• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.22 no.4
• /
• pp.868-878
• /
• 1998

There are recently increasing needs for precision XYZ-stage in the fields of nanotechnology, specially in AFMs(Atomic Force Microscope) and STMs(Scanning Tunneling Microscope). Force measurements are made in the AFM by monitoring the deflection of a flexible element (usually a cantilever) in response to the interaction force between the probe tip and the sample and controlling the force neasyred constant topography can be obtained. The power of the STM is based on the strong distance dependence of the tunneling current in the vacuum chamber and the current is a feedback for the tip to trace the surface topography. Therefore, it is required for XYZ-stage to position samples with nanometer resolution, without any crosscouples and any parasitic motion and with fast response. Nanometer resolution is essential to investigate topography with reasonable shape. No crosscouples and parasitic motion is essential to investigate topography without any shape distortion. Fast response is essential to investigate topography without any undesirable interaction between the probe tip and sample surface ; sample scratch. To satisfy these requirements, this paper presents a novel XYZ-stage concept, it is actuated by PZT and has a monolithic flexible body that is made symmetric as possible to guide the motion of the moving body linearly. PZT actuators have a very fast response and infinite resolution. Due to the monolithic structure, this XYZ-stage has no crosscouples and by symmetry it has no parasitic motion. Analytical modeling of this XYZ-stage and its verification by FEM modeling are performed and optimal design that is to maximize 1st natural frequencies of the stage is also presented and with that design values stage is manufactured.

• Proceedings of the Korea Inteligent Information System Society Conference
• /
• 2001.01a
• /
• pp.65-70
• /
• 2001

We consider a hyper-redundant system that consists of many uniform units. The hyper-redundant system has many degrees of freedom and it can accomplish various tasks. Applysing the reinforcement learning to the hyper-redundant system is very attractive because it is possible to acquire various behaviors for various tasks automatically. In this paper we present a new reinforcement learning algorithm "Q-learning with propagation of motion". The algorithm is designed for the multi-agent systems that have strong connections. The proposed algorithm needs only one small Q-table even for a large scale system. So using the proposed algorithm, it is possible for the hyper-redundant system to learn the effective behavior. In this algorithm, only one leader agent learns the own behavior using its local information and the motion of the leader is propagated to another agents with time delay. The reward of the leader agent is given by using the whole system information. And the effective behavior of the leader is learned and the effective behavior of the system is acquired. We apply the proposed algorithm to a snake-like hyper-redundant robot. The necessary condition of the system to be Markov decision process is discussed. And the computer simulation of learning the locomotion is demonstrated. From the simulation results we find that the task of the locomotion of the robot to the desired point is learned and the winding motion is acquired. We can conclude that our proposed system and our analysis of the condition, that the system is Markov decision process, is valid.

• Earthquakes and Structures
• /
• v.15 no.6
• /
• pp.639-654
• /
• 2018

Rocking motion have been used for achieving the 'resilient buildings' against earthquakes in recent studies. Low-rise buildings, unlike the tall ones, because of their small aspect ratio tend to slide rather than move in rocking mode. However, since rocking is more effective in seismic response reduction than sliding, it is desired to create rocking motion in low-rise buildings too. One way for this purpose is making the building's structure rock on its internal bay(s) by reducing the number of bays at the lower part of the building's skeleton, giving it a mushroom form. In this study 'mushroom skeleton' has been used for creating multi-story rocking regular steel buildings with square plan to rock on its one-by-one bay central lowest story. To show if this idea is effective, a set of mushroom buildings have been considered, and their seismic responses have been compared with those of their conventional counterparts, designed based on a conventional code. Also, a set of similar buildings with skeleton stronger than code requirement, to have immediate occupancy (IO) performance level, have been considered for comparison. Seismic responses, obtained by nonlinear time history analyses, using scaled three-dimensional accelerograms of selected earthquakes, show that by using appropriate 'mushroom skeleton' the seismic performance of buildings is upgraded to mostly IO level, while all of the conventional buildings experience collapse prevention (CP) level or beyond. The strong-skeleton buildings mostly present IO performance level as well, however, their base shear and absolute acceleration responses are much higher than the mushroom buildings.

• Computers and Concrete
• /
• v.29 no.5
• /
• pp.279-283
• /
• 2022

The seismic analytic collapse fragility of soil nail wall structures with a shotcrete concrete covering is investigated in this paper. The finite element modeling process has been well described. The fragility function evaluates the link between ground motion intensities and the likelihood of reaching a specific level of damage. The soil nail wall has been subjected to incremental dynamic analysis (IDA) from medium to strong ground vibrations. The nonlinear dynamic analysis of the soil nail wall uses a set of 20 earthquake ground motions with varying PGAs. PGD is utilized as an intensity measure, the numerical findings demonstrate that the soil nailing wall reaction is particularly sensitive to earthquake intensity measure (IM).

