• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.22 no.3
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• pp.231-242
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• 2009

In the design of a sky-bridge, repetitive boundary nonlinear time history analyses are required to accurately predict dynamic behaviors of the connected buildings because the connection systems of a sky-bridge usually have high nonlinearity. If a conventional finite element model for entire high-rise buildings is used for repetitive boundary nonlinear time history analyses, computational efforts could be significant. In this study, an equivalent cantilever model considering the belt-wall effect has been proposed for an efficient dynamic analysis and a performance evaluation of vibration control of high-rise buildings connected by a sky-bridge. To verify the accuracy and efficiency of the proposed equivalent model, boundary nonlinear time history analyses of 49- and 42-story example buildings connected by a sky-bridge have been performed for wind excitation. Based on the analytical results, it has been verified that the proposed equivalent model can provide accurate dynamic responses of building structures connected by a sky-bridge with significantly reduced computational efforts.

• Transactions of the KSME C: Technology and Education
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• v.3 no.3
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• pp.183-191
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• 2015

In this study, the finite element analysis was carried out to investigate dynamic characteristics of the AGF(Active Gurney Flap) which is under development for reducing vibration and noise of the helicopter rotor system. The Gurney flap is a kind of small flat plate, mounted normal to the lower surface of the airfoil near to the trailing edge. An electric motor, L-shaped linkages and flap parts were integrated into a rotor bade, and 3~5/rev control was given to the AGF to reduce the vibration in the fixed frame. Thus, an explicit time integration method was adopted to investigate the dynamic response of the AGF with considering both centrifugal force due to the rotor rotation and active control input, and it can be seen that the vertical displacement of the AGF was satisfied to meet the design requirement.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1311-1320
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• 2000

In this study, shape memory alloy(SMA) wires and piezoceramic actuators(PZT's) are employed in order to generate higher modes on the beam deformations. Compressive force is generated and applied to the beam by the pre-strained SMA wires attached at both ends of the beam. PZT's apply concentrated moments to several locations on the beam. Combinations of the compressive force and concentrated moments are investigated in order to understand the higher-mode deformation of beams. The first desired mode shape is obtained by controlling the temperature of the SMA wires. The first and third mode shapes are performed experimentally by heating SMA wires up to phase transformation temperature. The adaptive wing is defined as a wing whose shape parameters such as the camber, wing twist and thickness can be varied in order to change the wing shape for various flight conditions. In this research, control of the camber has been studied. The wing model consists of three plates and many ribs. Two of the plates are placed parallel to each other and they are clamped at one edge. Third plate connects the other edges of the parallel plates together. Each rib is made of SMA wire and connected to the parallel plates. It generates concentrated force and applies to the plates in oblique directions. The PZT's are bonded onto the plates and exert concentrated moments upon the plate at several locations. The object of this research is to generate various shape of wing by combining the concentrated forces and moments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.12
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• pp.1152-1160
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• 2007

In this paper we deal with a design of integral sliding mode controller to reject the disturbance force acting on the suspension system in the magnetically levitated system which is propelled by the linear induction motor. The control scheme comprises an integral controller which is designed for achieving zero steady-state error under step disturbances, and a sliding mode controller which is designed for enhancing robustness under plant uncertainties. A proper continuous design signal is introduced to overcome the chattering problem. The disturbance force produced by the linear motor is formularized by using a curve fitting of the experimental raw data. Computer simulations show the effectiveness of the designed integral sliding mode controller to reject the disturbance force.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.808-813
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• 2011

There are hundreds of thousands call center workers wearing acoustic device. However, researches and noise exposure measurements on the noise transmitted from acoustic devices have seldom been performed due to the difficulty of measurement and to the absence of the measuring method in Korea. The aim of this study is to set up management measures to protect hearing loss on the call operator by acquiring measurement data of noise transmitted from the headset Noise exposure measurements of 17 operators were performed in 7 call centers and Head and Torso Simulator method in compliance with the ISO Standard 11904-2 was used for the measurement of noise transmitted from the headset Sound pressure levels(SPL) transmitted from the headset were 73.2~86 dB(A). The operator exposed to the highest SPL set up his volume control at 9 which was the highest volume level. The volume control level, adjustable from 1 to 9, could be identified 12 out of 17 operators and the range of volume levels was 4.5~9. As a result of Pearson Correlation Analysis, the correlation between volume level and SPL transmitted from the headset showed high relation as significance at the 0.672 level(p<0.05). To protect hearing loss of call center operators, it is more practical and effective measure to limit the volume level below the noise exposure level, i.e. 85 dB(A), rather than to carry out noise monitoring considering cost-effective aspect.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.964-969
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• 2006

