• 로봇학회논문지
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• 제4권1호
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• pp.17-24
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• 2009

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.

• Structural Engineering and Mechanics
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• 제28권1호
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• pp.89-105
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• 2008

The paper presents a study on the effects of soil-structure-interaction (SSI) on the performance of the compliant liquid column damper (CLCD) for the seismic vibration control of short period structures. The frequency-domain formulation for the input-output relation of a flexible-base structure with CLCD has been derived. The superstructure has been modeled as a linear, single degreeof-freedom (SDOF) system. The foundation has been considered to be attached to the underlying soil medium through linear springs and viscous dashpots, the properties of which have been represented by complex valued impedance functions. By using a standard equivalent linearization technique, the nonlinear orifice damping of the CLCD has been replaced by equivalent linear viscous damping. A numerical stochastic study has been carried out to study the functioning of the CLCD for varying degrees of SSI. Comparison of the damper performance when it is tuned to the fixed-base structural frequency and when tuned to the flexible-base structural frequency has been made. The effects of SSI on the optimal value of the orifice damping coefficient of the damper has also been studied. A more convenient approach for designing the damper while considering SSI, by using an established model of a replacement oscillator for the structure-soil system has also been presented. Finally, a simulation study, using a recorded accelerogram, has been carried out on the CLCD performance for the flexible-base structure.

• 한국컴퓨터정보학회지
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• 제14권1호
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• pp.175-184
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• 2006

이 연구에서는 유비쿼터스 컴퓨팅 환경에서 정보 보안 문제를 접근 제어 기법을 중심으로 두가지 방식에 대한 연구 형태를 분석 고찰하며, 기존 연구들의 장단점을 비교하여 유비쿼터스 환경에서의 상황 인식 서비스 플랫폼 개발시 핵심적으로 고려해야할 중요 요소를 설계할 때 필요한 레퍼런스를 제안한다. 첫 번째는, 유비쿼터스 환경에서 역할 기반 접근 제어 방식을 적용하는데 문제점을 상황 정보를 활용하여 해결하는 연구 방향에 대한 고찰이다. 두 번째는, 유비쿼터스 환경에서 상황 정보는 개인의 정보 보호에 관련해 중요한 사항이므로, 여기에 역할 기반 접근 제어 방법을 적용하여 해결하는 연구이다. 이러한 두 가지 연구 방향은 상황 인식 서비스 플랫폼 설계시 중요하게 고려해야 할 사항이다.

• Journal of information and communication convergence engineering
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• 제9권5호
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• pp.545-550
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• 2011

Trilateration is a typical method to locate an object, which requires inherently at least three prerecognized reference points. In some cases, owing to out of reachability to communication facilities the target node cannot be reachable always to three base stations. This paper presents a predictive method, which can identify the location of a moving target node in real time even though the target node could not get in touch with all three base stations. The method is based on the PIDcontrolled Moving Objects Spatio-Temporal Model Algorithm. Simulation results verify that this method can predict the moving direction of a moving target, and then combine with its past position information to judge accurately the location.

• Smart Structures and Systems
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• 제6권8호
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• pp.953-974
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• 2010

The performance of variable dampers for seismic protection of the benchmark highway bridge (phase I) under six real earthquake ground motions is presented. A simplified lumped mass finite-element model of the 91/5 highway bridge in Southern California is used for the investigation. A variable damper, developed from magnetorheological (MR) damper is used as a semi-active control device and its effectiveness with friction force schemes is investigated. A velocity-dependent damping model of variable damper is used. The effects of friction damping of the variable damper on the seismic response of the bridge are examined by taking different values of friction force, step-coefficient and transitional velocity of the damper. The seismic responses with variable dampers are compared with the corresponding uncontrolled case, and controlled by alternate sample control strategies. The results of investigation clearly indicate that the base shear, base moment and mid-span displacement are substantially reduced. In particular, the reduction in the bearing displacement is quite significant. The friction and the two-step friction force schemes of variable damper are found to be quite effective in reducing the peak response quantities of the bridge to a level similar to or better than that of the sample passive, semi-active and active controllers.

