• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.81-90
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• 2000

Parallel manipulator is suitable for the high precise task because it than has higher stiffness, larger load capacity and more excellent precision, due to the closed-lop structure, than serial manipulator. But the controller design for parallel manipulator is difficult because the parallel manipulator has both the complexity of structure and the interference of actuators. The precision improvement of parallel manipulator using a classical linear control scheme is difficult because the parallel manipulator has the tough nonlinear characteristics. In this paper, firstly, the kinematic analysis of a parallel manipulator used at the experiments is performed so as to show the controllability. The analysis of internal singular configuration of the workspace is performed using the kinematic isotropic index so a sto show the limitation of control performance of a simple linear controller with fixed control gains. Secondly, a control scheme is designed by using an adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller is often used for the control of nonlinear system because it has both the inference ability and the learning ability. Lastly, the effeciency of designed control scheme is demonstrated by the real-time control experiments with IBM PC interface logic H/W and S/W of my won making. The experimental results was a success.

• Smart Structures and Systems
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• v.14 no.3
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• pp.347-365
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• 2014

The main objective of this paper is to develop an innovative methodology for the vibration suppression control of the multiple degrees-of-freedom (MDOF) flexible structure. The proposed structure represented in this research as a clamped-free-free-free truss type plate is rotated by motors. The controller has two loops for tracking and vibration suppression. In addition to stabilizing the actual system, the proposed feedback control is based on a genetic algorithm (GA) to seek the primary optimal control gain for tracking and stabilization purposes. Moreover, input shaping is introduced for the control scheme that limits motion-induced elastic vibration by shaping the reference command. Experimental results are presented, demonstrating that, in the control loop, roll and yaw angles track control and elastic mode stabilization. It was also demonstrated that combining the input shaper with the proportional-integral-derivative (PID) feedback method has been shown to yield improved performance in controlling the flexible structure system. The broad range of problems discussed in this research is valuable in civil, mechanical, and aerospace engineering for flexible structures with MDOM motion.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.1249-1254
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• 2010

The bogie structure of center guided type monorail has been applied to Incheon Wolmi Eunha monorail at first in the world, and aluminum alloy material bogie is first ever introduced in Korea. Since bogie transfers vertical and horizontal loads to the track and guide rail as an essential system, its structure should have enough durability and secure excellent operation performance and ride quality. This study presents a suitable structure for center guided type monorail, a system combination method for bogie operation performance and riding quality, and a solution for better bogie frame durability.

• Smart Structures and Systems
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• v.14 no.2
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• pp.85-104
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• 2014

Damage detection is a challenging, complex, and at the same time very important research topic in civil engineering. Identifying the location and severity of damage in a structure, as well as the global effects of local damage on the performance of the structure are fundamental elements of damage detection algorithms. Local damage detection is essential for structural health monitoring since local damages can propagate and become detrimental to the functionality of the entire structure. Existing studies present several methods which utilize sensor data, and track global changes in the structure. The challenging issue for these methods is to be sensitive enough in identifYing local damage. Autoregressive models with exogenous terms (ARX) are a popular class of modeling approaches which are the basis for a large group of local damage detection algorithms. This study presents an algorithm, called Influence-based Damage Detection Algorithm (IDDA), which is developed for identification of local damage based on regression of the vibration responses. The formulation of the algorithm and the post-processing statistical framework is presented and its performance is validated through implementation on an experimental beam-column connection which is instrumented by dense-clustered wired and wireless sensor networks. While implementing the algorithm, two different sensor networks with different sensing qualities are utilized and the results are compared. Based on the comparison of the results, the effect of sensor noise on the performance of the proposed algorithm is observed and discussed in this paper.