The soundscape is a novel attempt to offer comfortable sound environments at the urban public spaces by adding pleasant sounds and removing unagreeable ones. Most important factors to be considered therein are to determine what kind of sounds to offer and how to adjust them to the changing circumstances. But nowadays, the audio system provided in the almost every urban public spaces is just only a PA system with CD player or radio broadcasting music, the provided sound is only intended by the operator. Furthermore, providing the soundscape which fits to the situation and the atmospheric conditions needs enormous effort and time, it is almost impossible with the existing PA systems which installed in the public spaces nowadays. Thus, the new sounds cape reproduction system was developed on the basis of the prior VAFSS(Virtual Acoustic Field Simulation System) systems, which has the artificial intelligence to read out the mood of the field and select the appropriate soundscape to reproduce. In this new system, various environmental sensors with standard voltage, current or resistance output are available simultaneously, and the monitoring with video and sound became available via the TCP/IP communication protocol. The update and control of this system can be very convenient, so the money, time and the effort of maintaining and providing soundscape on the public spaces can be enormously saved. This new soundscape reproducing system was named as Virtual Acoustic Field Simulation System II (V AFSS II).

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.12
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• pp.1356-1363
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• 2009

The aim of this research is to construct eigenfrequency optimization codes for plates with Arbitrary Rank Microstructures. From among noise factors, resonance sound is main reason for floor's solid noise. But, Resonance-elusion design codes are not fixed so far. Besides, The prediction of composite material's capability and an resonance elusion by controlling natural frequency of plate depend on designer's experiences. In this paper, First, using computer program with arbitrary rank microstructure, variation on composite material properties is studied, and then natural frequency control is performed by plate topology optimization method. The results of this study are as followed. 1) Programs that calculate material properties along it's microstructure composition and control natural frequency on composite material plate are coded by Homogenization and Topology Optimization method. and it is examined by example problem. 2) Equivalent material properties, calculated by program, are examined for natural frequency. In this paper, Suggested programs are coded using $Matlab^{TM}$, Feapmax and Feap Library with Homogenization and Topology Optimization method. and Adequacy of them is reviewed by performing the maximization or minimization of natural frequency for plates with isotropic or anisotropic materials. Since the programs has been designed for widely use. If the mechanism between composite material and other structural member is identified, extension application may be possible in field of structure maintenance, reinforcement etc. through application of composite material.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.9
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• pp.807-813
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• 2016

Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 1997.11a
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• pp.33-34
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• 1997

장비나 부품이 비행 또는 수송 등 실제상황에서 겪게되는 진동환경에 얼마만큼 견디는지 여부를 확인하고, 예상되는 동적 하중에 의한 성능저하나 오 동작이 일어나지 알는지 확인하기 위해 환경진동시험(environmental vibration test)이 수행된다. 이러한 환경진동시험의 경우에는 대형(대용량)의 진동시험기(shaker 또는 exciter)가 이용되며 진동시험기로부터 에너지를 시험물에 기계적으로 전달시켜줄 수 있는 진동 시험치구(이하, "치구(fixture)")가 필요하게 된다. 따라서 치구의 설계문제가 대두되며, 환경진동시험의 성공여부를 좌우하는데 대단히 중요한 역할을 하게 된다. 치구의 설계시 가장 중요한 점은 시험규격에 정해진 기준스펙트럼(specified reference spectrum)이 치구 위에 설치될 여러 시험물부착점들에 그대로 전달될 수 있는 강체치구(rigid fixture)를 설계하는 것이 가장 이상적이지만 치구의 공진 및 반공진 특성으로 인해 시험물부착점들 마다 스펙트럼이 달라지게 된다. 따라서 시험물은 과대시험(overtest) 또는/그리고 과소시험(undertest)를 겪게된다.최근의 진동시험제어 기법으로서는 다채널시스템을 이용한 여러 시험부착점들에서의 진동레벨의 평균을 제어하는 평균제어기법(average control technique)이 이용되므로서 시험주파수 범위에서 공진진동수(resonance frequency)들은 기준스펙트럼과 동일하게 제어가 가능하나 반공진 진동수(antiresonance frequency)들에서는 반공진 진동수들이 갖는 물리적 특성으로 인해 기준스펙트럼과 동일하게 제어가 이루어지지 않으므로시험규격에 정해진 정확한 진동시험이 수행되지 못하게된다.본 연구에서는 치구의 설계단계에서 치구 위의 여러 시험물 부착점들- 평균제어점(average control points)- 에서의 반공진 진동수들을 고려하여 그 감도를 게산하고, 치구의 구조변경을 수행하여 시험물 부착점들에서의 반공진 진동수를 일치시키므로서 종래의 진동시험제어시 나타나는 반공진진동수에서의 문제점을 제거할 수 있고, 그 결과 시험물 부착점들에서의 스펙트럼이 시험규격에 정해진 스펙트럼대로 진동시험이 수행될 수 있게 하는데 있다.