• Advances in aircraft and spacecraft science
• /
• v.4 no.3
• /
• pp.237-267
• /
• 2017

Automatic trajectory re-planning is an integral part of unmanned aerial vehicle mission planning. In order to be able to perform this task, it is necessary to dispose of formulas or tables to assess the flyability of various typical flight segments. Notwithstanding their importance, there exist such data only for some particularly simple segments such as rectilinear and circular sub-trajectories. This article presents an analysis of a new, very efficient, way for an airplane to fly on an inclined circular trajectory. When it flies this way, the only thrust required is that which cancels the drag. It is shown that, then, much more inclined trajectories are possible than when they fly at constant speed. The corresponding equations of motion are solved exactly for the position, the speed, the load factor, the bank angle, the lift coefficient and the thrust and power required for the motion. The results obtained apply to both types of airplanes: those with internal combustion engines and propellers, and those with jet engines. Conditions on the trajectory parameters are derived, which guarantee its flyability according to the dynamical properties of a given airplane. An analytical procedure is described that ensures that all these conditions are satisfied, and which can serve for producing tables from which the trajectory flyability can be read. Sample calculations are shown for the Cessna 182, a Silver Fox like unmanned aerial vehicle, and an F-16 jet airplane.

• Wind and Structures
• /
• v.32 no.2
• /
• pp.143-159
• /
• 2021

The 246.8-m-tall Beijing Olympic Tower (BOT) is a new landmark in Beijing City, China. Its unique architectural style with five sub-towers and a large tower crown gives rise to complex dynamic characteristics. Thus, it is wind-sensitive, and a double-stage pendulum tuned mass damper (DPTMD) has been installed for vibration mitigation. In this study, a finite-element analysis of the wind-induced responses of the tower based on full-scale measurement results was performed. First, the structure of the BOT and the full-scale measurement are introduced. According to the measured dynamic characteristics of the BOT, such as the natural frequencies, modal shapes, and damping ratios, an accurate finite-element model (FEM) was established and updated. On the basis of wind measurements, as well as wind-tunnel test results, the wind load on the model was calculated. Then, the wind-induced responses of the BOT with the DPTMD were obtained and compared with the measured responses to assess the numerical wind-induced response analysis method. Finally, the wind-induced serviceability of the BOT was evaluated according to the field measurement results for the wind-induced response and was found to be satisfactory for human comfort.

• Geomechanics and Engineering
• /
• v.28 no.1
• /
• pp.25-33
• /
• 2022

The energy transferred on drill rods by dynamic impact mainly determines the penetration depth for in-situ tests. In this study, the dynamic response and transferred energy of drill rods are determined from the frequency of the stress waves. AW-type drill rods of lengths 1 to 3 m are prepared, and strain gauges and an accelerometer are installed at the head and tip of the connected rods. The drill rods are hung on strings, allowing free vibration, and then impacted by a pendulum hammer with fixed potential energy. Increasing the rod length L increases the wave roundtrip time (2L/c, where c is the wave velocity), and hence the transferred energy at the rod head. At the rod tip, the first velocity peak is higher than the first force peak because a large and tensile stress wave is reflected, and the transferred energy converges to zero. The resonant frequency increases with rod length in the waveforms measured by the strain gauges, and fluctuates in the waveforms measured by the accelerometer. In addition, the dynamic response and transferred energy are perturbed when the cutoff frequency is lower than 2 kHz. This study implies that the resonant frequency should be considered for the interpretation of transferred energy on drill rods.

• The Journal of Korea Robotics Society
• /
• v.17 no.3
• /
• pp.288-295
• /
• 2022

This study shows a system identification method of a balancing loading device for a stair climbing delivery robot. The balancing loading device is designed as a 2-axes gimbal structure and is interpreted as two independent pendulum structures for simplifying. The loading device's properties such as mass, moment of inertia, and position of the center of gravity are changeable for luggage. The system identification process of the loading device is required, and the controller should be optimized for the system in real-time. In this study, the system identification method is based on least squares method to estimate the unknown parameters of the loading device's dynamic equation. It estimates the unknown parameters by calculating them that minimize the error function between the real system's motion and the estimated system's motion. This study improves the accuracy of parameter estimation using a null space solution. The null space solution can produce the correct parameters by adjusting the parameter's relative sizes. The proposed system identification method is verified by the simulation to determine how close the estimated unknown parameters are to the real parameters.