• Structural Engineering and Mechanics
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• v.90 no.1
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• pp.41-49
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• 2024

In recent years, China's high-speed railway (HSR) line continues to expand into seismically active regions. Analyzing the features of earthquake rail irregularity is crucial in this situation. This study first established and experimentally validated a finite element (FE) model of bridge-track. The FE model was then combined with earthquake record database to generate the earthquake rail irregularity library. The sample library was used to construct a model of desired earthquake rail irregularity based on signal processing (SFT) and hypothesis principle. Finally, the effects of random pier height and random span number on desired irregularity were analyzed. Herein, an equivalent method of calculating earthquake rail irregularities for random structures was proposed. The results of this study show that the amplitude of desired irregularity is found to increase with increasing pier height. When calculating the desired irregularity of a structure with unequal pier heights, the structure can be regarded as that with equal pier heights (taking the largest pier height). For a structure with the span number large than 9, its desired irregularity can be considered equal to that of a 9-span structure. For the structures with both random pier heights and random span number, their desired irregularities are obtained by equivalent calculations for pier height and span number, respectively.

• Water Engineering Research
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• v.3 no.2
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• pp.113-122
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• 2002

Accurate quantitative forecasting of rainfall for basins with a short response time is essential to predict flash floods. In this study, a Quantitative Flood Forecasting (QFF) model was developed by incorporating the evolving structure and frequency of intense weather systems and by using neural network approach. Besides using radiosonde and rainfall data, the model also used the satellite-derived characteristics of storm systems such as tropical cyclones, mesoscale convective complex systems and convective cloud clusters as input. The convective classification and tracking system (CCATS) was used to identify and quantify storm properties such as lifetime, area, eccentricity, and track. As in standard expert prediction systems, the fundamental structure of the neural network model was learned from the hydroclimatology of the relationships between weather system, rainfall production and streamflow response in the study area. All these processes stretched leadtime up to 18 hours. The QFF model will be applied to the mid-Atlantic region of United States in a forthcoming paper.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.3172-3179
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• 2011

Several materials using polymer-portland-cement concrete have developed to have not only strength of attachment with body, but also waterproof function and strong anti-sodium chloride properties. Especially, in case of railway, unlike other public transportation, it is very difficult to doing the repair and reinforcement work of structure during service time. Therefore, the development and study of materials having characteristics of structural strength, unification behavior with body, and resistance of crack are very important. Accordingly, the characteristic of material of polymer based concrete is indicated compared with the experiment and analysis through this study, and suggested application to railway tunnel, bridge, and concrete track structure.

• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.4
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• pp.257-264
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• 2015

For the tracking of the way-points of hovering AUV (HAUV), we suggest a simple PID controller. The way-points are designed to approach to a virtual underwater structure and the heading angles at each way-point are set to look at the structure in the face. The proposed controller consists of a vertical controller to maintain the depth and pitch angle, and a horizontal controller to move to the desired position as well as to adjust the heading angle of the HAUV. In the simulation using Matlab/Simulink, the HAUV with the proposed PID controller is shown to track all the way-points within 1 m range while maintaining proper heading angle at each way-point.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1995.04a
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• pp.114-121
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• 1995

Problems of noise and vibration induced by subway operation became one of the major factor when new subway 1 me is under consideration. One of the most economic method in reducing the noise and vibration is the increasement of the tunnel mass. . Vibration of the massive tunnel structure has been measured induced by subway operation. STEDEF system which was adopted by Seoul Metropolitan Subway Bureau has been proved that more than 99% of the vibration has been decreased at the bottom of the railway track. Most of the vibration measured inside and outside of the tunnel showed that their peak frequency is around SOHz or 100Hz. The propagation characteristics of vibration in massive tunnel , wave propagate in three directions. Overall frequency in the range of 0 to 125H2 horizontal transmission usually increase, while vertical transmission decreases about 50% in the range of 0 to 25Hz and 90Hz to 125Hz regardless of modal shape.

• Proceedings of the KSR Conference
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• 2004.06a
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• pp.732-737
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• 2004

TTX(Tilting Train Express), which has improved traveling performance on curved track, is being designed in cope with future railway circumstance. Nowadays, in the world, many efforts are focussed on railway safety. Especially, a variety of researches on train crashworthiness have been conducted. As a part of these efforts, some equipments on TTX are designed to reduce fatalities and casualties in crash accidents. This paper introduces impact energy absorbtion characteristics on the initial design of the front end structure. Some comments are made briefly for improvement of initial structural design and future following researches.