• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.741-746
• /
• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• Journal of the Korean Data and Information Science Society
• /
• 제9권2호
• /
• pp.149-158
• /
• 1998

본 논문에서는 환자의 수명과 치료횟수의 모형화를 위해 공변량을 포함한 결합모형을 개발하고자 한다. 개발된 모형을 Autologous Blood and Marrow Ttansplant Registry에 등록된 환자의 자료에 적용하여 모형에 포함된 모수의 추론과정을 논의하고자 한다.

• 한국자동차공학회논문집
• /
• 제10권1호
• /
• pp.203-208
• /
• 2002

In order to reduce the booming noise caused by first bending mode of a drive shaft, this paper proposes a simulation program for prediction of the bending mode frequency of any tubular shaft. This program consists of a pre-processor for modeling of geometrical shape of the drive shaft with boundary conditions of various joints, a processor for constructing of global finite element matrices using beam elements and an eigen-solver based on MATLAB program. Using this simulation program, the effective and accurate FE model far a shaft attached to vehicle can be obtained by aid of database for stiffness of each joint. Thus the resonance frequencies and mode shapes of a shaft can be calculated accurately. Because the effect of the resonance on interior noise can be verified, more improved shaft will be proposed at the early stage of design.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2005년도 춘계학술대회논문집
• /
• pp.559-562
• /
• 2005

When we analyze dynamics of a multi body system, a compliance of joints must be considered. If the virtual model for CAE(computer adied engineering) analysis is not considered compliance, the result of CAE analysis will be very different from the actual result. Especially in a biped walking robot, a compliance can be caused in joints of a walking robot, and the robot may lose walking stability. This paper proposes a compliance modeling method and the effectiveness of the compliance model is verified through experiments.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.1948-1953
• /
• 2005

The Teakwondo is composed of the breaking, competition and poomsea. In the hand breaking, the breaking impact of human is affected by the breaking posture. In this paper, impact analysis of the human model for breaking posture is carried out. The LifeMOD is used in breaking modeling and simulation. The simulation model createsthe human model to hit and to grasp a pine board. For the breaking, the poomsea motion of the hand joint inputs the splines pass condition. As the results, the reaction of human joint is presented

• Journal of Mechanical Science and Technology
• /
• 제14권3호
• /
• pp.338-349
• /
• 2000

Neck muscle forces and spinal loads at the C4/5 level were estimated that result from isometric voluntary ramp efforts gradually developing to maximums in flexion, extension, left lateral bending and right lateral bending. Electromyographic (EMG) activities, a three-dimensional anatomic data of the neck and a hybrid model, EMG-assisted optimization (EMGAO) model, were used. The model computed the cervical loads at 25%,50%,75%, and 100% of peak moments. The highest model-predicted C4/5 joint compressive forces occurred during flexion; $361\;({\pm}164)\;N,\;811\;({\pm}288)\;N,\;1207\;({\pm}491)\;N\;and\;1674\;({\pm}319)\;N$ in 25%, 50%, 75% and 100% of peak moment respectively. Variations in load distribution among the agonistic muscles and co-contractions of antagonistic muscles were estimated during ramp efforts. Results suggest that higher C4/5 joint loads than previously reported are possible during isometric, voluntary muscle contractions. These higher physiological loads at C4/5 level must be considered possible during orthopedic reconstruction at this level.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 1998년도 춘계학술대회논문집; 용평리조트 타워콘도, 21-22 May 1998
• /
• pp.40-44
• /
• 1998

In this paper, a kinematic and dynamic model for an excavator is presented. A graphic user interface program for kinematic-dynamic analysis for the excavator is developed. To predict the stiffness and damping properties of the joint between the vehicle and the track, a parameter study is executed. Using the predicted joint stiffness and damping, the jerk simulation for the excavator is reproduced. Simulation results are compared with the test results to confirm the validity of the simulation model.

• Structural Engineering and Mechanics
• /
• 제40권3호
• /
• pp.297-313
• /
• 2011

As bridge conditions in the United States continue to deteriorate, rapid bridge replacement procedures are needed. Decked precast prestressed concrete (DPPC) girders are used for rapid bridge construction because the bridge deck is precast with the girders eliminating the need for a cast-in-place slab. One of the concerns with using DPPC girders as a bridge construction option is the durability of the longitudinal joints between girders. The objectives of this paper were to propose a method to use a spring element modeling procedure for representing welded steel connector assemblies between adjacent girders in DPPC girder bridges, perform a preliminary study of bridge performance under multiple loading scenarios and bridge configurations, and discuss model flexibility for accommodating future field data for model verification. The spring elements have potential to represent the contribution of joint grout materials by altering the spring stiffness.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2003년도 추계학술대회 논문집(II)
• /
• pp.117-122
• /
• 2003

Cheongdam Bridge in Seoul Metropolitan Subway Line No.7 recently constructed has 180 meters (2@90m) of expansion length of structure (distance between fixed points). Track type is all ballasted track and rail expansion joint is installed at every movable point. However, there is no expansion joint at the transition area between ballasted track ,end deck. By this reason, the rail buckling has been occurred every year and there is actually an abnormal behavior in expansion. In this study, based on the modeling of the Cheongdam Bridge, the element of interacting relationship between track and structure which is influential to track displacement in long-span bridge was analyzed and, finally, the methodology to ensure the continuous-welded rail in Cheongdam Bridge was suggested.

• 한국콘크리트학회:학술대회논문집
• /
• 한국콘크리트학회 1995년도 가을 학술발표회 논문집
• /
• pp.198-203
• /
• 1995

The objective of this study is to provide the information on the techniques of manufacturing and experiment in small scale modeling of precast concrete(P.C.)large panel structures. The adopted scale was 1/5th 4types of experiments were performed : material tests for model concrete and model reinforcement, compressive test of horizontal joint, shear test of vertical joint and cyclic static test of 2-story subassemblage structure. Based on the experimental results, the following conclusions are drawn: (1)Model concrete may have in general larger compressive strength than expected. (2) Model reinforcement can show less ductility if the annealing processes were performed without using vaccuum tube. (3) Failure modes of horizontal and vertical joints were almost same for both prototype and model. But the strength of model appears to be higher than required by similitude law. (4)Hysteretic behavior of 1/5 scale subassemblage model can be made quite similar to prototype's if the ductility of model reinforcement and compressive strength of model concrete could be representative of those of prototype.