• The Journal of Korea Robotics Society
• /
• v.18 no.3
• /
• pp.241-250
• /
• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.7
• /
• pp.559-566
• /
• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• Earthquakes and Structures
• /
• v.26 no.6
• /
• pp.463-475
• /
• 2024

The study aims to investigate the pounding that occurs between the isolator's ring and slider of isolated structures resulting from excessive seismic excitation, while considering soil-structure interaction. The dynamic responses and poundings of structures subjected a series seismic records were comparatively analyzed for three different soil types and fixed-base structures. A series of parametric studies were conducted to thoroughly discuss the effects of the impact displacement ratio, the FPB friction coefficient ratio, and the radius ratio on the structural dynamic response when considering impact and SSI. It was found that the pounding is extremely brief, with an exceptionally large pounding force generated by impact, resulting in significant acceleration pulse. The acceleration and inter-story shear force of the structure experiencing pounding were greater than those without considering pounding. Sudden changes in the inter-story shear force between the first and second floors of the structure were also observed. The dynamic response of structures in soft ground was significantly lower than that of structures in other ground conditions under the same conditions, regardless of the earthquake wave exciting the structure. When the structure is influenced by pulse-type earthquake records, its dynamic response exhibits a trend of first intensifying and then weakening as the equivalent radius ratio and friction coefficient ratio increase. However, it increases with an increase in the pounding displacement ratio, equivalent radius ratio, friction coefficient ratio, and displacement ratio when the structures are subjected to non-pulse-type seismic record.

• Journal of the Korea Institute of Building Construction
• /
• v.14 no.4
• /
• pp.350-358
• /
• 2014

The demand for the lightweight wall has increased as the structure of the multi-unit dwelling has shift to the rahmen structure. The lightweight wall is required to secure certain degree of shock resistance for the structural safety. The study performed the load analysis test for 7 small hard bodies with different masses and shapes and 5 hard materials which applied the impact load on the wall. It was found out from the experiment that different pendulum weight doubled the load maximum even though the shock energy was the same. In addition, the study compared and analyzed the weight of materials and the load of small hard bodies to propose fundamental data for the material design of the lightweight wall.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.2
• /
• pp.772-778
• /
• 2012

In this paper, the states and the parameters in the dynamic system are simultaneously estimated by applying the UKF(Unscented Kalman Filter), which is widely used for estimating the state of non-linear systems. Estimating the parameter is very important in various fields, such as system control, modeling, analysis of performance, and prediction. Most of the dynamic systems which are dealt with in engineering have non-linearity as well as some noise. Therefore, the parameter estimation is difficult. This paper estimates the states and the parameters applying to the UKF, which is a non-linear filter and has strong noise. The augmented equation is used by including the addition of the parameter factors to the original state equation of the system. Moreover, it is simulated by applying to a 2-DOF(Degree of Freedom) dynamic system composed of the pendulum and the slide. The measurement noise of the dynamic equation is assumed to be a Gaussian distribution. As the simulation results show, the proposed parameter estimation performs better than the LSM(Least Square Method). Furthermore, the estimation errors and convergence time are within three percent and 0.1 second, respectively. Consequentially, the UKF is able to estimate the system states and the parameters for the system, despite having measurement data with noise.

• Safety and Health at Work
• /
• v.3 no.1
• /
• pp.22-30
• /
• 2012

Objectives: To challenge the problem of slipperiness, various slipmeters have been developed to assess slip hazard. The performance of in-situ slipmeter is, however, still unclear under the various floor conditions. The main objectives of this study were to evaluate the performance of three kinds of slipmeters under real conditions, and to find their dynamic and kinematic characteristics, which were compared with gait test results. Methods: Four common restaurant floor materials were tested under five contaminants. Slipmeters and human gaits were measured by high speed camera and force plate to find and compare their dynamic and kinematic characteristics. Results: The contact pressures and built-up ratio were below those of subjects. The sliding velocity of British Pendulum Tester was above those of subjects, while those of BOT-3000 and English XL were below those of subjects. From the three meters, the English XL showed the highest overall correlation coefficient (r = 0.964) between slip index and $R_a$, while the rest did not show statistical significance with surface roughness parameters ($R_a$, $R_z$). The English XL only showed statistical significance (p < 0.01) between slip index and contaminants. The static coefficient of friction obtained with the BOT-3000 showed good consistency and repeatability (CV < 0.1) as compared to the results for the BPT (CV > 0.2) and English XL (CV < 0.2). Conclusion: It is unclear whether surface roughness can be a reliable and objective indicator of the friction coefficient under real floor conditions, and the viscosity of contaminants can affect the friction coefficient of the same floors. Therefore, to evaluate slipperiness, the performance of the slipmeters needed to improve.