• Transactions of the Korean Society of Mechanical Engineers
• /
• v.11 no.6
• /
• pp.923-934
• /
• 1987

A flexible one-link robotic manipulator is modelled as a rotating cantilever beam with a hub and tip mass. An active control law is developed with consideration of the distributed flexibility of the arm. Equation of motion is derived by Hamilton's principle and, for modal control, represented as state variable form using Galerkin's mode summation method. Feedback coefficients are chosen to minimize the linear quadratic performance index(PI). To reconstruct the complete state vector from the measurements, an observer is proposed. In order to suppress vibration of the manipulator arm to desirable extent and to obtain accuracy of the positioning, weighting factor of input in PI is adjusted. Spillover effect due to the controller which controls several important modes is examined. Experiment is also performed to validate the theoretical analysis.

• Computers and Concrete
• /
• v.3 no.1
• /
• pp.65-77
• /
• 2006

This study reports the details of the finite element analysis of eleven shear critical partially prestressed concrete T-beams having steel fibers over partial or full depth. Prestressed concrete T-beams having a shear span to depth ratio of 2.65 and 1.59 and failing in the shear have been analyzed using 'ANSYS'. The 'ANSYS' model accounts for the nonlinear phenomenon, such as, bond-slip of longitudinal reinforcements, post-cracking tensile stiffness of the concrete, stress transfer across the cracked blocks of the concrete and load sustenance through the bridging of steel fibers at crack interface. The concrete is modeled using 'SOLID65'-eight-node brick element, which is capable of simulating the cracking and crushing behavior of brittle materials. The reinforcements such as deformed bars, prestressing wires and steel fibers have been modeled discretely using 'LINK8' - 3D spar element. The slip between the reinforcement (rebar, fibers) and the concrete has been modeled using a 'COMBIN39'-non-linear spring element connecting the nodes of the 'LINK8' element representing the reinforcement and nodes of the 'SOLID65' elements representing the concrete. The 'ANSYS' model correctly predicted the diagonal tension failure and shear compression failure of prestressed concrete beams observed in the experiment. The capability of the model to capture the critical crack regions, loads and deflections for various types of shear failures in prestressed concrete beam has been illustrated.

• Journal of IKEEE
• /
• v.2 no.2 s.3
• /
• pp.194-199
• /
• 1998

In the atmospheric wireless optical communication system, the low power transmission can be accomplished by the high directivity of laser beam. But, the transmitted optical signal undergoes the serious influences by the atmospheric effects like absorption, scattering, and turbulence because the transmission channel is the atmospheric space. In this paper, therefore, we obtain the link equation for an atmospheric wireless optical LOS communication link under the atmospheric effects and find the repeaterless transmission length to estimate the system performance through the computer simulation. From the results of the computer simulation, we present the transmission length that is possible to transmit without a repeater at given data rates and know that data rate is decreased rapidly when the transmission length is increased slightly at given bit error rate.

• Korean Journal of Optics and Photonics
• /
• v.30 no.6
• /
• pp.230-236
• /
• 2019

We propose and demonstrate a searching and autoalignment method for indoor optical wireless communication, using a cost-effective retroreflective sheet and a microelectromechanical system (MEMS) mirror. We use an extremum-seeking method for a single axis and beam steering with a MEMS mirror to maintain a line of sight (LOS) with the optical link. This autoalignment method shows a receiver sensitivity of -31.87 dBm for a bit rate of 2.5 Gb/s over a 7 m communication link.

• Structural Engineering and Mechanics
• /
• v.28 no.6
• /
• pp.695-713
• /
• 2008

The aim of this contribution is to present a new link/beam finite element suitable for electrothermo-structural analysis of uni-axially graded materials. Continuous polynomial variation of geometry and material properties will be considered. The element matrix and relations for solution of Joule's heat (and its distribution to the element nodes) have been established in the sense of a sequence method of a coupled problem solution. The expression for the solution of nodal forces caused by a continuously distributed temperature field has also been derived. The theoretical part of this contribution is completed by numerical validation, which proves the high accuracy and effectiveness of the proposed element. The results of the performed experiments are compared with those obtained using the more expensive multiphysical link element and solid element of the FEM program Ansys. The proposed finite element could be used not only in the multiphysical analysis of the current paths and actuators but also in analysis of other 1D construction parts made of composite or uni-axially graded materials.