• Nuclear Engineering and Technology
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• 제41권1호
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• pp.125-134
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• 2009

This paper presents details on a tube inspection robotic system and a positioning method of the robot for a steam generator (SG) in nuclear power plants (NPPs). The robotic system is separated into three parts for easy handling, which reduces the radiation exposure during installation. The system has a supporting leg to increase the rigidity of the robot base. Since there are several thousands of tubes to be inspected inside a SG, it is very important to position the tool of the robot at the right tubes even if the robot base is positioned inaccurately during the installation. In order to obtain absolute accuracy of a position, the robot kinematics was mathematically modeled with the modified DH(Denavit-Hartenberg) model and calibrated on site using tube holes as calibration points. To tune the PID gains of a commercial motor driver systematically, the time delay control (TDC) based gain tuning method was adopted. To verify the performance of the robotic system, experiments on a Framatomes 51B Model type SG mockup were undertaken.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2005년도 춘계 학술발표회 논문집
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• pp.201-208
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• 2005

Neuro-Fuzzy modeling approach is proposed to predict the dynamic behavior of a single-degree-of-freedom structure that is equipped with hybrid base isolation system. Hybrid base isolation system consists of friction pendulum systems (FPS) and a magnetorheological (MR) damper. Fuzzy model of the M damper is trained by ANFIS using various displacement, velocity, and voltage combinations that are obtained from a series of performance tests. Modelling of the FPS is carried out with a nonlinear analytical equation that is derived in this study and neuro-fuzzy training. Fuzzy logic controller is employed to control the command voltage that is sent to MR damper. The dynamic responses or experimental structure subjected to various earthquake excitations are compared with numerically simulated results using neuro-fuzzy modeling method. Numerical simulation using neuro-fuzzy models of the MR damper and FPS predict response of the hybrid base isolation system very well.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2000년도 가을 학술발표회논문집(I)
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• pp.81-86
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• 2000

In recent modern protective systems have been introduced to reduce the vulnerability of bridges to seismic events. These protective systems include base isolation devices of different types, damping devices and active control devices. The objective of this study is to analytically evaluate the efficiency of a seismic retrofit scheme using base isolation systems, such as lead rubber bearings and sliding isolators. In this study, a triaxial model was used, which is capable of accurately developing the behavior of sliding isolators including the influence of the changing vertical force and velocity on the friction coefficients. Seismic response analyses of the bridge before and after retrofit were carried out by using a three-dimensional nonlinear seismic analysis program, IDARC-BRIDGE. To evaluate the efficiency of a retrofit scheme using triaxial isolators, a comparative study of performances of above two base isolation systems was conducted, and the numerical results show that the triaxial isolation solution can effectively reduce the sheat forces at the piers for the vertical ground motion.

• 소음진동
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• 제7권5호
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• pp.837-845
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• 1997

본 연구에서는 가압경수로의 핵심부품인 원자로용기와 제어봉구동장치사이의 동적 상호작용의 영향을 평가하였다. 원자로용기와 제어봉구동장치를 단순 수학모델화하여 단순조화 기저가진에 대한 정상상태 주파수응답을 구하고, 응답을 최소화할 수 있는 설계변수를 제시하였다. 단순 수학모델의 적합성을 입증하기 위하여 원자로용기와 제어봉구동장치의 유한요소 모델에 대하여 ANSYS 코드를 사용하여 해석한 후 정상상태응답을 수학모델로 구한 응답과 비교하였다. 또한 기존설계와 최적화설계에 대하여 지진사고 시간이력해석을 각각 수행함으로써, 본 연구에서 제시한 최적설계변수가 내진설계에 대하여도 적용할 수 있음을 확인하였다.

• 제어로봇시스템학회논문지
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• 제11권2호
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• pp.152-159
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• 2005

This paper describes the application of a model-based system design method critical to complex intelligent systems, PSARE, to a welding robot development to define its top level architecture. The PSARE model consists of requirement model which describes the core processes(function) of the system, enhanced requirement model which adds technology specific processes to requirement model and allocates them to architecture model, and architecture model which describes the structure and interfaces and flows of the modules of the system. This paper focuses on the detailed procedure and method rather than the detailed domain model of the welding robot. In this study, only the top level architecture of a welding robot was defined using the PSARE method. However, the method can be repeatedly applied to the lower level architecture of the robot until the process which the robot should perform can be clearly defined. The enhanced data flow diagram in this model separates technology independent processes and technology specific processes. This approach will provide a useful base not only for improvement of a class of welding robots but also for development of increasingly complex intelligent real-time systems.