• Journal of Electrical Engineering and Technology
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• 제13권2호
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• pp.1008-1020
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• 2018

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

• 한국의류산업학회지
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• 제8권1호
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• pp.99-106
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• 2006

With the growing interest in pet dogs and pet dog's wear I used this study to compare and analyze the pattern used by each supplier and developed a new pattern for pet dogs' wear which is appropriate for pet dogs' body lines and movement. Test subjects were 91 pet dogs in Busan and after comparing 3 patterns from different suppliers, I developed the pattern reflecting pet dogs' body shapes and movement. Results are as follows; 1) As a result of analyzing measurements, it was found that pet dogs motion in walking on four feet, is different from that of people on two feet. For center measurements, their waist to bust length is longer than their waist to back length. The result of analysis shows that bust circumference impacts most other measurement results and it seems that better results are achieved if the bust line is taken into consideration when measuring bust back length, bust front length, neck base circumference, front leg arc, the length between lateral shoulder etc. 2) As a result of comparing suppliers' patterns, it was discovered that each supplier has different sizes for the same patterns and those sizes are not standardized across the board. Even if the same size of pattern was actually used in the production of pet dogs' wear by the individual companies, there were many variations in size for each item. 3) To develop a more standard pattern of pet dogs' wear, I collected and analyzed 3 patterns from each supplier and designed a new pattern, revising it three times. After test-wearing of the experimental pattern and the studied patterns, and comparing and analyzing the results, the studied pattern had similarly better estimation than the experimental one.

• Computers and Concrete
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• 제2권6호
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• pp.423-437
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• 2005

In this study two single-bay, three-storey space frames, one with brick masonry infill in the second and third floors representing a soft-storey frame and the other without infill were designed and their 1:3 scale models were constructed according to non-seismic detailing and the similitude law. The models were excited with an intensity of earthquake motion as specified in the form of response spectrum in Indian seismic code IS 1893-2002 using a shake table. The seismic responses of the soft-storey frame such as fundamental frequency, mode shape, base shear and stiffness were compared with that of the bare frame. It was observed that the presence of open ground floor in the soft-storey infilled frame reduced the natural frequency by 30%. The shear demand in the soft-storey frame was found to be more than two and a half times greater than that in the bare frame. From the mode shape it was found that, the bare frame vibrated in the flexure mode whereas the soft-storey frame vibrated in the shear mode. The frames were tested to failure and the damaged soft-storey frame was retrofitted with concrete jacketing and, subjected to same earthquake motions as the original frames. Pushover analysis was carried out using the software package SAP 2000 to validate the test results. The performance point was obtained for all the frames under study, therefore the frames were found to be adequate for gravity loads and moderate earthquakes. It was concluded that the global nonlinear seismic response of reinforced concrete frames with masonry infill can be adequately simulated using static nonlinear pushover analysis.

• Structural Engineering and Mechanics
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• 제53권2호
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• pp.227-248
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• 2015

A CFPBS (Cone-type Friction Pendulum Bearing System) was developed to control the acceleration delivered to a structure to prevent the damage and degradation of critical communication equipment during earthquakes. This study evaluated the isolation performance of the CFPBS by numerical analysis. The CFPBS was manufactured in the shape of a cone differenced with the existing FPS (Friction Pendulum System), and a pattern was engraved on the friction surface. The natural frequencies of the CFPBS were evaluated from a free-vibration test with a seismic isolator system consisting of 4 CFPBS. To confirm the earthquake-resistant performance, a numerical analysis program was prepared using the equation of the CFPBS induced from the equations of motion. The equation reported by Tsai for the rolling-type seismic isolation bearings was proposed to design the equation of the CFPBS. Artificial seismic waves that satisfy the maximum earthquake scale of the Korean Building Code-Structural (KBC-2005) were created and verified to review the earthquake-resistant performance of the CFPBS by numerical analysis. The superstructural mass of the CFPBS and the skew angle of friction surface were considered for numerical analysis with El Centro NS, Kobe NS and artificial seismic waves. The CFPBS isolation performance evaluation was based on the numerical analysis results, and comparative analysis was performed between the results from numerical analysis and simplified theoretical equation under the same conditions. The validity of numerical analysis was verified from the shaking table test.

