• 대한기계학회논문집B
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• 제30권6호
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• pp.523-530
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• 2006

One of the fascinating prospects is the possibility of new hydrodynamics technology on micro-scale system since oscillations of micro-droplets are of practical and scientific importance. It has been widely conceived that the lowest oscillation mode of a pendant droplet is the longitudinal vibration, i.e. periodic elongation and contraction along the longitudinal direction. Nonlinear and forced oscillations of supported viscous droplet were focused in the present study. The droplet has a free contact line with solid plate and inviscid fluid. Natural frequencies of a pendant droplet have been investigated experimentally by imposing the acoustic wave while the frequency is being increased at a fixed amplitude. It is found that a pendant droplet shows the resonant behaviors at each mode similar to the theoretical analysis. The rotation of the droplet about the longitudinal axis is the oscillation mode of the lowest resonance frequency. This rotational mode can be invoked by periodic acoustic forcing and is analogous to the pendulum rotation. It is also found that the natural frequency of a pendant droplet is independent of the drop density and surface tension but inversely proportional to the square root of the droplet size.

• 대한전기학회논문지:전력기술부문A
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• 제48권2호
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• pp.145-152
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• 1999

This paper presents an optimal design method for fuzzy logic controllers using genetic algorithms. In general, the design of fuzzy logic controllers has difficulties in the acquisition of exper's knowledge and relies to a great extent on empirical and heuristic knowledge which, in many cases, cannot be objectively justified. So, the performance of the controller can be degraded in the case of plant parameter variations or unpredictable incident which the designer may have ignored, and parameters of the fuzzy logic controller obtained by expert's control action may not be global. To solve these problems, the proposed method using genetic algorithms in this paper, can tune the parameters of fuzzy logic controller including scaling factors and determine the appropriate number of fuzzy reles systematically and automatically. We provide the second drder dead time plant and inverted pendulum system to evaluate the feasibility and generality of our proposed method. Comparison shows that the proposed controller can producd higher accuracy and a smaller number of fuzzy rules than manually tuned fuzzy logic controller.

• 한국지능시스템학회논문지
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• 제7권3호
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• pp.72-80
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• 1997

A new design method for Takagi-Sugeno (T-S in short) fuzzy controller which guarantees global asymptotic stability and satisfies a desired performance is proposed in this paper. The method uses LMI(Linear Matrix Inequality) approach to find the common symmetric positive definite matrix P and feedback fains K/sub i/, i= 1, 2,..., r, numerically. The LMIs for stability criterion which treats P and K'/sub i/s as matrix variables is derived from Wang et al.'s stability criterion. Wang et al.'s stability criterion is nonlinear MIs since P and K'/sub i/s are coupled together. The desired performance is represented as $ LMIs which place the closed-loop poles of $ local subsystems within the desired region in s-plane. By solving the stability LMIs and pole placement constraint LMIs simultaneously, the feedback gains K'/sub i/s which gurarntee global asymptotic stability and satisfy the desired performance are determined. The design method is verified by designing a T-S fuzzy controller for an inverted pendulum with a cart using the proposed method.

• 한국지능시스템학회논문지
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• 제7권3호
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• pp.21-33
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• 1997

본 논문에서는 바람직한 제어 방향의 학습을 통한 퍼지 제어기의 새로운 자기 구성 방법을 제안한다. 기울기 강하법에 기반하여 특성을 모르는 동적 플랜트에 대한 퍼지 제어기를 자기 구성할 때 풀어야할 문제중 하나는 오차를 줄이도록 하는 바람직한 제어입력의 변화방향을 알아내는 것이다. 이 문제를 해결하기 위한 방법으로서, 제어입력에 따른 오차의 변화 방향에 대한 대표 값을 분할된 상태영역에 할당하고, 반복적인 시행을 통해 강화 학습된 이 대표값을 이용하여 퍼지 제어 규칙을 학습하는 방법을 제안하였다. 제안된 자기구성 퍼지제어기는 간단한 구조를 가질 뿐 아니라 설계하기도 쉬운 장점을 갖는다. 제안된 방법의 타당성은 역진자 시스템에 대한 모의 실험을 통하여 검증하였다.

• 로봇학회논문지
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• 제11권3호
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• pp.183-192
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• 2016

Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

• 한국소음진동공학회논문집
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• 제16권4호
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• pp.420-427
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• 2006

In this study, wind loads transmitted to a transmission tower from transmission lines are mitigated using rotational viscoelastic dampers. First, the wind load characteristics in a transmission tower is investigated considering the effect of the transmission lines through stochastic analysis. The assemblage of the transmission line and insulator are modeled as a double pendulum system connected to the SDOF model of the tower. From the result of the stochastic analysis, the background component of the overturing moment caused by the wind loads acting on the transmission lines are found to have considerable portion in the total overturning moment. Based on this observation result, a strategy Installing rotational viscoelastic damper (VED) between tower arm and transmission line is proposed for the mitigation of the transmission line reactions, which play a role as dynamic loads on a transmission tower. For the purpose of verification, time history analysis is conducted for different wind velocities and VED parameters. The analysis result shows that the rotational VED is effective for the mitigation of the background component rather than the resonance component of the transmission line reactions and achieves the reduction ratio of 50% even for higher wind speed.

