• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.347-352
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• 2022

The paper presents how to update impedance control parameters for dual-arm manipulators using EMG signals and motions of the operator. Since the hand motions of the dual-arm are modeled to be the mass-spring-damper system in this paper, the impedance parameter update method is an important issue to reflect the operator's force. However, task space inertia to be used as the mass parameter goes to infinity if the manipulator approaches a kinematic singularity. To alleviate this issue, the impedance (stiffness and damping) parameters are divided with a diagonal element of the task space inertia. Also, the stiffness and damping matrices are updated using the normalized EMG signals captured from the operator's forearm. Through this process, the motion of the dual-arm manipulator is more stabilized even though it approaches the kinematic singularity.

• Structural Engineering and Mechanics
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• v.71 no.1
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• pp.45-56
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• 2019

A modified mechanical model of pre-pressed spring self-centering energy dissipation (PS-SCED) brace is proposed, and the hysteresis band is distinguished by the indication of relevant state variables. The MDOF frame system equipped with the braces is formulated in an incremental form of linear acceleration method. A multi-objective genetic algorithm (GA) based brace parameter optimization method is developed to obtain an optimal solution from the primary design scheme. Parameter sensitivities derived by the direct differentiation method are used to modify the change rate of parameters in the GA operator. A case study is conducted on a steel braced frame to illustrate the effect of brace parameters on node displacements, and validate the feasibility of the modified mechanical model. The optimization results and computational process information are compared among three cases of different strategies of parameter change as well. The accuracy is also verified by the calculation results of finite element model. This work can help the applications of PS-SCED brace optimization related to parameter sensitivity, and fulfill the systematic design procedure of PS-SCED brace-structure system with completed and prospective consequences.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.3
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• pp.357-362
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• 2011

Air springs are prevalently used as suspension in train. However, air springs are seldom used in automobiles where they improve stability and comfort by enhancing the impact-relief, breaking, and cornering performance. Thus, this study proposed a new method to analyze air springs and obtained some reliable design parameter which can be utilized in vehicle suspension system in contrast to conventional method. Among air spring types of suspension, this study focused on sleeve type of air spring as an analysis model since it has potential for ameliorating the quality of automobiles, specifically in its stability and comfort improvement by decreasing the shock through rubber sleeve. As a methodology, this study used MARC, as a nonlinear finite element analysis program, in order to find out maximum stress and maximum strain depending on reinforcement cord's angle variation in sleeves. The properties were found through uniaxial tension and pure shear test, and they were developed using Ogden Foam which is an input program of MARC. As a result, the internal maximum stresses and deformation according to the changes of cord angle are obtained. Also, the results showed that the Young's modulus becomes smaller, then maximum stresses decrease. It is believed that these studies can be contributed in automobile suspension system.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.12
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• pp.94-101
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• 2009

In diesel engines, it is inevitable that the torsional vibration is produced by the fluctuation of engine torque. Therefore, it is necessary to establish preventive measures to diminish the torsional vibration. The sleeve spring type damper is one of the preventive measures for reducing the torsional vibration. In this study, 2-roll bending process was proposed to manufacture sleeve spring; The program to calculate the initial radius including springback effect was developed and the FEA method to analyze elasto-plastic problem was verified through analysis of 90 degree bending process. The elasto-plastic analysis of 2-roll bending process was carried out by the FEA method verified to set a new criterion, and the new process design parameter(contact angle) in the 2-roll bending process was proposed.

• Transactions of Materials Processing
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• v.20 no.6
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• pp.450-455
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• 2011

This paper presents an inverse design methodology for the cross section geometry of mold spring with a rectangular cross section as the starting material for a coiling process. The cross-sections of mold springs are universally rectangular, as the parallel sides minimize the possibility of failure under high service loads. Pre-coiled wires are initially designed to have a trapezoidal cross section, which becomes a rectangle by the coiling process. This study demonstrates a numerical exercise to predict changes in the sectional geometry in spring manufacture and to obtain the initial cross section which becomes the exact rectangle desired from the manufacturing process. Finite element analysis was carried out to calculate the sectional changes for various mold springs. Geometrical parameters were the widths at inner and outer radii, the inner and the outer corner radii, and the height. A partial least square regression analysis was carried out to find the main contributing factors for deciding initial design values. The height and the width mainly affected various initial parameters. The initial width at the inner radius was mostly affected by various specification parameters.

• Structural Engineering and Mechanics
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• v.73 no.3
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• pp.225-238
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• 2020

This work treats the axisymmetric buckling of functionally graded (FG) porous annular/circular nanoplates based on modified couple stress theory (MCST). The nanoplate is located at the elastic medium which is simulated by Kerr foundation with two spring and one shear layer. The material properties of the porous FG nanostructure are assumed to vary through the nanoplate thickness based on power-law rule. Based on two variables refined plate theory, the governing equations are derived by utilizing Hamilton's principle. Applying generalized differential quadrature method (GDQM), the buckling load of the annular/circular nanoplates is obtained for different boundary conditions. The influences of different involved parameters such as boundary conditions, Kerr medium, material length scale parameter, geometrical parameters of the nanoplate, FG power index and porosity are demonstrated on the nonlinear buckling load of the annular/circular nanoplates. The results indicate that with increasing the porosity of the nanoplate, the nonlinear buckling load is decreased. In addition, with increasing the material length scale parameter to thickness ratio, the effect of spring constant of Kerr foundation on the buckling load becomes more prominent. The present results are compared with those available in the literature to validate the accuracy and reliability. A good agreement is observed between the two sets of the results.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.832-835
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• 2005