• 재활복지공학회논문지
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• 제8권1호
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• pp.1-7
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• 2014

본 연구에서는 기존의 시/청각 방식의 운전정보 전달체계의 한계를 극복하고 더불어 교통약자들의 운전 수행에 도움이 되는 자동차용 햅틱시트 기술을 개발하고자 하였다. 이를 위해 동전형 모터 30개를 사용한 진동자극용 시트커버형 시제품과 모터드라이버모듈을 제작하였고 촉각이상이 없는 젊은 남녀 10명을 대상으로 6자유도 모션베이스 상에 구축된 가상운전 시뮬레이터를 사용하여 가상운전상황에서의 시트진동자극에 대한 실험을 진행하였다. 모터의 동작전압(1.5V, 2.5V, 3.5V)에 따라 세기가 가변되는 30개소의 진동자극의 위치별 인지율을 측정하여 분석하였다. 피험자들은 2.5V,3.5V로 동작하는 30개소의 모터 진동자극을 모두 인지하였고 최저작동전압인 1.5V에서도 일정수준 이상의 인지율을 보여주는 결과를 얻었으며 이 결과는 차량 내에서의 시트를 통한 진동자극의 운전정보 유용성을 보여주는 것으로 사료된다.

• 제어로봇시스템학회논문지
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• 제6권1호
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• pp.73-80
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• 2000

The stewart platform manipulator proposed by stewart is the parallel manipulator which is composed of several independent actuators connecting the upper plate with the base plate and capable of executing a six degree of freedom motion. The manipulator has a structure of a closed loop form, and provides better load-to-weight ratio and ratio and rigidity than a serial manipulator with an open loop form. Moreover, the manipulator has high positional accuracy because position errors of actuators are not additive. Because of these advantages, this manipulator is widely used in many engineering applications such as a driving simulator, a tool of machining center, a force/torque sensor and so on. When this Stewart platform manipulator is controlled in joint space, it is difficult to design a controller using an analytic method due to nonhnearity and unknown parameters of actuators. Therefore, a PID controller is often used because of easiness in applications. To find the PID control gain, a trial-and-error method is generally used. This method is time-consuming, and does not guarantee a optimal gain. Thus, this paper proposes a GA-PID controller which selects an optimal PID control gain using genetic algorithms. And this proposed controller is evaluated experimentally and shows acceptable performance.

• 한국안전학회지
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• 제26권3호
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• pp.52-58
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• 2011

지진별 특성이 사회간접시설에 미치는 영향을 평가하는 것은 내진성능의 향상을 위해 중요한 검토사항이다. 이 연구에서는 근거리 및 원거리 지진의 특성을 고려하여 장주기 골조구조물의 구조거동을 합리적으로 평가하는 방법을 비교분석하였다. 이를 위해서 입력지진동의 영향을 명확하게 반영할 수 있는 대상구조물을 선정하여 탄성 및 비탄성 시간이력해석을 수행하였다. 수치해석결과를 바탕으로 지진특성에 따른 전단력, 모멘트, 가속도 및 변위응답의 분포양상을 검토하고 차이점을 분석하였다. 또한 대상구조물의 비탄성 거동을 파악하기 위해서 소성힌지의 발생순서를 모사운용하여 붕괴발생모드를 해석하였다. 이 연구결과는 장주기 골조구조물의 내진안전성 평가를 위한 효율적인 방법을 제시하고 근거리 지진의 안전성에 미치는 영향을 분석하였다.

