• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.705-710
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• 1989

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated motor and manipulator is derived. An off line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of robot was tested. The trajectory errors were significantly reduced when the identified dynamic parameters were used.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.7
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• pp.765-772
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• 1990

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated system of the mainpulator and motor is derived. An off-line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of the robot was tested. The trajectroy errors were significantly reduced when the identified dynamic parameters were used.

• Structural Engineering and Mechanics
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• v.82 no.3
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• pp.343-354
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• 2022

An understanding of the mechanism of concrete girders repaired with CFRP plates and its influence on the dynamic parameters is presented in this paper. Dynamic parameters are governed by the relationship with the physical properties of concrete girders and CFRP plates as well as the adhesive layer between them. A brief explanation of the mechanism of the composite action of concrete girders repaired with CFRP is also given in this paper. Experimental work was carried out to validate the theory of the composite action. The results show a decrease in the modal parameters of CFRP repaired girders that were turned over during the repair procedure, which contrasts with the proven static-based results that CFRP plates increase the stiffness of repaired girders. The composite action theory has explained the results based on the tension and compression forces' growth at the adhesive layer between the CFRP plates and girder surface during the repair procedure. Other girders were prepared and repaired without turning over in order to avoid tension and compression forces at the adhesive layer. The experimental results show an increase in the dynamic parameters of CFRP repaired girders that were not turned over during the repair procedure, which aligns with the static-based results. The study concludes that the dynamic parameters are excellent indicators for the assessment of CFRP repaired concrete girders. The study also suggests that researchers should not turn over damaged concrete girders to repair them with CFRP plates if they intend to study the dynamic parameters, in order to avoid the proposed composite action effect on modal parameters.

• Structural Engineering and Mechanics
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• v.7 no.4
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• pp.387-400
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• 1999

Damage detection in civil engineering structures using the change in dynamic system parameters has gained a lot of scientific interest during the last decade. By repeating a dynamic test on a structure after a certain time of use, the change in modal parameters can be used to quantify and qualify damages. To be able to use the modal parameters confidentially for damage evaluation, the effect of other parameters such as excitation type, ambient conditions,... should be considered. In this paper, the influence of excitation type on the dynamic system parameters of a highway prestressed concrete bridge is investigated. The bridge, B13, lies between the villages Vilvoorde and Melsbroek and crosses the highway E19 between Brussels and Antwerpen in Belgium. A drop weight and ambient vibration are used to excite the bridge and the response at selected points is recorded. A finite element model is constructed to support and verify the dynamic measurements. It is found that the difference between the natural frequencies measured using impact weight and ambient vibration is in general less than 1%.

• 전기의세계
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• v.31 no.2
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• pp.126-131
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• 1982

Induction motors are known to cause voltage dip, oscillating torque and inrush current on the dynamic period. To compensate for these undesirable effects, the prediction of dynamic performances is required. The dynamic performances are determinated by circuit time constants. From this point of view, in this paper, the dynamic equivalent circuit included only three time-constant parameters are presented. To predict more simply dynamic performances, the new characteristics time constant parameters are analyzed, and now these parameters are described as the function of circuit time constants. This paper reviews and analyzes the use of series capacitance compensations, and the use of this analysis can make simply a prediction about oscillating conditions.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.4
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• pp.508-519
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• 2018

In order to design the hull form of an underwater vehicle in the conceptual design phase, the dynamic characteristics depending on the hull form parameters should be identified. Course-keeping stability, turning ability, yaw-checking ability, and mission competence are set to be the indices of the dynamic characteristics, and the geometric parameters for the bare hull and rudder are set to be the hull form design parameters. The total sensitivity of the dynamic characteristics with respect to the hull form parameters is calculated by the chain rule of the partial sensitivity of the dynamic characteristics with respect to the hydrodynamic coefficients, and the partial sensitivity of the hydrodynamic coefficients with respect to the hull form parameters. Based on the sensitivity analysis, important hull form parameters are selected, and those optimal values to satisfy the required intercept time of mission competence of a specific underwater vehicle and turning rate are estimated.