• 비파괴검사학회지
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• 제31권6호
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• pp.601-608
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• 2011

This paper presents the damage assessment of a building structure by using a novel optical fiber accelerometer system. Especially, a sub-scaled building model is designed and manufactured to check up the feasibility of the optical fiber accelerometer for structural health monitoring. The novel accelerometer exploits the moir$\acute{e}$ fringe optical phenomenon and two pairs of optical fibers to measure the displacement with a high accuracy, and furthermore a pendulum to convert the displacement into acceleration. A prototype of optical fiber accelerometer system has been successfully developed that consists of a sensor head, a control unit and a signal processing unit. The building model is also designed as a 4-story building with a rectangular shape of $200{\times}300$ mm of edges. Each floor is connected to the next ones by 6 steel columns which are threaded rods. Basically, a random vibration test of the building model is done with a shaker and all of acceleration data is successfully measured at the assigned points by the optical fiber accelerometer. The experiments are repeated in the undamaged state and the damaged state. The comparison of dynamic parameters including the natural frequencies and the eigenvectors is successfully carried out. Finally, the optical fiber accelerometer is proven to be prospective to evaluate dynamic characteristics of a building structure for the damage assessment.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
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• pp.283-289
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• 1997

A 500Wh class high-speed Flywheel Energy Storage System (FESS) driven by a built-in BLDC motor/generator has been designed, which runs from 30000 to 60000rpm nominally. Due to the motor/generator inside, the flywheel rotor made of composites supported by PM/EM hybrid bearing system has a shape of bell or pendulum and thus requires accurate rotordynamic analyses and prediction of its dynamic behavior to secure the operating reliability. Rotordaynamic analyses of the flywheel rotor-bearing system revealed that the bell shaped rotor has two conical rigid-body modes in the system operating range and the first conical mode, of which nodal point lies in the radial EM bearing position, can adversely affect the dynamic response of the rotor at the corresponding critical speed. To eliminate the possibility of wild behavior of the rotor, two guide bearings are adopted at the upper end of the rotor and motor/generator. It was also revealed that the EM bearing stiffness of 0.5~1.0E+6 N/m and damping of 2000 Ns/m are favorable for smooth operation of the system around the 2nd critical speed.

• Journal of Theoretical and Applied Mechanics
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• 제2권1호
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• pp.51-70
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• 1996

This study is generalization of the study of Miles[Physica 11D, 1984, pp.309-323]on the resonant motion of a spherical pendulum, which is equivalent to a particle on a spherical container subject to a linear, horizontal excitation. This study covers an arbitrary shape of container and a more general excitation (horizontal but elliptic motion). The averaging method is applied to reduce the governing equations to an autonomous system with cubic nonlinear terms, under the assumption of small amplitude of the container motion. It is shown that both the container shape and the excitation pattern affect the particle dynamics. Under the linear excitation, the anharmonic motion of the particle is possible only for a certain finite range of the parameter a controling the container shape. Stability of the particle's harmonic motion is also influenced by the excitation pattern; as the excitation trajectory becomes closer to a circle, the particle's motion has a stronger tendency to become stable and to follow the rotational direction of the excitation. Under a circular excitation, the motion is always stable and circular with the same rotational direction as the excitation. Analogy between the present model and that of the surface wave inside a circular is studied quantitatively.

• 한국과학교육학회지
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• 제17권4호
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• pp.383-393
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• 1997

In order to study the effect of student's conceptions about force and motion into the graph construction in kinematics in college physics course, the tasks of constructing the qualitative graph in the similar problem context used in force conception was asked to the first 74 and third 97 student teacher in teachers' university. The frequencies analysis showed that student teachers had the naive conceptions that the throwing force was still acted to a upwarding ball. They also had the popular Aristotelian views about motion. These naive conceptions coexisted with the scientific conception about gravitational force. In a simple pendulum problem no one had the correct acceleration concepts which varies the direction in swing. This result suggest that student teacher had more difficulties in a acceleration problem than in a velocity problem In v-t and a-t graph construction tasks, the number of categories of a-t graphs were more than that of v-t graphs. There were many graph errors in a sign of velocity and acceleration. The acceleration conceptions without the relations of changes in velocity made the kinematics graphs more various shapes. The force and motion conceptions influenced the ability to construct the kinematics graphs.