• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.341-349
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• 2020

Recently, interest in ground subsidence in urban areas has increased after a large sinkhole occurred near the high-story building area in Jamsil, Seoul, Korea, in 2014. If a massive sinkhole occurs in an urban area, it is crucial to assess its risk rapidly. Access to humans for on-site safety diagnosis may be difficult because of the additional risk of collapse in the disaster area. Generally, inspection using drones equipped with high-speed lidar sensors can be utilized. However, if the sinkhole is created vertically to a depth of 100 m, similar to the sinkhole in Guatemala, the drone cannot be applied because of the wireless communication limit and turbulence inside the sinkhole. In this study, a three-dimensional (3D) scanning system was fabricated and operated using a towed cable in a massive vertical sinkhole to a depth of 200 m. A high-speed lidar sensor was used to obtain a continuous cross-sectional shape at a certain depth. An inertial-measuring unit was applied to compensate for the error owing to the rotation and pendulum movement of the measuring unit. A reconstruction algorithm, including the compensation scheme, was developed. In a vertical hole with a depth of 180 m in the mining area, the fabricated system was applied to scan 0-165 m depth. The reconstructed shape was depicted in a 3D graph.

• Journal of Biomedical Engineering Research
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• v.14 no.1
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• pp.41-50
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• 1993

This paper proposes an adaptive technique for the cardiac output regulation of a pendulum type electromechanical TAH. This techinque, which consists of two RLSE's and two PASTC' 5, performs Its controllability over the TAIB so that the m(RAP) and m(LAP) values re- main close to their desired values under she assumption that the variation of m(RAP) and m (LAP) are dominated by the variation of C.0. and the difference between the left and right ventricular output, respectively. To evaluate the performance of the proposed control system, a simulation is performed by using a human model which contains physiologic, drug and treatment, artificial heart and noise models. As a result, dual adaptive controller showed that abnormal m(LAP) and m(RAP) could be recovered to the normal range within 10minute and maintained desired value in steady state. The operation of this controller prored to be robust in spite of the rapid variation of human status.

• Journal of the Korean Society of Safety
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• v.27 no.5
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• pp.1-8
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• 2012

The purpose of this study were to evaluate the dynamic characteristics of the portable slipmeters with respect to actual slipping and to compare their output with those of force platform. The selected slipmeters were commonly used devices for slipperiness measurement in situ floors. Their output quantity represented force (BOT-3000), loss of energy(British pendulum striker) and angle of inclination(English XL). The validity of these devices was studied with respect to actual slipping using a force platform. The precision of these devices was also evaluated with force platform. Based on dynamics of human subject behavior when slipping during normal walking, the all devices tested in this study showed poor performances: low built up ratio, low normal pressure, and long contact time prior to slip. Nevertheless, their results reasonably correlated with those calculated from the ground reaction forces generated by the operation of the selected slipmeters on the force platform although the absolute values of COF from these three devices could be quite different. Also the results showed good repeatability under the some test conditions.

• Structural Engineering and Mechanics
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• v.35 no.2
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• pp.205-215
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• 2010

Recently, earthquake proof technology has been widely applied to both new and existing structures and bridges. The analysis of bridge systems equipped with structural control devices, which possess large degrees of freedom and nonlinear characteristics, is a result in time-consuming task. Therefore, a piecewise exact solution is proposed in this study to simplify the seismic mitigation analysis process for bridge systems equipped with sliding-type isolators. In this study, the simplified system having two degrees of freedom, to reasonably represent the large number of degrees of freedom of a bridge, and is modeled to obtain a piecewise exact solution for system responses during earthquakes. Simultaneously, we used the nonlinear finite element computer program to analyze the bridge responses and verify the accuracy of the proposed piecewise exact solution for bridge systems equipped with sliding-type isolators. The conclusions derived by comparing the results obtained from the piecewise exact solution and nonlinear finite element analysis reveal that the proposed solution not only simplifies the calculation process but also provides highly accurate seismic responses of isolated bridges under earthquakes.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.18 no.4
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• pp.30-37
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• 2010

This paper deals with attitude determination and parameter estimation problems for a lunar module. For this we first derive equations of motion for the lunar module by considering allocation locations (configurations) of reaction thruster and a reaction wheel assembly. The lunar module is assumed as a rigid body. In order to include the effect of fuel sloshing on the dynamics of the lunar module, we model it as a spherical pendulum for a simple analysis. For estimating angular rates and moment of inertia of the module, we employ an extended Kalman filter and the least mean square algorithms, respectively. Finally we construct a dynamical model for the lunar module by combining all these elements.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.12
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• pp.1059-1068
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• 2017

Space exploration spacecraft carry large amounts of liquid fuel, often more than half. In such cases, the liquid fuel sloshing must be considered in the design of the spacecraft since the sloshing can affects the stability of the spacecraft. In this paper, we present the results of analyzing the sloshing of fuel and the dynamic behavior of the spacecraft. For the purpose, a model in which the maneuvering of the spacecraft causes the sloshing and a model in which the reaction force and moment due to the sloshing are transmitted to the spacecraft are developed. The dynamical behavior of the spacecraft are analyzed using a simulation program coded by Modelica.