• Journal of Magnetics
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• v.19 no.4
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• pp.315-322
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• 2014

In this work, Artificial Neural Network (ANN) was used to model the dynamic behavior of ferromagnetic hysteresis derived from performing the mean-field analysis on the Ising model. The effect of field parameters and system structure (via coordination number) on dynamic critical points was elucidated. The Ising magnetization equation was drawn from mean-field picture where the steady hysteresis loops were extracted, and series of the dynamic critical points for constructing dynamic phase-diagram were depicted. From the dynamic critical points, the field parameters and the coordination number were treated as inputs whereas the dynamic critical temperature was considered as the output of the ANN. The input-output datasets were divided into training, validating and testing datasets. The number of neurons in hidden layer was varied in structuring ANN network with highest accuracy. The network was then used to predict dynamic critical points of the untrained input. The predicted and the targeted outputs were found to match well over an extensive range even for systems with different structures and field parameters. This therefore confirms the ANN capabilities and indicates the ANN ability in modeling the ferromagnetic dynamic hysteresis behavior for establishing the dynamic-phase-diagram.

• Proceedings of the KSR Conference
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• 2011.05a
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• pp.1533-1538
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• 2011

The dynamic characteristics such as resonant frequencies and dampings have been utilized as important parameters in dynamic behavior and inverse analyses. In general, the dynamic parameters have been determined based on design and experimental data, but experimental studies on the time-dependent changes of the dynamic parameters during service have rarely been conducted. Especially, unlike highway bridges, it is much easier for railroad bridges to estimate accumulated amount of fatigue because of the controlled train operation, and the study of dynamic characteristic change due to fatigue is useful, since it can enhance the accuracy of dynamic analysis. In this paper, the dynamic characteristic change due to fatigue is measured via the modal test on the PSC girder during a fatigue test. The test specimen utilized in the test is the IT girder which enhances the sectional capacity of the conventional PSC girders. The test specimen is designed 10m long and the modal tests are conducted during the application of fatigue load two million times. The test result shows that considerable changes in the measured dynamic parameters are observed as the fatigue accumulates, and these changes during the service life should be considered in designing railroad bridges.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.7B
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• pp.1229-1238
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• 1999

To maximize the statistical multiplexing gain in wireless ATM MAC, a centralized scheduling function must be provided for the dynamic slot assignment in the wireless ATM access point. Exploiting the dynamic parameters received in the wireless ATM access point, the centralized scheduler will execute a dynamic slot assignment to determine bandwidth required for individual wireless terminal. In this paper, we propose a new scheduling algorithm, which can effectively reduce a burden of the explicit signaling requirement of transmitting the dynamic parameters in a timely manner. We have demonstrated that the proposed approach outperforms the existing schemes in terms of the timeliness of transmitting the dynamic parameters, which is a critical factor to the performance of delay-sensitive service classes, and works as an effective means of dynamic slot assignment without heavily relying on the dynamic parameters in the wireless ATM networks.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.146-153
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• 2000

The rubber crawler system for farm machine is composed of driving units such as track rollers, driving sprockets and rubber crawlers. Vibration characteristics of the rubber crawler system varies by driving speed, center of gravity, mass□moment of inertial□location arrangement of track rollers and dynamic parameters such as dynamic spring constant (k) and viscous damping coefficient (c) of a rubber crawler. In general, vibration of the rubber crawler system occurs by reason for mechanical interaction between the rubber crawler and track rollers. Because the dynamic spring constant and viscous damping coefficient vary periodically by mechanical characteristics(deformation characteristics) of the rubber crawler when track rollers drive on the between lugs of the rubber crawler. Therefore, both dynamic parameters k and c were expressed as Fourier series by authors through the shaking test of the rubber crawler and further, vibration characteristics of the rubber crawler system could be simulated analytically. However, actual values of dynamic parameters k and c are different from those obtained by the shaking test because dynamic characteristics of the rubber crawler vary by the effect of variable tension and driving resistance of track rollers. So, actual values of k and c should be identified in the condition of actual driving test. In this study, dynamic parameters such as k and c of the rubber crawler system, which are expressed as Fourier series, were identified using the Gauss-Newton Method. Therefore, validity of identified parameters k and c was discussed through the simulation using experimental data of actual driving test. As a result, in the Fourier series of dynamic parameters of spring constant k and viscous damping coefficient c, excellent parameter convergence and simulation were observed using the Fourier series' zero order and first term of the dynamic model. Furthermore, it was clarified that identification for model parameters which are fitted to actual dynamic motion (vibration) wave of the crawler system was possible by using the time series data observed in vertical and pitching motion of the crawler system.