• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.265-276
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• 2017

In this paper, a robust and more accurate trajectory tracking control method for a mobile robot is proposed using WIPDC(Weighted Integral Parallel Distributed Compensation) and T-S Fuzzy disturbance observer. WIPDC reduces the steady state error by adding weighted integral term to PDC. And, T-S Fuzzy disturbance observer makes it possible to estimate and cancel disturbances for a T-S fuzzy model system. As a result, the trajectory tracking controller based on T-S Fuzzy disturbance observer shows robust tracking performance. When the initial postures of a mobile robot and the reference trajectory are different, the initial control inputs to the mobile robot become too large to apply them practically. In this study, also, the problem is solved by designing an initial approach path using a path planning method which employs $B\acute{e}zier$ curve with acceleration limits. Performances of the proposed method are proved from the simulation results.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.1
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• pp.55-64
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• 2002

Due to the friction characteristics of cylinders and the rail of a passenger car, in the system actuated with hydraulic systems, there exist dead zones, which can not be controlled by a PID controller. In this paper, the friction characteristics of a cylinder is examined, which may cause the abrupt increase of the acceleration in the zero-crossing speed region. To overcome the drawbacks of a PID controlled hydraulic system, a zooming fuzzy logic controller is designed and finally an improved hybrid controller is Proposed. The proposed controller is composed of the PID controller and the zooming fuzzy controller. The effectiveness of the proposed control scheme is shown by simulation and experimental results, In which the proposed hybrid control method yields good control performance not only in the zero-crossing speed region but also In the overall control region including steady-state region.

• 한국정보통신설비학회:학술대회논문집
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• 2008.08a
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• pp.262-267
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• 2008

Recently, landslides frequently occur on natural slope and/or man-made cut slope during periods of intense rainfall. With a rapidly increasing population on or near steep terrain, landslides have become one of the most significant natural hazards. Thus, it is necessary to protect people from landslides and to minimize the damage of houses, roads and other facilities. To accomplish this goal, many landslide monitoring systems have been developed throughout the world. In this paper, a simple landslide detection system that enables people to escape the endangered area is introduced. The system is focused on the debris flows which happen frequently during periods of intense rainfall. The system is based on the wireless sensor network (WSN) that is composed of wireless sensor nodes, gateway, and remote server system. Wireless sensor nodes and gateway are deployed by commercially available Microstrain G-Link products. Five wireless sensor nodes and one gateway are installed at the test slope for detecting ground movement. The acceleration and inclination data of test slope can be obtained, which provides a potential to detect landslide. In addition, thresholds to determine whether the test slope is stable or not are suggested by a series of numerical simulations, using geotechnical analysis software package. It is obtained that the alarm should be issued if the x-direction displacement of sensor node is greater than 20mili-meters and the inclination of sensor node is greater than 3 degrees. It is expected that the landslide detection method using wireless senor network can provide early warning where landslides are prone to occur.

• Journal of the Korea institute for structural maintenance and inspection
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• v.20 no.4
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• pp.27-34
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• 2016

A new algorithm for determining optimal accelerometer locations is proposed by using a frequency-domain Hankel matrix which is much simpler to construct than a time-domain Hankel matrix. The algorithm was examined through simulation studies by comparing the outcomes with those from other available methods. To compare and analyze the results from different methods, a dynamic analysis was carried out under seismic excitation and acceleration data were obtained at the selected optimal sensor locations. Vibrational amplitudes at the selected sensor locations were determined and those of all the other degrees of freedom were determined by using a spline function. MAC index of each method was calculated and compared to look at which method could determine more effective locations of accelerometers. The proposed frequency-domain Hankel matrix could determine reasonable selection of accelerometer locations compared with the others.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.10a
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• pp.552-555
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• 2010

In this paper, we propose a context-aware system using wireless multi sensor module to monitor the state for industrial factory environment. Wireless multi sensor module combines sensing values which are collected from each acceleration, pressure, temperature and gas sensors. Moreover, it delivers this data to server after being encoded by RS code. Thereafter, RS decoder decodes the values that are received from wireless multi sensor module and fixes errors which occur in wireless communication. Based on decoded data, context-aware algorithm sets critical range and compares it to the sensing values, if the sensing values are out of the range, an event occurs by the algorithm. At the same time, if there is another sensing value which is out of the range for standby time T seconds, the algorithm orders 3 steps-alarm to occur depending on each situation. Through this system, it becomes eventually possible to monitor machines' condition effectively. From the simulation, we confirm that this system is efficient to status monitoring of industrial automation equipment.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.353-358
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• 2011

This paper presents a virtual-legged walking model for bipedal robots and analyzes its fundamental RPY(Roll, Pitch, and Yaw) motion effects by simulation. For the purpose of identifying the motion effects of the bipedal walking, we assign some arbitrary trajectories both at the center of mass and at the center of pressure of the robot based on human walking. And then we verify the major moments to the roll, pitch, and yaw directions of the robot. As a result, it is shown that those motions are natural in the process of bipedal walking and they are deeply dependent on the step distance, the vertical level of the center of mass, and the acceleration of the robot. The importance of trajectory planning for the footstep location during a bipedal walking is finally addressed in terms of balance.

