• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.12
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• pp.1190-1199
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• 2010

This paper reports active control of clamped beams using acceleration feedback controllers (AF). The equations of motion of clamped beam under force and moment pairs were derived and the equations of AF controllers were formulated. The effect of the parameters - gain and damping ratio - of the AF controllers on the open loop transfer function was investigated mainly in terms of the system stability. Increasing the gain of the AF controller tuned at a mode, the magnitude of the open loop transfer function is increased at all frequencies. The increase of the damping ratio of the AF controller leads to decrease the magnitude of the open loop transfer function and modifies its phase characteristics to be more stable. Three AF controllers connected in parallel were then proposed. Each AF controller is tuned at the 2nd, 3rd and 4th modes, respectively. Their parameters were determined to remain the system to be stable based on the results of the parametric study. A significant reduction in vibration at the 3 modes can be obtained.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.306-309
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• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• Journal of The Korean Astronomical Society
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• v.46 no.1
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• pp.49-63
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• 2013

Nonthermal radiation from supernova remnants (SNRs) provides observational evidence and constraints on the diffusive shock acceleration (DSA) hypothesis for the origins of Galactic cosmic rays (CRs). Recently it has been recognized that a variety of plasma wave-particle interactions operate at astrophysical shocks and the detailed outcomes of DSA are governed by their complex and nonlinear interrelationships. Here we calculate the energy spectra of CR protons and electrons accelerated at Type Ia SNRs, using time-dependent, DSA simulations with phenomenological models for magnetic field amplification due to CR streaming instabilities, Alf$\acute{e}$enic drift, and free escape boundary. We show that, if scattering centers drift with the Alf$\acute{e}$en speed in the amplified magnetic fields, the CR energy spectrum is steepened and the acceleration efficiency is significantly reduced at strong CR modified SNR shocks. Even with fast Afv$\acute{e}$nic drift, DSA can still be efficient enough to develop a substantial shock precursor due to CR pressure feedback and convert about 20-30% of the SN explosion energy into CRs. Since the high energy end of the CR proton spectrum is composed of the particles that are injected in the early stages, in order to predict nonthermal emissions, especially in X-ray and ${\gamma}-ray$ bands, it is important to follow the time dependent evolution of the shock dynamics, CR injection process, magnetic field amplification, and particle escape. Thus it is crucial to understand the details of these plasma interactions associated with collisionless shocks in successful modeling of nonlinear DSA.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.3
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• pp.603-610
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• 1998

This paper develops a 7 DOF vehicle model to study the effects of the active suspension on ride. The model is used to derive a control law for the active suspension using a full state linear optimal control technique. A wheelbase preview type active suspension is also considered in the control law derivation. The time delay between wheelbases is approximated using Pade approximation technique. The ride model is extended to a 14 DOF handling model. The 14 DOF handling model includes lateral, longitudinal, yaw and four wheel spin motions in addition to the 7 DOF ride model. A control law which is derived considering only ride related parameters is used to study the effects of the active suspension on a vehicle handling. J-turn maneuver simulation results show that the active suspension has a slower response in lateral acceleration and yaw rate, a bigger steady state lateral acceleration and an oversteer tendency. Lane changing maneuver simulation results show that the active suspension has a little bigger lateral acceleration but a much smaller roll angle and roll motion. Braking maneuver simulation results show that the active suspension has a much smaller pitch angle and pitch motion.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.203-213
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• 2009

Medicine is one of great application fields where Virtual Reality (VR) technologies have been successfully utilized. The VR technologies in medicine bring together an interdisciplinary community of computer scientists and engineers, physicians and surgeon, medical educator and students, military medical specialists, and biomedical futurists. The primary feedback of a VR system has been visual feedback. The complex geometry for graphic objects and utilizing hardware acceleration can be incorporated with in order to produce realistic virtual environments. To enhance human-computer interaction (HCI), in term of immersive experiences perceived by users, haptic, speech, olfactory and other non-traditional interfaces should also be exploited. Among those, hapic feedback has been tightly coupled with visual feedback. The combination of the two sensory feedbacks can give users more immersive, realistic and perceptive VR environments. Haptic feedback has been studied over decades and many haptic based VR systems have been developed. This paper focuses on haptic feedback in term of its medical usages. It presents a survey of haptic feedback techniques with their applications in medicine.

• Journal of the Korea institute for structural maintenance and inspection
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• v.16 no.3
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• pp.60-66
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• 2012

This paper aims to constitute a feedback vibration control system using wireless sensor networks and experiment it on a model structure to verify its effectiveness. For the purpose, we set up a feedback vibration control system composed of a wireless input/output(I/O) sensor node based on bluetooth, a home-made shear type MR damper, a shaker which generates a constant size of sine wave, and a simple beam model structure. The vibration control experiment was performed by shaking the 1/4 point of beam with a shaker. At the moment of shaking, we controled the vibration with MR damper which was placed vertically on the center of beam. Simultaneously, by acquiring acceleration response at the 2/4 point of beam, we evaluated the effectiveness of control capability. The control command was set to send a voltage signal to MR damper when the acceleration response, acquired from the wireless I/O sensor node placed at the center of beam, was more than a certain amount. Although the realtime feedback vibration control system constituted in this paper is effective only within a limited command system, it has been proven that the system was able to effectively decrease the vibration of structure by generating a control command aimed for realtime purpose. The system also showed a possibility to be used as a structural response control system adapting a variety of semi-active control algorithm.