• 한국도로학회논문집
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• 제12권4호
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• pp.11-16
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• 2010

보행교통류를 주제로 다양한 연구들이 진행되었지만 초기의 보행연구는 차량의 교통류이론을 그대로 적용하여 해석하기도 하였다. 최근 보행교통류에 대한 다양한 모형들이 제시되고 있으며, 특히 CA모형은 보행교통류를 위한 시뮬레이션 모형으로 빈번하게 사용되고 있다. 대표적인 CA 모형으로 가스입자의 움직임을 이용하여 양방향의 보행교통류를 설명하기도 하였는데 초기에는 정방형의 Gas-lattice 모형이 제안되었으며 이후에 정육방 Gas-lattice 모형을 이용하여 보행자의 움직임과 회피를 묘사하기도 하였다. 하지만 이러한 모형들은 보행자의 움직임을 편의임의보행으로 가정하였기 때문에 단일방향으로의 움직임만을 설명할 수 있었다. 본 연구에서 제시된 MLPM(the Multi-Layer Pedestrian Model)은 어떤 공간에서 복수개의 기종점을 가진 경우에도 현실적인 보행자의 움직임을 설명할 수 있는 모형이다.

• 한국정밀공학회지
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• 제28권12호
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• pp.1434-1440
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• 2011

In this paper, we assessed muscular activities of lower limbs and foot pressure for car and bus drivers according to operating three electronic pedals that we developed. To analyze drivers' physical exhaustion, muscular fatigue of lower limbs was evaluated. Eleven car drivers and six urban bus drivers were participated in this experiment. The virtual driving system was used for the real driving environment. The virtual driving system was comprised of a spring seat, a steering wheel, pedals (clutch, excel and brake pedals), a manual transmission and a virtual driving simulation. For the real vibration like situation on the road, six degree of freedom motion base system was used. Measured muscles were rectus femoris (RF), biceps femoris (BF), tibialis anterior (TA) and gastrocnemius (Gn) muscles. For the quantitative muscular activities, integrated electromyography (IEMG) was analyzed. Muscular fatigues also were analyzed through the analysis of the median frequency. In addition, foot pressures were analyzed and compared through the peak and averaged pressure during the operating three developed electronic pedals. The experiments are conducted with total 17 drivers, 11 general public and 6 drivers. As a result of the analysis, electromyogram and fatigue analysis through intermediate frequency reduction for pedal-1 more efficient than other pedals. And foot pressure also was decreased. Consequently, we suggested the most efficient pedal and method to minimize the amount of cumulative fatigue.

• Earthquakes and Structures
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• 제8권1호
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• pp.275-304
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• 2015

The objective of this paper is to investigate the validity of transmitting boundaries in dynamic analysis of soil-structure interaction problems. As a case study, the proposed Baghdad metro line is considered. The information about the dimensions and the material properties of the concrete tunnel and surrounding soil were obtained from a previous study. A parametric study is carried out to investigate the effect of several parameters including the peak value of the horizontal component of earthquake displacement records and the frequency of the dynamic load. The computer program (Mod-MIXDYN) is used for the analysis. The numerical results are analyzed for three conditions; finite boundaries (traditional boundaries), infinite boundaries modelled by infinite elements (5-node mapped infinite element) presented by Selvadurai and Karpurapu, 1988), and infinite boundaries modelled by dashpot elements (viscous boundaries). It was found that the transmitting boundary absorbs most of the incident energy. The distinct reflections observed for the "fixed boundaries" disappear by using "transmitted boundaries". This is true for both cases of using viscous boundaries or mapped infinite elements. The type and location of the dynamic load represent two controlling factors in deciding the importance of using infinite boundaries. It was found that the results present significant differences when earthquake is applied as a base motion or a pressure load is applied at the surface ground. The peak value of the vertical displacement at nodes A, B, E and F (located at the tunnel's crown and side walls, and at the surface above the tunnel and at the surface 6.5 m away from tunnel's centre respectively) increases with the frequency of the surface pressure load for both cases 1 and 2 (traditional boundaries and mapped infinite elements respectively) while it decreases for case 3 (viscous boundaries). The modular ratio Ec/Es (modulus of elasticity of the concrete lining to that of the surrounding soil) has a considerable effect on the peak value of the horizontal displacement at node B (on the side wall of the tunnel lining) increase about (17.5) times, for the three cases (1, 2, and 3).