• Journal of the Korean Applied Science and Technology
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• v.20 no.3
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• pp.237-242
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• 2003

The high-solid coatings were prepared by blending the synthesized acrylic resin in the previous paper and hexamethylene diisocyanate-trimer and curing it at room temperature. The characterization of the films of the prepared coatings was performed. The impact resistance, $60^{\circ}C$ specular gloss, cross-hatch adhension, and heat resistance of the films proved to be good, and the pencil hardness and drying time proved to be slightly poor. Especially, there was a remarkable improvement in the heat resistance. This improvement may stem from the regular arrangement of ethyl groups introduced into the acrylic resin. From a viscoelastic measurement using a rigid-body pendulum, curing was accelerated with the $T_g$ value. With the increase in $T_g$, log damp value was lowered and dynamic viscoelasic $T_g$ of a cured film was increased.

• Structural Engineering and Mechanics
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• v.30 no.1
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• pp.1-20
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• 2008

The dynamic characteristics of the passive, semi-active, and active tuned-liquidcolumn dampers (or TLCDs) are studied in this paper. The design of the latter two are based on the first one. A water-head difference (or simply named as water head in this paper) of a passive TLCD is pre-set to form the so-called semi-active one in this paper. The pre-set of water head is released at a proper time instant during an earthquake excitation in order to enhance the vibration reduction of a structure. Two propellers are installed along a shaft inside and at the center of a passive TLCD to form an active one. These two propellers are driven by a servo-motor controlled by a computer to provide the control force. The seismic responses of a five-story shear building with a passive, semiactive, and active TLCDs are computed for demonstration and discussion. The responses of this building with a tuned mass damper (or TMD) are also included for comparison. The small-scale shaking-table experiments of a pendulum-like system with a passive or active TLCD to harmonic and seismic excitations are conducted for verification.

• Earthquakes and Structures
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• v.14 no.5
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• pp.425-436
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• 2018

The design of seismically isolated structures considering the stochastic nature of excitations, base isolators' design parameters, and superstructure properties requires robust reliability analysis methods to calculate the failure probability of the entire system. Here, by applying artificial neural networks, we proposed a robust technique to accelerate the estimation of failure probability of equipped isolated structures. A three-story isolated building with susceptible facilities is considered as the analytical model to evaluate our technique. First, we employed a sensitivity analysis method to identify the critical sources of uncertainty. Next, we calculated the probability of failure for a particular set of random variables, performing Monte Carlo simulations based on the dynamic nonlinear time-history analysis. Finally, using a set of designed neural networks as a surrogate model for the structural analysis, we assessed once again the probability of the failure. Comparing the obtained results demonstrates that the surrogate model can attain precise estimations of the probability of failure. Moreover, our proposed approach significantly increases the computational efficiency corresponding to the dynamic time-history analysis of the structure.

• Structural Engineering and Mechanics
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• v.66 no.6
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• pp.749-759
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• 2018

Aiming at widely used high-pier bridges in Sichuan-Tibet Railway, this paper presents an investigation to design and evaluate the seismic vibration reduction effects of several measures, including viscous damper (VD), friction pendulum bearing (FPB), and tuned mass damper (TMD). Primarily, according to the detailed introduction of the concerned bridge structure, dynamic models of high-pier bridges with different seismic vibration reduction (SVR) measures are established. Further, the designs for these SVR measures are performed, and the optimal parameters of these measures are investigated. On this basis, the vibration reduction effects of these measures are analyzed and assessed subject to actual earthquake excitations in Wenchuan Earthquake (M=8.0), and the most appropriate SVR measure for high-pier bridges in Sichuan-Tibet Railway is determined at the end of the work. Results show that the height of pier does not obviously affect the performances of the concerned SVR measures. Comprehensively considering the vibration absorption performance, installation and maintenance of all the employed measures in this paper, TMD is the best one to absorb vibrations induced by earthquakes.