• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.359-364
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• 2022

This study presents a nonlinear model predictive control (NMPC)-based obstacle avoidance and whole-body motion planning method for the mobile manipulators. For the whole-body motion control, the mobile manipulator with an omnidirectional mobile base was modeled as a nine degrees-of-freedom (DoFs) serial open chain with the PPR (base) plus 6R (arm) joints, and a swept sphere volume (SSV) was applied to define a convex hull for collision avoidance. The proposed receding horizon control scheme can generate a trajectory to track the end-effector pose while avoiding the self-collision and obstacle in the task space. The proposed method could be calculated using an interior-point (IP) method solver with 100[ms] sampling time and ten samples of horizon size, and the validation of the method was conducted in the environment of Pybullet simulation.

• Structural Engineering and Mechanics
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• v.54 no.1
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• pp.169-188
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• 2015

This study presents the effects of the spatial variation of ground motions in a hard rock site on the seismic responses of a base-isolated nuclear power plant (BI-NPP). Three structural models were studied for the BI-NPP supported by different number of lead rubber bearing (LRB) base isolators with different base mat dimensions. The seismic responses of the BI-NPP were analyzed and investigated under the uniform and spatial varying excitation of El Centro ground motion. In addition, the rotational degrees of freedom (DOFs) of the base mat nodes were taken to consider the flexural behavior of the base mat on the seismic responses under both uniform and spatial varying excitation. Finally, the seismic response results for all the analysis cases of the BI-NPP were investigated in terms of the vibration periods and mode shapes, lateral displacements, and base shear forces. The analysis results indicate that: (1) considering the flexural behavior of the base mat has a negligible effect on the lateral displacements of base isolators regardless of the number of the isolators or the type of excitation used; (2) considering the spatial variation of ground motions has a substantial influence on the lateral displacements of base isolators and the NPP stick model; (3) the ground motion spatial variation effect is more prominent on lateral displacements than base shear forces, particularly with increasing numbers of base isolators and neglecting flexural behavior of the base mat.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.171-177
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• 2010

This paper presents the development of a new 6-DOF parallel-kinematic motion simulator. The moving platform is connected to the fixed base by six P-S-U (Prismatic-Spherical-Universal) serial chains. Comparing with the well-known Gough-Stewart platform-type motion simulator, it uses commercialized linear actuators mounted at the fixed base whereas a 6-UPS manipulator uses telescopic linear ones. Therefore, the proposed motion simulator has the advantages of easier fabrication and lower inertia over a 6-UPS counterpart. Furthermore, since most forces acting along the legs are transmitted to the structure of linear actuators, smaller actuation forces are required. The inverse position and Jacobian matrix are analyzed. In order to further increase workspace, inclined arrangement of universal joints is introduced. The optimal design considering workspace and force transmission capability has been performed. The prototype motion simulator and PC-based real-time controller have been developed. Finally, position control experiment on the prototype has been performed.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.2
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• pp.67-75
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• 2007

An attitude control problem for a tethered spacecraft is studied. The tethered spacecraft is viewed as a multi-body spacecraft consisting of a base body, a massless tether that connects the base body and an end mass, and tether actuator dynamics. Moments about the pitch and roll axes of the base spacecraft arise by control of the point of attachment of the tether to the base spacecraft. The control objective is to stabilize the attitude of the base spacecraft while keeping the perturbations of the tether small. Analysis shows that linear equations of motion for the tethered spacecraft are not completely controllable. We study two different control design approaches: (1) we decouple the attitude dynamics from the tether dynamics and we design a linear feedback to achieve stabilization of the attitude dynamics, and (2) we decouple the controllable modes from the uncontrollable mode using Kalman decomposition and we design a linear feedback to achieve stabilization of the controllable modes. Simulation results show that, although it is difficult to control the tether, the tether motion can be maintained within an acceptable range while stabilizing the attitude dynamics of the base spacecraft.

• Journal of the Earthquake Engineering Society of Korea
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• v.23 no.3
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• pp.149-157
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• 2019

The purpose of this study is to investigate the effects of the significant duration of ground motions on responses of base-isolated nuclear power plants (NPPs). Two sets of ground motion records with short duration (SD) and long duration (LD) motions, scaled to match the target response spectrum, are used to perform time-history analyses. The reactor containment building in the Advanced Power Reactor 1400 (APR1400) NPP is numerically modeled using lumped-mass stick elements in SAP2000. Seismic responses of the base-isolated NPP are monitored in forms of lateral displacements, shear forces, floor response spectra of the containment building, and hysteretic energy of the lead rubber bearing (LRB). Fragility curves for different limit states, which are defined based on the shear deformation of the base isolator, are developed. The numerical results reveal that the average seismic responses of base-isolated NPP under SD and LD motion sets were shown to be mostly identical. For PGA larger than 0.4g, the mean deformation of LRB for LD motions was bigger than that for SD ones due to a higher hysteretic energy of LRB produced in LD shakings. Under LD motions, median parameters of fragility functions for three limit states were reduced by 12% to 15% compared to that due to SD motions. This clearly indicates that it is important to select ground motions with both SD and LD proportionally in the seismic evaluation of NPP structures.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.10a
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• pp.154-159
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• 1997

