• 한국철도학회:학술대회논문집
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• 한국철도학회 1998년도 창립기념 춘계학술대회 논문집
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• pp.548-555
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• 1998

The influences of high speed train on the dynamic responses of steel composite railway bridges are investigated. The bridge system which has two Ⅰ-girder and several cross beams is modeled with plate and frame elements. With assumption of concrete slabs ate fully connected with steel girders, the offset between slabs and girders is modeled using rigid link. The track system is modeled using beams on elastic foundation theory. And, the TGV train is modeled in 2-dimension considering bouncing and pitching motion. And, braking action of vehicle is considered using speed dependent braking function. To investigate the behavior of bridges due to moving trains, parametric studies are performed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2383-2385
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• 2000

It is proposed a new algorithm for a neural network adaptive tracking control scheme to improve performance in this paper. In supervisory control scheme, the upper and lower bound of the parameters are directly estimated by using RBF neural network without their information, and the weighting parameters of the control input are adjusted on-line by adaptation laws. As a result, the proposed algorithm assured that the output errors go to zero without relation to existing minimum approximation errors and disturbances. The effectiveness of the proposed algorithm is demonstrated through the simulation of one-link rigid robotics manipulator.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 1998년도 추계 학술발표회 논문집 Proceedings of EESK Conference-Spring 1998
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• pp.28-35
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• 1998

The seismic overstrength factor $\Omega$ is evaluated for 4-story reinforced concrete buildings in Korea(of which seismic intensity is low). The study model is designed according to aseismic guideline research - phase II in Korea. The effect of variation of span length and bay number, dead load is considered, especially including the variation of hardening ration after yielding. And push-over analysis is performed, in which the external and internal frame is connected by rigid-link and the $\Omega$ is calculated using the roof drift ratio at 2%. For Zone I, the mean value of $\Omega$ is ranged form 2.3 to 2.5, For Zone II, from 3.1 to 3.4. For low hardening ratio(3%) after yielding, $\Omega$ has little relations with the number of bay, like as the results of other research. But for 5% hardening ratio, $\Omega$ is increased as the number of bay is increased. Within general gravity-load bound, the variation of D.L. has variation of D. L. has no effect on $\Omega$. And, $\Omega$ is increased as the span length is increased.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.445-450
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• 1998

In this paper, a robust nonlinear prediction-type controller (RNPC) is developed for the continuous time nonlinear system whose control objective is composed of system output and its desired value. The basic control law of RNPC is derived such that the future response of the system is first predicted by appropriate functional expansions and the control law minimizing the difference between the predicted and desired responses is then calculated. RNPC which involves two controls, i.e., the auxiliary and robust controls into the basic control, shows the stable closed loop dynamics of nonlinear system of any relative degree and provides the robustness to the nonlinear system with parameter/modeling uncertainty. Simulation tests for the position control of a two-link rigid body manipulator confirm the performance improvement and the robustness of RNPC.

• Wind and Structures
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• 제3권4호
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• pp.291-302
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• 2000

A new finite element technique to solve the problem of wind and structure interactions is presented. Conventionally, wind analysis is performed on the Eulerian description in which the finite element mesh would not move in accordance with the wind flow. However, it is not the case in wind-structure interaction problems because nodes attached to the surface of structure should move with the displacement of structure. The arbitrary Lagrangian-Eulerian (ALE) method treats the mesh and flow independently, and allow the mesh to move. In this study, the analysis domain is divided into regions of the structure, air around the structure and the interface of two regions. To satisfy the compatibility and equilibrium conditions between separated regions and to carry out the efficient analysis, the rigid link is used. Also the equation of wind and that of structure are arranged in a single matrix equation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.404-408
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• 2005

Having flexibility in a manipulator will degrade trajectory tracking control and manipulator tip positioning. In practice, however, constraints imposed by various operating requirements, will render the presence of such flexibility unavoidable. The dynamic analysis of the flexible manipulator is essential in designing proper control systems. A flexible manipulator consists of infinite number of elastic modes and the modes are usually coupled to each other. For the practicality, however, it is usually assumed that the flexible system consists of finite number of elastic modes and the modes are decoupled. These assumptions result in a linear and decoupled mathematical model of the flexible manipulator and simplify the analysis of the dynamic behavior and the design of the control system. The decoupling and linearization of the flexible link, however, has been assumed without in depth analysis. This paper focuses on the analysis of the significance of the non-linear coupling factors.