• Journal of Korean Association for Spatial Structures
• /
• v.13 no.1
• /
• pp.79-86
• /
• 2013

For most of recent tall buildings, one characteristic is that their building shapes vary with height such as taper and setback, and this implies that the distribution of their structural components may also vary with height. Because of these structural variations, although the sectional shapes of these buildings are symmetric, it is difficult to say whether or not they are structurally symmetric. The acceleration responses of structurally asymmetric tall buildings are larger than those of non-eccentric buildings, thus raising the possibility of problems during strong winds and typhoons. This paper describes wind tunnel tests carried out using building models with height variations and acceleration response analyses, and discusses the resulting response characteristics. For tapered and setback buildings, although the across-wind accelerations are larger than those of a square building, the total root-mean-square accelerations remain small because of smaller along-wind and torsional rms accelerations. And it was found that the effects of statistical couplings between along-wind force and other two forces are negligible.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1039-1043
• /
• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• Proceedings of the Earthquake Engineering Society of Korea Conference
• /
• 2001.09a
• /
• pp.36-43
• /
• 2001

In Korea, we are absolutely short of earthquake data in good quality from moderate and large earthquakes, which are needed fur the study of strong ground motion characteristics. This means that the best use of the available data is needed far the time being. In this respect, several methods are suggested in this paper, which can be applied in the process of data selection and analysis. First, it is shown that the calibration status of seismic stations can be easily checked by comparing the spectra from accelerometer and velocity sensor both of which are located at the same location. Secondly, it is recommended that S/N ratio in the frequency domain should be checked before discarding the data by only look of the data in time domain. Thirdly, the saturated earthquake data caused by ground motion level exceeding the detection limit of a seismograph are considered to see if such data can be used for spectrum analysis by performing numerical simulation. The result reveals that the saturated data can still be used within the dominant frequency range according to the levels of saturation. Finally, a technique to minimize the window effect that distorts the low frequency spectrum is suggested. This technique involves detrending in displacement domain once the displacement data are obtained by integration of low frequency components of the original data in time domain. Especially, the low frequency component can be separated by using discrete wavelet transform among many alternatives. All of these methods mentioned above may increase the available earthquake data and frequency range.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2014.10a
• /
• pp.402-403
• /
• 2014

Damping of multi-span tube with loose supports according to the finite support clearances is investigated through the experimental modal analysis. Loose intermediate support leads to strong nonlinearity in tube dynamics, provides statistical nature, and increases tube damping through impacting and friction at the supports. Fraction of critical damping was estimated by the modal curve fitting to parameter estimation from the measured frequency response functions. Magnitude of random excitation force, which can reproduce the in-situ excitation in operating environment, was maintained as constant value with a fine tolerance during vibration testing. Range of input force was carefully selected to cover from the low magnitude excitation for linearly behaved tube motion to high magnitude of force for nonlinearly-behaved tube motion. Estimated critical damping ratio shows scatters in data and tends to increase as the magnitude of rising force and decrease with upward frequency variation. Larger size of support gap increases multi-span tube damping for high magnitude of excitation.

• The Journal of Engineering Geology
• /
• v.5 no.3
• /
• pp.309-329
• /
• 1995

Seismicity and stress state in the Korean peninsula are studied using the catalogue of historical earthquakes and that from the seismological observations before the 1960s, with the aid of instrumental catalogue up to 1995. It seems that the completeness of the historical catalogue has a significant enhancement during the first two hundred years of the Yi dynasty, i.e., from the 1400s to the 1600s. From then on the catalogue may be regarded as near to complete for strong earthquakes in an overall sense. From the distribution of strong earthquakes, three seismic zones may be identified. From the south to the north, those are the southern seismic zone (남부지진대), the Seoul-Pyongyang seismic zone (서울-평양지진대), and the northern seismic zone (북부지진대). The mechanisms of some earthquakes obtained using first motion read- ings are reevaluated with a grid testing method. The results indicate that the compressional axis is nearly horizontal along the EW direction.

• Earthquakes and Structures
• /
• v.21 no.6
• /
• pp.601-612
• /
• 2021

The paper concerns the selection of a design accelerograms used for the slope stability assessment under earthquake excitation. The aim is to experimentally verify the Arias Intensity as an indicator of the excitation threat to the slope stability. A simple dynamic system consisting of a rigid block on a rigid inclined plane subjected to horizontal excitation is adopted as a slope model. Strong ground motions recorded during earthquakes are reproduced on a shaking table. The permanent displacement of the block serves as a slope stability indicator. Original research stand allows us to analyse not only the relative displacement but also the acceleration time history of the block. The experiments demonstrate that the Arias Intensity of the accelerogram is a good indicator of excitation threat to the stability of the slope. The numerical analyses conducted using the experimentally verified extended Newmark's method indicate that both the Arias Intensity and the peak velocity of the excitation are good indicators of the impact of dynamic excitation on the dam's stability. The selection can be refined using complementary information, which is the dominant frequency and duration of the strong motion phase of the excitation, respectively.