In this paper, we describe the OGY method that convert the motion on a chaotic attractor to attracting time periodic motion by malting only small perturbations of a control parameter. The OGY method is illustrated by application to the control of the chaotic motion in chaotic attractor to happen at the famous Logistic map and Henon map and confirm it by making periodic motion. We apply it the chaotic motion at the behavior of the thin beam under periodic torsional base-excitation, and this chaotic motion is made the periodic motion by numerical experiment in the time evaluation on this chaotic motion. We apply the OGY method with the Jacobian matrix to control the chaotic motion to the periodic motion.

• Nuclear Engineering and Technology
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• v.54 no.4
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• pp.1374-1381
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• 2022

Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A^* algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG.

• Journal of the Earthquake Engineering Society of Korea
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• v.26 no.2
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• pp.95-103
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• 2022

In order to evaluate the earthquake safety of equipment in structures, it is essential to analyze the In-Structure Response Spectrum (ISRS). The ISRS has a peak value at the frequency corresponding to the structural vibration mode, but the frequency and amplitude at the peak can vary because of many uncertain parameters. There are several seismic design criteria for ISRS peak-broadening for fixed base structures. However, there are no suggested criteria for constructing the design ISRS of seismically isolated structures. The ISRS of isolated structures may change due to the major uncertainty parameter of the isolator, which is the shear stiffness of the isolator and the several uncertainty parameters caused by the nonlinear behavior of isolators. This study evaluated the effects on the ISRS due to the initial stiffness of the bi-linear curve of isolators and the variation of effective stiffness by the input ground motion intensity and intense motion duration. Analyzing a simplified structural model for isolated base structure confirmed that the ISRS at the frequency of structural mode was amplified and shifted. It was found that the uncertainty of the initial stiffness of isolators significantly affects the shape of ISRS. The variation caused by the intensity and duration of input ground motions was also evaluated. These results suggested several considerations for generating ISRS for seismically isolated structures.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.2
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• pp.45-51
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• 2008

The objective of this study is to develop an automatic object changer unit to improve processing problems existed in the conventional horizontal machining center. In order to perform this objective, a upward and downward traverse unit in which a unit that consists of a motor and reducer, chain and sprocket wheel, and upper and lower base employed in an automatic object changer unit performs sliding contact motion in a frame was designed. To achieve this design, constraint conditions for the upward and downward traverse unit first designed. Then, an operation mechanism was designed and that was introduced as a sum of kinetic energy for the sprocket wheel and upper and lower base based on the moment of inertia, which is the kinetic energy of the converted upward and downward traverse unit in the side of the reducer. In addition, The work required to rotate the converted upward and downward traverse unit in the side of the reducer by one revolution can be calculated using the sum of work that is required in the sprocket wheel and upper and lower base that is a part of the upward and downward traverse unit. Furthermore, the converted equation of motion in the side of the motor can be introduced using the equation of motion using the converted upward and downward traverse unit in the side of the motor. Then, Then, a proper motor can be determined using predetermined specifications employed in the motor and several parameters in the upward and downward traverse unit in order to verify such predetermined specifications. Also, a design of a horizontal traverse unit that performs sliding motion on a upward and downward traverse unit and simulation that verifies the results of this design are required as a future study.

• Smart Structures and Systems
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• v.9 no.2
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• pp.165-188
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• 2012

In the first part of the paper, the optimal design parameters for tuned liquid column dampers (TLCD) in harmonic pitching motion were investigated. The configurations in design tables include uniform and non-uniform TLCDs with cross-sectional ratios of 0.3, 0.6, 1, 2 and 3 for the design in different situations. A closed-form solution of the structural response was used for performing numerical optimization. The results from optimization indicate that the optimal structural response always occurs when the two resonant peaks along the frequency axis are equal. The optimal frequency tuning ratio, optimal head loss coefficient, the corresponding response and other useful quantities are constructed in design tables as a guideline for practitioners. As the value of the head loss coefficient is only available through experiments, in the second part of the paper, the prediction of head loss coefficients in the form of a design chart are proposed based on a series of large scale tests in pitching base motions, aiming to ease the predicament of lacking the information of head loss for those who wishes to make designs without going through experimentation. A large extent of TLCDs with cross-sectional ratios of 0.3, 0.6, 1, 2 and 3 and orifice blocking ratios ranging from 0%, 20%, 40%, 60% to 80% were inspected by means of a closed-form solution under harmonic base motion for identification. For the convenience of practical use, the corresponding empirical formulas for predicting head loss coefficients of TLCDs in relation to the cross-sectional ratio and the orifice blocking ratio were also proposed. For supplemental information to horizontal base motion, the relation of head loss values versus blocking ratios and the corresponding empirical formulas were also presented in the end.