• Steel and Composite Structures
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• v.35 no.2
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• pp.187-197
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• 2020

Ground motion records are commonly used for fragility curves (FCs) developing utilized in seismic loss estimating analysis for earthquake prone zones. These records could be 'real', say the recorded acceleration time series or 'simulated' records consistent with the regional seismicity and produced by use of alternative simulation methods. This study has focused on fragility curves developing for masonry buildings through computational 'simulated' ground motion records while evaluating the properness of these fragilities compared to the curves generated by the use of 'real' records. Assessing the dynamic responses of structures, nonlinear computational time history analyses through the equivalent single degree of freedom systems have been implemented on OpenSees platform. Accordingly, computational structural analyses of multi-story 3D frame structures with different stiffening members considering soil interaction have been carried out with finite element software according to (1992) Earthquake East-West component. The obtained results have been compared to each frame regarding soil interaction. Conclusion and recommendations with the discuss of obtaining findings are presented.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.12
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• pp.2352-2360
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• 2007

Due to the friction characteristics of cylinders and the rail of a passenger car, in the elevator actuated with hydraulic systems, there exist dead zones, which can not be controlled by a PID controller. In this paper, the friction characteristics of a cylinder is examined, which may cause the abrupt increase of the acceleration in the zero-costing speed region. To overcome the drawbacks of a PID controlled hydraulic elevator system, a zooming fuzzy logic controller is designed and finally an improved hybrid fuzzy controller is proposed. The effectiveness of the proposed control scheme are shown by simulation and experimental results, which the proposed fuzzy hybrid control method yields good control performance not only in the zero-crossing speed region but also in the overall control region including steady-state region.

• Geomechanics and Engineering
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• v.19 no.2
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• pp.105-114
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• 2019

In this paper, simulation tests were conducted with similar materials to study the distribution of residual voids in longwall goaf. Short-time step loading was used to simulate the obvious deformation period in the later stage of arch breeding. Long-time constant loading was used to simulate the rheological stage of the arch forming. The results show that the irregular caving zone is the key area of old goaf for the subsidence control. The evolution process of the stress arch and fracture arch in stope can be divided into two stages: arch breeding stage and arch forming stage. In the arch breeding stage, broken rocks are initially caved and accumulated in the goaf, followed by the step deformation. Arch forming stage is the rheological deformation period of broken rocks. In addition, under the certain loads, the broken rock mass undergoes single sliding deformation and composite crushing deformation. The void of broken rock mass decreases gradually in short-time step loading stage. Under the water lubrication, a secondary sliding deformation occurs, leading to the acceleration of the broken rock mass deformation. Based on above research, the concept of equivalent height of residual voids was proposed, and whose calculation equations were developed. Finally, the conceptual model was verified by the field measurement data.

• Smart Structures and Systems
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• v.19 no.1
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• pp.11-20
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• 2017

For structural damage detection of shear buildings, this paper proposes a new concept using structural element mass-stiffness vector (SEMV) based on special mass and stiffness distribution characteristics. A corresponding damage identification method is developed combining the SEMV with the cross-model cross-mode (CMCM) model updating algorithm. For a shear building, a model is assumed at the beginning based on the building's distribution characteristics. The model is updated into two models corresponding to the healthy and damaged conditions, respectively, using the CMCM method according to the modal parameters of actual structure identified from the measured acceleration signals. Subsequently, the structural SEMV for each condition can be calculated from the updated model using the corresponding stiffness and mass correction factors, and then is utilized to form a new feature vector in which each element is calculated by dividing one element of SEMV in health condition by the corresponding element of SEMV in damage condition. Thus this vector can be viewed as a damage detection feature for its ability to identify the mass or stiffness variation between the healthy and damaged conditions. Finally, a numerical simulation and the laboratory experimental data from a test-bed structure at the Los Alamos National Laboratory were analyzed to verify the effectiveness and reliability of the proposed method. Both simulated and experimental results show that the proposed approach is able to detect the presence of structural mass and stiffness variation and to quantify the level of such changes.