the stability of the scheme, experimental results are given.

• International journal of steel structures
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• v.18 no.5
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• pp.1772-1783
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• 2018

Nowadays, the researches about composite structure system are being implemented in various fields, and many steel structures are designed based on that. In this study, the bending and seismic performance of the newly developed high-performance cold forming composite beam are evaluated by several experiments. As a result of the bending performance test, the bending moment of beam was increased stably depending on the depth and plate thickness of beam, and it is considered that the bending moment can be evaluated by the equation of a composite beam design. As a result of the seismic performance test, it was verified that sufficient seismic performance was obtained despite the increase of a negative moment rebar and depth of beam. In addition, the nominal bending moment has obtained the strength above the plastic bending moment, and also the plastic rotation angle has satisfied the requirement of composite intermediate moment frame.

• Journal of the Korean Society of Industry Convergence
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• v.3 no.1
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• pp.43-51
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• 2000

The response statistics of a hinged-clamped beam under broad-band random excitation is investigated. The random excitation is applied at the nodal point of the second mode. By using Galerkin's method the governing equation is reduced to a system of nonautonomous nonlinear ordinary differential equations. A method based upon the Markov vector approach is used to generate a general first-order differential equation in the dynamic moment of response coordinates. By means of the Gaussian and non-Gaussian closure methods the dynamic moment equations for the random responses of the system are reduced to a system of autonomous ordinary differential equations. The case of two mode interaction is considered in order to compare it with the case of three mode interaction. The analytical results for two and three mode interactions are also compared with results obtained by Monte Carlo simulation.

• Journal of the Korean Data and Information Science Society
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• v.25 no.4
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• pp.915-920
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• 2014

We consider a continuous time surplus process with investments the sizes of which are independent and identically distributed. It is assumed that an investment of the surplus to other business is made, if and only if the surplus reaches a given sufficient level. We establish an integro-differential equation for the distribution function of the surplus and solve the equation to obtain the moment generating function for the stationary distribution of the surplus. As a consequence, we obtain the first and second moments of the level of the surplus in an infinite horizon.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.364-370
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• 2005

A stable walking pattern generation method for a biped robot is presented in this paper. In general, the ZMP (zero moment point) equations, which are expressed as differential equations, are solved to obtain a stable walking pattern. However, the number of differential equations is less than that of unknown coordinates in the ZMP equations. It is impossible to integrate the ZMP equations directly since one or more constraint equations are involved in the ZMP equations. To overcome this difficulty, DAE (differential and algebraic equation) solution method is employed. The proposed method has enough flexibility for various kinematic structures. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.

• Journal of Korean Association for Spatial Structures
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• v.15 no.1
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• pp.47-55
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• 2015

This paper shows the simplified equation to predict the ultimate moment capacity and corresponding rod stress in reinforced concrete beam with external post-tensioning rods. Because the stress of external post-tensioning rod depends on the beam deflection, the previous analytical model for post-tensioned beams requires a tedious iteration process. Also, the stress equations in ACI code or other researchers' models are suitable only for internal tendons in concrete beams. In this study, given the lack of analytical approaches to predict the nominal stress of the external unbonded rod, a simple and robust equation has been proposed for externally post-tensioned concrete beams. It is concluded that the proposed equation predicted the stress of external steel rods in post-tensioned concrete beams reasonably well.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.845-850
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• 2007

The empirical AISC panel zone thickness provision$(t_z\geq(d_z+w_z)$/90) to prevent the cyclic shear buckling of the panel zone was proposed based on the test data of Krawinkler et al. (1971) and Bertero et al. (1973) However, no published records of the equation development or any other background information appear to be available. The calibrated finite element analysis results of this study indicated that the AISC provision was not reasonable. In this study, through including the effects of the column axial force and the aspect ratio of the panel zone, a new equation for the relative strength between the beam and the panel zone was proposed such that the proposed equation can prevent the panel zone shear buckling and reduce the potential fracture associated with the kinking of the column flanges.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.8
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• pp.1022-1030
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• 1999

This paper is concerned with the balancing motion formulation and the control of ZMP (zero moment point) for a biped walking robot with balancing joints. The balancing equation of a biped robot can be modeled as the second order non-homogeneous differential equation, which makes it possible to plan the desired trajectories for various gaits or motions. Also, the balancing motion can be defined easily by solving the differential equation without pre-processing or heuristic procedures. The actual experiments are performed on biped walking robot system IWR-III, developed in our Automatic Control Lab. The system has the structure of three pitches in each leg, and one roll and one prismatic type in balancing joints. The walking simulations and the experimental results on IWR-III are shown using the proposed formula and control algorithm.

• International Journal of Concrete Structures and Materials
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• v.8 no.2
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• pp.99-116
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• 2014

The American Concrete Institute (ACI) 318-11 permits the use of the moment magnifier method for computing the design ultimate strength of slender reinforced concrete columns that are part of braced frames. This computed strength is influenced by the column effective length factor K, the equivalent uniform bending moment diagram factor $C_m$ and the effective flexural stiffness EI among other factors. For this study, 2,960 simple braced frames subjected to short-term loads were simulated to investigate the effect of using different methods of calculating the effective length factor K when computing the strength of columns in these frames. The theoretically computed column ultimate strengths were compared to the ultimate strengths of the same columns computed from the ACI moment magnifier method using different combinations of equations for K and EI. This study shows that for computing the column ultimate strength, the current practice of using the Jackson-Moreland Alignment Chart is the most accurate method for determining the effective length factor. The study also shows that for computing the column ultimate strength, the accuracy of the moment magnifier method can be further improved by replacing the current ACI equation for EI with a nonlinear equation for EI that includes variables affecting the column stiffness and proposed in an earlier investigation.