• International Journal of Aeronautical and Space Sciences
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• v.11 no.4
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• pp.338-344
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• 2010

This paper discusses the development of the control system of a mini quadrotor in Konkuk University for indoor applications. The attitude control system consists of a stability augmentation system, which acts as the inner loop control, and a modern control approach based on modeling will be implemented as the outer loop. The inner loop control was experimentally satisfied by a proportional-derivative controller; this was used to support the flight test in order to validate the modeling. This paper introduces the mathematical model for the simulation and design of the optimal control on the outer loop control. To perform the experimental tests, basic electronic hardware was developed using simple configurations; a microcontroller used as the embedded controller, a low-cost 100 Hz inertial sensors used for the inertial sensing, infra-red sensors were employed for horizontal ranging, an ultrasonic sensor was used for ground ranging and a high performance propeller system built on an quadrotor airframe was also employed. The results acquired from this compilation of hardware produced an automatic hovering ability of the system with ground control system support for the monitoring and fail-safe system.

• Geomechanics and Engineering
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• v.12 no.2
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• pp.185-195
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• 2017

With the rapid development of urban underground traffic, the study of soil deformation induced by subway tunnel construction and its settlement prediction are gradually of general concern in engineering circles. The law of soil displacement caused by shield tunnel construction of adjacent buildings is analyzed in this paper. The author holds that ground surface settlement based on the Gauss curve or Peck formula induced by tunnel excavation of adjacent buildings is not reasonable. Integrating existing research accomplishments, the paper proposed that surface settlement presents cork distribution curve characters, skewed distribution curve characteristics and normal distribution curve characteristics when the tunnel is respectively under buildings, within the scope of the disturbance and outside the scope of the disturbance. Calculation formulas and parameters on cork distribution curve and skewed distribution curve were put forward. The numerical simulation, experimental comparison and model test analysis show that it is reasonable for surface settlement to present cork distribution curve characters, skewed distribution curve characteristics and normal distribution curve characteristics within a certain range. The research findings can be used to make effective prediction of ground surface settlement caused by tunnel construction of adjacent buildings, and to provide theoretical guidance for the design and shield tunnelling.

• Smart Structures and Systems
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• v.22 no.4
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• pp.441-457
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• 2018

Characteristic parameter values of seismic isolators deviate from their nominal design values due to uncertainties and/or errors in their material properties and element dimensions, etc. Deviations may increase over service life due to environmental effects and service conditions. For accurate evaluation of the seismic safety level, all such effects, which would result in deviations in the structural response, need to be taken into account. In this study, the sensitivity of the probability of failure of the structures equipped with nonlinear base isolation systems to the uncertainties in various isolation system characteristic parameters is investigated in terms of various isolation system and superstructure response parameters in the context of a realistic three-dimensional base-isolated building model via Monte Carlo Simulations. The inherent record-to-record variability nature of the earthquake ground motions is also taken into account by carrying out analyses for a large number of ground motion records which are classified as those with and without forward-directivity effects. Two levels of nominal isolation periods each with three different levels of uncertainty are considered. Comparative plots of cumulative distribution functions and related statistical evaluation presented here portray the potential extent of the deviation of the structural response parameters resulting from the uncertainties and the uncertainty levels considered, which is expected to be useful for practicing engineers in evaluating isolator test results for their projects.

• Journal of the Korean GEO-environmental Society
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• v.17 no.1
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• pp.29-37
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• 2016

This study examined the magnitude and distribution of earth pressure on the support system in a jointed rock mass due to the different joint spacing as well as varying the rock type and joint condition (joint shear strength and joint inclination angle). Based on a physical model test and its numerical simulation, a series of numerical parametric analyses were conducted using a discrete element method. The results showed that the magnitude and distribution of earth pressure were strongly affected by the different joint spacing as well as the rock type and joint condition. In addition, the study results were compared with Peck's earth pressure for soil ground, which indicated that the earth pressure in a jointed rock mass could be considerably different from that in soil ground. The study suggests that the joint spacing as well as the rock type and joint condition are important factors affecting the earth pressure in a jointed rock mass and they should be considered when designing a support system in a jointed rock mass.