The free vibration of tapered piles embedded in soil is investigated. The pile model is based on the Bernoulli-Euler beam theory and the soil is idealized as a Winkler model for mathematical simplicity. The governing differential equations for the free vibrations of such members are solved numerically. The square tapered piles with one free and the other hinged end with rotational spring are applied in numerical examples. The lowest two natural frequencies are obtained over a range of non-dimensional system parameters: the rotational spring parameter, the embedded ratio, the foundation parameter, the width ratio of the contact area and the section ratio.

• The Bulletin of The Korean Astronomical Society
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• v.37 no.1
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• pp.98.2-98.2
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• 2012

It has been speculated that there could be dormant or extinct comets in the list of known asteroids, which appear asteroidal but are icy bodies originating from outer solar system. However, little is known about the existence of such objects not only because of their complicated chaotic orbits but also because of the limited physical and chemical information. AKARI infrared space mission gave us brand-new albedo catalog of Near Earth Objects, which clues in a better understanding of dark asteroids using both albedo data and dynamical models could be possible. Dark Asteroids with low () albedos are thought to be dormant or extinct comet candidates due to its similar albedo values with comet nucleus. In addition to this, dynamical models indicate that candidate cometary objects have Tisserand parameter. Based on both observational and dynamical criteria, we obtained 196 dark asteroids lists. We numerically integrated backward their orbits using the N-body code Mercury6 (Chambers 1999) during 10 million years to track the past orbits of bodies. We picked out 14 comet candidates that show abnormal orbits in the past by analyzing orbital elements among 196 candidates. From the dynamical evolution simulations, we finally obtained 3 most-likely comet candidates; 944Hidalgo,2006QL39,andP/SidingSpring.Twoofthemareconsistent with past research; P/Siding Spring is a known comet and 944 Hidalgo is a most-likely comet candidate in asteroid populations. Since they all have stable orbits in nowadays although they have unstable orbit in the past, we could conclude that they may be not active comets but dormant or extinct comets.

• Steel and Composite Structures
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• v.19 no.5
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• pp.1145-1165
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• 2015

A behavior model for screw connections is developed to provide a better representation of the nonlinear response of thin steel plate shear walls (TSPSWs) with infill plates attached to the boundary frame members via self-drilling screws. This analytical representation is based on the load-bearing deformation relationship between the infill plate and the screw threads. The model can be easily implemented in strip models of TSPSWs where the tension field action of the infill plates is represented by a series of parallel discrete tension-only strips. Previously reported experimental results from tests of two different TSPSWs are used to provide experimental validation of the modeling approach. The beam-to-column connection behavior was also included in the analyses using a four parameter rotational spring model that was calibrated to a test of an identical frame as used for the TSPSW specimens but without the infill plates. The complete TSPSW models consisting of strips representing the infill plates, zero length elements representing the load-bearing deformation response of the screw connection at each end of the strips and the four parameter spring model at each beam-to-column connection are shown to have good agreement with the experimental results. The resulting models should enable design and analysis of TSPSWs for both new construction and retrofit of existing buildings.

• Smart Structures and Systems
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• v.9 no.4
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• pp.373-392
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• 2012

Tracking control of systems with variable stiffness hysteresis using a gain-scheduled (GS) controller is developed in this paper. Variable stiffness hysteretic system is represented as quasi linear parameter dependent system with known bounds on parameters. Assuming that the parameters can be measured or estimated in real-time, a GS controller that ensures the performance and the stability of the closed-loop system over the entire range of parameter variation is designed. The proposed method is implemented on a spring-mass system which consists of a semi-active independently variable stiffness (SAIVS) device that exhibits hysteresis and precisely controllable stiffness change in real-time. The SAIVS system with variable stiffness hysteresis is represented as quasi linear parameter varying (LPV) system with two parameters: linear time-varying stiffness (parameter with slow variation rate) and stiffness of the friction-hysteresis (parameter with high variation rate). The proposed LPV-GS controller can accommodate both slow and fast varying parameter, which was not possible with the controllers proposed in the prior studies. Effectiveness of the proposed controller is demonstrated by comparing the results with a fixed robust $\mathcal{H}_{\infty}$ controller that assumes the parameter variation as an uncertainty. Superior performance of the LPV-GS over the robust $\mathcal{H}_{\infty}$ controller is demonstrated for varying stiffness hysteresis of SAIVS device and for different ranges of tracking displacements. The LPV-GS controller is capable of adapting to any parameter changes whereas the $\mathcal{H}_{\infty}$ controller is effective only when the system parameters are in the vicinity of the nominal plant parameters for which the controller is designed. The robust $\mathcal{H}_{\infty}$ controller becomes unstable under large parameter variations but the LPV-GS will ensure stability and guarantee the desired closed-loop performance.