• Steel and Composite Structures
• /
• v.37 no.3
• /
• pp.323-339
• /
• 2020

In steel framed-tube structures (SFTSs), the plastic hinges at beam-ends cannot be adequately improved because of the large cross sections of spandrel beams, which results in the lower ductility and energy dissipation capacities of traditional SFTSs. To address this drawback, high-strength steel fabricated SFTSs with bolted web-connected replaceable shear links (HSFTS-SLs) have been proposed. In this system, shear links use conventional steel and are placed in the middle of the deep spandrel beams to act as energy dissipative components. In this study, 2/3-scaled HSFTS-SL specimens were fabricated, and cyclic loading tests were carried out to study the seismic performance of both specimens. The finite element models (FEMs) of the two specimens were established and the numerical results were compared with the test results. The results showed that the specimens had good ductility and energy dissipation capacities due to the reliable deformation capacities. The specimens presented the expected failure modes. Using a shorter shear link can provide a higher load-carrying capacity and initial elastic lateral stiffness but induces lower ductility and energy dissipation capacity in HSFTS-SLs. The performance of the specimens was comparable to that of the original sub-structure specimens after replacing shear links. Additionally, the expected post-earthquake recoverability and resilience of the structures could be achieved by replacing shear links. The acceptable residual interstory drift that allows for easy replacement of the bolted web-connected shear link was 0.23%. The bolted web-connected shear links had reliable hysteretic responses and deformation capacities. The connection rotation had a notable contribution to total link rotation. The results of the numerical analysis run for the proposed FEMs were consistent with the test results. It showed that the proposed FEMs could be used to investigate the seismic performance of the HSFTS-SL.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.33 no.8C
• /
• pp.617-626
• /
• 2008

Opportunistic Beamforming (OBF) offers a way to provide the multiuser diversity even in slow fading channel by using randomly generated beam weights, leading to the substantially reduced feedback in the form of the instantaneous SNR from users. In spite of the advantage of the reduced feedback, the imperfect channel estimation might influence the quality of the estimated SNR and channel scheduler so bad that the selected AMC level would be higher than the achievable rate of the actual channel, resulting the corruption of transmitted packet. In this paper, we propose a conservative link adaptation, where the estimated SNR is scaled down by a conservative factor which minimizes the variance of the maximum difference between the actual channel SNR and the resultant SNR. To support the proposed scheme, we analyze the statistics of the difference of the channel SNR and the estimated SNR. Simulation results show that the introduction of conservative factor achieves more than two-fold performance improvement in the presence of channel estimation error and the fairness of PF scheduler is maintained when the least squared channel estimator is applied.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.4
• /
• pp.320-328
• /
• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.40 no.7
• /
• pp.1354-1362
• /
• 2015

Heterogeneous network technology is expected to be a core technology for 5G mobile communications. 5G mobile network would be composed of many base stations even have mobility, then the operator should connect base stations through the wireless backhaul technology. This paper presents Ultra Wide Area Wireless Backhaul Network System with massive array antenna. We conducted link budget analysis for Ultra Wide Area Wireless Backhaul Network and performance analysis of massive array antenna system through the transmission simulator based on beamforming technology. In wide area ($10km^2$) wireless backhaul system composed of massive antenna, we achieved 5 bps/Hz average spectral efficiency with 1 W transmission power per beam.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.47 no.5
• /
• pp.18-24
• /
• 2010

This paper propose a dual-layer beam-forming technique for MIMO-OFDM systems. Dual-layer beam-forming is a capacity enhancing technique to transmit two streams of source data with more than two transmit and receive antennas. Beamforming is a technique to enhance the link-level performances gain using antenna array with the small inter element distance. The proposed scheme can obtain both high capacity of spatial multiplexing and antenna array gain of beamforming for MIMO-OFDM systems. Therefore, it provides better BER performance than the traditional spatial multiplexing and beamforming techniques under the same simulation environment.