• Journal of the Korean Geosynthetics Society
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• v.17 no.4
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• pp.103-108
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• 2018

The fragility curves for CFRD dams are derived in this study for probabilistic damage estimation as a function of a ground motion intensity. The dam crest settlement, which is a widely used damage index, is used for minor, moderate, and extensive damage states. The settlement is calculated from nonlinear dynamic numerical simulations. The accuracy of the numerical model is validated through comparison with a centrifuge test. The fragility curve is represented as a log normal distribution function and presented as a function of the peak ground acceleration. The fragility curves developed in this study can be utilized for real time assessment of the damage of dams.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.241-250
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• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.8
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• pp.692-700
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• 2014

In this work, satellite FE (finite element) model updating for the prediction of the effect of micro-vibration is described. In the case of satellites launched in low earth orbit, high agility and more mission accomplishments are required by the customer in order to procure many images from satellites. To achieve the goal, many mechanisms, including high capacity wheels and antennas with multi-axis gimbals have been widely adopted, but they become a source of micro-vibration which could significantly deteriorate the quality of images. To investigate the effect due to the micro-vibration in orbit on the ground, a prediction is conducted through an integrated model coupling the measured jitter sources with FE (finite element) model. Before prediction, the FE model is updated to match simulation results with the modal survey test. Subsequently, the quality of FE model is evaluated in terms of frequency deviation error, the resemblance of mode shapes and FRFs (frequency response functions) between test and analysis.

• The Journal of Engineering Geology
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• v.31 no.4
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• pp.589-601
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• 2021

Artificial recharge technology is a method for solving problems such as groundwater level drop and ground subsidence caused by groundwater withdrawal. This study investigated the applicability of using the hydraulic conductivity of an aquifer to predict injection test results for aquifer restoration. Pumping and injection tests were performed under the same conditions as those for the artificial injection facility located in Icheon, Gyeonggi-do. The hydraulic conductivity of the aquifer, which plays a decisive role in restoring the groundwater level, was derived from the pumping test. A numerical model of a simplified on-site aquifer was constructed, and a transient analysis was applied with the same conditions as the pumping test. The correlation between the measured and the resulting model values is strong (R² = 0.78). The injection test was performed in a sedimentary layer composed of silt sand and clay sand. From the results of the injection test, an empirical formula was derived using Theim's formula, which is a common well analysis solution to determine the parameters of the aquifer from time-level data. The model values from the empirical formula have a high degree of correlation (R² = 0.99) with measured values. Under specific conditions, for areas where it is difficult to conduct an injection test, the formula from this study, which relies on the hydraulic conductivity of the aquifer determined through the pumping test, may be used to predict reliable injection rates for groundwater restoration.

• Smart Structures and Systems
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• v.25 no.2
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• pp.155-167
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• 2020

This paper demonstrates a real-time hybrid substructuring (RTHS) shake table test to evaluate the seismic performance of a base isolated building. Since RTHS involves a feedback loop in the test implementation, the frequency dependent magnitude and inherent time delay of the actuator dynamics can introduce inaccuracy and instability. The paper presents a robust stability and performance analysis method for the RTHS test. The robust stability method involves casting the actuator dynamics as a multiplicative uncertainty and applying the small gain theorem to derive the sufficient conditions for robust stability and performance. The attractive feature of this robust stability and performance analysis method is that it accommodates linearized modeled or measured frequency response functions for both the physical substructure and actuator dynamics. Significant experimental research has been conducted on base isolators and dampers toward developing high fidelity numerical models. Shake table testing, where the building superstructure is tested while the isolation layer is numerically modeled, can allow for a range of isolation strategies to be examined for a single shake table experiment. Further, recent concerns in base isolation for long period, long duration earthquakes necessitate adding damping at the isolation layer, which can allow higher frequency energy to be transmitted into the superstructure and can result in damage to structural and nonstructural components that can be difficult to numerically model and accurately predict. As such, physical testing of the superstructure while numerically modeling the isolation layer may be desired. The RTHS approach has been previously proposed for base isolated buildings, however, to date it has not been conducted on a base isolated structure isolated at the ground level and where the isolation layer itself is numerically simulated. This configuration provides multiple challenges in the RTHS stability associated with higher physical substructure frequencies and a low numerical to physical mass ratio. This paper demonstrates a base isolated RTHS test and the robust stability and performance analysis necessary to ensure the stability and accuracy. The tests consist of a scaled idealized 4-story superstructure building model placed directly onto a shake table and the isolation layer simulated in MATLAB/Simulink using a dSpace real-time controller.

• Journal of the Korea Institute of Military Science and Technology
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• v.24 no.4
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• pp.457-466
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• 2021

This paper describes the design of model-based fault diagnosis software to apply to the propulsion system in tracked amphibious assault vehicle which consists of an engine, a transmission, a cooling system, and two waterjets. This software includes specific functions to detect the failures regarding sensor malfunctions, mechanical malfunctions, control errors, and communication errors. This software generates the proper malfunction codes which are classified as the warning and caution. In order to validate the fault diagnosis software, the manual and automatic test are performed using the test program with 32 test cases. Test results show that the designed fault diagnosis software is reliable and effective for applying to the propulsion system.