• Journal of Electrical Engineering and information Science
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• 제1권1호
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• pp.39-44
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• 1996

In this paper, adaptive controller with switching action is designed for rigid body robot manipulators to ensure the uniform stability of the manipulator system without a priori knowledge of the unmodeled dynamics. It will be shown that the parameter estimates are bounded independent of the other closed-loop signals boundedness, and also shown that the tracking error belongs to the normalized error bound via mathematical analisys. The robustness and performance of the proposed adaptive controller is investigated for the two-link direct drive manipulator actuated by VRM(Variable Reluctance Motor).

• 한국산업융합학회 논문집
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• 제26권6_1호
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• pp.993-999
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• 2023

In this paper, a novel polishing tool mechanism with 3-axis compliance is presented, which consists of 2-axis rotational and 1-axis linear compliances in series. The 2-axis rotational compliance mechanism is made up of four cantilever beams for adjusting rotational stiffness and one flexure universal joint at the center for constraining the z-axis deflection. The 2-axis rotational compliance can mechanically adjust the polishing tool to machined surfaces. The polishing press force can be simply controlled by using a linear spring along the z-axis. The 2-axis rotational and 1-axis linear compliance design is decoupled. The stiffness analysis of the 2-axis compliance mechanism was performed based on link compliance matrix and rigid body transformation. A 3-axis polishing tool was designed by configuring the 2-axis compliance mechanism and one linear spring.

• 대한수학회논문집
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• 제39권1호
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• pp.223-245
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• 2024

We study RNA foldings and investigate their topology using a combination of knot theory and embedded rigid vertex graphs. Knot theory has been helpful in modeling biomolecules, but classical knots emphasize a biomolecule's entanglement while ignoring their intrachain interactions. We remedy this by using stuck knots and links, which provide a way to emphasize both their entanglement and intrachain interactions. We first give a generating set of the oriented stuck Reidemeister moves for oriented stuck links. We then introduce an algebraic structure to axiomatize the oriented stuck Reidemeister moves. Using this algebraic structure, we define a coloring counting invariant of stuck links and provide explicit computations of the invariant. Lastly, we compute the counting invariant for arc diagrams of RNA foldings through the use of stuck link diagrams.

• 대한토목학회논문집
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• 제14권5호
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• pp.1055-1067
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• 1994

본 연구에서는 교량과 차량을 3차원으로 모델링하고, 교량의 노면조도 및 교량과 차량 사이의 상호작용력을 고려하여 이동차량이 교량올 통과할 때 교량의 선형 동적해석을 수행할 수 있는 해석방법을 제시하였다. 교량의 노면조도는 평균값이 영인 정상확율분포로 가정한 지수 스팩트럴 밀도(PSD)를 사용하여 생성시켰다. 이 때 지수 스팩트럴 밀도는 양호한 도로에 대하여 C.J. Dodds와 J.D. Robson이 제안한 PSD값을 사용하였다. 차량은 트럭과 트랙터-트레일러를 각각 7-자유도와 12-자유도를 갖는 3차원차량으로 모델링하였고, 차량의 운동방정식은 Lagrange 방정식을 사용하여 유도하였다. 교량은 주형을 보요소로 이상화시키고 콘크리트 바닥판을 쉘요소로 이상화시켰으며 주형과 콘크리트 바닥판을 Rigid Link로 연결하여 3차원으로 모델링하였다. 차량의 운동방정식은 Newmark ${\beta}$법을 사용하고 교량의 운동방정식은 모우드 중첩법을 사용하여 풀었다. 본 연구에서 제시한 해석방법의 타당성을 검토하기 위하여 "AASHO Road Test"에서 실시한 단순 강합성교의 실험결과와 본 연구에서 제시한 해석적인 방법으로 구한 값을 비교하였다. 해석 결과, 본 연구에서 제시한 해석적인 방법으로 구한 값과 실험값이 매우 잘 일치하였다.