• Journal of the Korea institute for structural maintenance and inspection
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• v.15 no.1
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• pp.85-94
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• 2011

This paper is concerned to constitute a semi-active realtime feedback vibration control system and evaluate it through experiments in order to control in realtime the vibration externally generated, specially on the bridges which is structurally flexible. For the experiment of vibration control, we built a model bridge structure of Seohae Grand Bridge in a 1/200 reduced form and inflicted El-centro wave on the model structure also in a reduced force considering the lab condition. The externally excited vibration was to be controled by placing a shear type MR damper vertically on the center of bridge span, and the response (displacement and acceleration) of structure was to be acquired by placing LVDT and Accelerometer at the same time. As for the experiment concerning controlling vibration, a realtime feedback vibration control experiments were performed under each different condition largely such as un-control, passive on/off control, Lyapunov stability theory control, and Clipped-optimal control. Its control performance under different condition was quantitatively evaluated in terms of the peak absolute displacements, the peak absolute accelerations and the power required for control on the center of span. The results of experiments proved that the Lyapunov control and clipped-iptimal control were effective to decrease the displacement and acceleration of the structure, and also to decrease the power consumption to a great extent. Finally, the semi-active realtime feedback vibration control system constituted in this research was proven to be an effective way to control and manage the vibration generated on bridge structure.

• Journal of the Society of Naval Architects of Korea
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• v.45 no.5
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• pp.469-476
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• 2008

In this paper, it is shown that an input-output (I/O) feedback linearized controller can be designed rationally by utilizing the time-scale properties of heave and pitch for an underwater vehicle. It is assumed that the dynamics of the vehicle is restricted to the vertical plane. An output-feedback control is designed, which stabilizes steady cruising paths. It is shown that the vehicle dynamics with acceleration as output becomes minimum phase. The dynamics can be transformed into a reduced system through a kind of partial linearization and singular perturbation technique. The reduced system is not only minimum phase but also exactly I/O linearizable via feedback. The I/O dynamic characteristics of the heave and pitch modes can be made linear and decoupled. Furthermore it becomes independent of cruising condition such as vehicle velocity. This study may help for designing autopilot systems for underwater vehicles.

• Journal of The Korean Astronomical Society
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• v.35 no.4
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• pp.159-174
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• 2002

Cosmological hydrodynamic simulations of large scale structure in the universe have shown that accretion shocks and merger shocks form due to flow motions associated with the gravitational collapse of nonlinear structures. Estimated speed and curvature radius of these shocks could be as large as a few 1000 km/s and several Mpc, respectively. According to the diffusive shock acceleration theory, populations of cosmic-ray particles can be injected and accelerated to very high energy by astrophysical shocks in tenuous plasmas. In order to explore the cosmic ray acceleration at the cosmic shocks, we have performed nonlinear numerical simulations of cosmic ray (CR) modified shocks with the newly developed CRASH (Cosmic Ray Amr SHock) numerical code. We adopted the Bohm diffusion model for CRs, based on the hypothesis that strong Alfven waves are self-generated by streaming CRs. The shock formation simulation includes a plasma-physics-based 'injection' model that transfers a small proportion of the thermal proton flux through the shock into low energy CRs for acceleration there. We found that, for strong accretion shocks, CRs can absorb most of shock kinetic energy and the accretion shock speed is reduced up to $20\%$, compared to pure gas dynamic shocks. For merger shocks with small Mach numbers, however, the energy transfer to CRs is only about $10-20\%$ with an associated CR particle fraction of $10^{-3}$. Nonlinear feedback due to the CR pressure is insignificant in the latter shocks. Although detailed results depend on models for the particle diffusion and injection, these calculations show that cosmic shocks in large scale structure could provide acceleration sites of extragalactic cosmic rays of the highest energy.

• International Journal of Automotive Technology
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• v.7 no.4
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• pp.469-475
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• 2006

In this paper, an optimal suspension system with preview of the road input is synthesized for a half tracked vehicle. The main goal of this research is to improve the ride comfort characteristics of a fast moving tracked vehicle in order to maintain the driver's driving capability. Several different kinds of preview control algorithms are evaluated with active or semi-active suspension systems. The road information estimated from the motion of the 1st road-wheel is adequate to make the best use of the preview control algorithm for tracked vehicles. The ride-comfort characteristics of the tracked vehicle are more dependent on pitching angular acceleration than heaving acceleration. The pitching motion is reduced by the suspension system with hard outer suspensions and soft inner suspensions. Simulation results show that the performance of sky-hook algorithms for ride comfort nearly follow that of full state feedback algorithms.