• Journal of the Korean Society of Manufacturing Process Engineers
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• v.12 no.5
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• pp.157-162
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• 2013

To analyze the dynamic acceleration characteristics, it is necessary to identify the acceleration model using some methods that can represent the dynamic properties well. In this sense, fractal methods were used for the verification of characteristics of an acceleration signal. To estimate and analyze the geometry of acceleration signal, a fractal interpolation and its analysis was introduced in this paper. The chaotic nature of acceleration signal was considered in fractal modeling. In this study the fractal signal modeling has brought a focus within the scope of the fractal interpolation and fractal dimension. And a new idea of fractal dimension has been introduced and discussed considering the damping ratio and amplitude for its dynamic properties of the signal. The fractal dimension of acceleration with respect to the scaling factor using fixed data points of 1000 points was calculated and discussed. The acceleration behaviors of this results show some different characteristics. And this fractal analysis can be applied to other signal analysis of several machining such as pendulum type grinding and milling which has many dynamic properties in the signal.

• Journal of the Korean Society for Nondestructive Testing
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• v.31 no.6
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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.

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

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.225-230
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• 2003

This paper proposes a desired trajectory and a control algorithm for a biped robot with curved soles. Firstly, we derived the desired trajectory from a model called the Moving Inverted Pendulum Mode (MIPM) of which a contact point of the foot is moving in the horizontal direction. A biped robot with curved soles is under-actuated system, because it has one contact point with the ground during the single supporting phase. Therefore, to solve the under-actuated problem, we changed control variables, used modified dynamic equations and used the computed torque control. The simulation results show that a biped robot with curved soles walks stably. Also, fast walking and natural motion of a biped robot can be implemented.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2005.04a
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• pp.201-208
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• 2005

Neuro-Fuzzy modeling approach is proposed to predict the dynamic behavior of a single-degree-of-freedom structure that is equipped with hybrid base isolation system. Hybrid base isolation system consists of friction pendulum systems (FPS) and a magnetorheological (MR) damper. Fuzzy model of the M damper is trained by ANFIS using various displacement, velocity, and voltage combinations that are obtained from a series of performance tests. Modelling of the FPS is carried out with a nonlinear analytical equation that is derived in this study and neuro-fuzzy training. Fuzzy logic controller is employed to control the command voltage that is sent to MR damper. The dynamic responses or experimental structure subjected to various earthquake excitations are compared with numerically simulated results using neuro-fuzzy modeling method. Numerical simulation using neuro-fuzzy models of the MR damper and FPS predict response of the hybrid base isolation system very well.

• Advances in robotics research
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• v.2 no.2
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• pp.151-159
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• 2018

The evolution of bipedal robots was the foundation stone for development of Humanoid robots. The highly complex and non-linear dynamic of human walking made it very difficult for researchers to simulate the gait patterns under different conditions. Simple controllers were developed initially using basic mechanics like Linear Inverted Pendulum (LIP) model and later on advanced into complex control systems with dynamic stability with the help of high accuracy feedback systems and efficient real-time optimization algorithms. This paper illustrates a number of significant mathematical models and controllers developed so far in the field of bipeds and humanoids. The key facts and ideas are extracted and categorized in order to describe it in a comprehensible structure.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.1-8
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• 2012

A humanoid robot hand with one thumb and two fingers has been developed. Each finger has the specially designed compact joints, called "MEC Joint", which convert the rotation of a motor to the swing motion of a pendulum. The robot hand with the MEC Joints is compact and relatively light but strong enough to grasp objects in the same manner as human being does in daily activities. In this paper the kinematic model and the torque characteristics of the MEC Joint are presented and compared with the results of the dynamic simulation and the dynamometer test. The dynamic behavior of the thumb and two fingers with MEC Joints are also presented by computer simulation.

• Structural Engineering and Mechanics
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• v.49 no.3
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• pp.329-353
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• 2014

Increasing usage of tank cars and their intrinsic instability due to sloshing of contents have caused growing maintenance costs as well as more frequent hazards and defects like derailment and fatigue of bogies and axels. Therefore, varieties of passive solutions have been represented to improve dynamical parameters. In this task, assuming 22 degrees of freedom, dynamic analysis of partially filled tank car traveling on a curved track is investigated. In order to consider stochastic geometry of track; irregularities have been derived randomly by Mont Carlo method. More over the fluid tank model with 1 degree of freedom is also presented by equivalent mechanical approach in terms of pendulum. An active suspension system for described car is designed by using linear quadratic optimal control theory to decrease destructive effects of fluid sloshing. Eventually, the performance of the active suspension system has been compared with that of the passive one and a study is carried out on how active suspension may affect the dynamical parameters such as displacements and Nadal's derailment index.

• Earthquakes and Structures
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• v.7 no.4
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• pp.415-448
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• 2014

A method is presented in this paper to analyze the dynamic response behavior of suspended building structures. The effect of semi-rigid connections that link suspended floors with their supporting structure on structural performance is investigated. The connections, like the restrains in non-structural suspended components, are designed as semi-rigid to avoid pounding and as energy dissipation components to reduce structural response. Parametric study is conducted to assess the dynamic characteristics of suspended building structures with varying connection stiffness and suspended mass ratios. Modal analysis is applied to identify the two distinct sets of vibration modes, pendulum and bearing, of a suspended building structure. The cumulative modal mass is discussed to ensure the accuracy in applying the method of response spectrum analysis by SRSS or CQC modal combination. Case studies indicate that a suspended building having semi-rigid connections and proper suspended mass ratios can avoid local pounding failure and reduce seismic response.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.2
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• pp.146-156
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• 2003

Nonlinear dynamic system exist widely in many types of systems such as chemical processes, biomedical processes, and the main steam temperature control system of the thermal power plant. Up to the present time, PID Controllers have been used to operate these systems. However, it is very difficult to achieve an optimal PID gain with no experience, because of the interaction between loops and gain of the PID controller has to be manually tuned by trial and error. This paper suggests control approaches by immune fuzzy for the nonlinear control system inverted pendulum, through computer simulation. This paper defines relationship state variables $x,\dot{x},{\theta},\dot{\theta}$ using immune fuzzy and applied its results to stability.