• 전기학회논문지
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• 제57권8호
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• pp.1362-1370
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• 2008

This paper describes the design and characteristic analysis of a novel 3-DOF(Degree of Freedom) spherical motor. For multi DOF actuating, several numbers of motors have been used. By the using of normal motors they connected each other in single joint, is necessary to a several type of complex power transmission devices. The 3-DOF spherical motor can drive roll, pitch, and yaw motion in only one unit and it is not necessary to use additional gears and links parts. Therefore the using of 3-DOF spherical motor can eliminate; combined effects of inertia, backlash, non-linear friction, and elastic deformation of gears. In this paper, we propose the novel structured 3-DOF spherical motor and derive its principles of operation. Firstly, we designed concept model of novel structured 3-DOF spherical motor. Next, we derive the control method by calculating the currents. Also, to have intuitive driving control, we express the rotor position in equivalent angle-axis system and determine the exciting period of currents from the calculation result of the currents. To verify the control method, we calculated the currents by the position of rotor. and then we analyzed the characteristics by 3D Finite Element Method when the calculated currents are excited.

• Smart Structures and Systems
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• 제13권2호
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• pp.257-280
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• 2014

In this paper, a novel PARAllel FACtor (PARAFAC) decomposition based Blind Source Separation (BSS) algorithm is proposed for modal identification of structures equipped with tuned mass dampers. Tuned mass dampers (TMDs) are extremely effective vibration absorbers in tall flexible structures, but prone to get de-tuned due to accidental changes in structural properties, alteration in operating conditions, and incorrect design forecasts. Presence of closely spaced modes in structures coupled with TMDs renders output-only modal identification difficult. Over the last decade, second-order BSS algorithms have shown significant promise in the area of ambient modal identification. These methods employ joint diagonalization of covariance matrices of measurements to estimate the mixing matrix (mode shape coefficients) and sources (modal responses). Recently, PARAFAC BSS model has evolved as a powerful multi-linear algebra tool for decomposing an $n^{th}$ order tensor into a number of rank-1 tensors. This method is utilized in the context of modal identification in the present study. Covariance matrices of measurements at several lags are used to form a $3^{rd}$ order tensor and then PARAFAC decomposition is employed to obtain the desired number of components, comprising of modal responses and the mixing matrix. The strong uniqueness properties of PARAFAC models enable direct source separation with fine spectral resolution even in cases where the number of sensor observations is less compared to the number of target modes, i.e., the underdetermined case. This capability is exploited to separate closely spaced modes of the TMDs using partial measurements, and subsequently to estimate modal parameters. The proposed method is validated using extensive numerical studies comprising of multi-degree-of-freedom simulation models equipped with TMDs, as well as with an experimental set-up.

• 한국전산구조공학회논문집
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• 제16권2호
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• pp.173-182
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• 2003

비선형 정적해석 및 에너지를 이용한 설계방법에서는 구조물을 등가의 단자유도계로 치환하여 해석하는 것이 일반적이다. 본 연구에서는 지진하중에 의한 3층, 8층, 20층 철골 모멘트저항골조(MRF), 비좌굴 가새골조(BRBF)와 힌지접합 비좌굴 가새골조 (DTBF) 구조물의 에너지 요구량을 등가 단자유도계 시스템(ESDOF)의 에너지 요구량과 비교하여 등가단자유도계로 치환하는 방법의 타당성을 검토하였다 입력에너지와 이력에너지를 산정하기 위하여 연암 지반, 연약한 토사, 단층 근처의 지반에서 계측된 60개의 지진을 사용하였으며, 모드 질량계수가 0.8보다 작은 경우 ESDOF로 변환할 때 고차모드의 효과를 고려하였다. 연구결과에 따르면 3층과 8층 MRF와 DTBF에서의 이력에너지와 입력에너지는 ESDOF의 해석결과와 비교적 잘 일치하였다. 그러나 20층 BRBF에서는 ESDOF의 결과가 본 구조물의 결과를 과소평가하는 것으로 나타났다.

• 한국전산구조공학회논문집
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• 제28권2호
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• pp.187-195
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• 2015

가스 생산용 해양플랜트 설비에서 발생할 수 있는 폭발사고의 경우, 구조 시스템의 기하학적 특성이나, 바람, 가스 누출율 등과 같은 환경적 조건에 의해 피해 규모의 범위가 상당하다. 따라서 폭발파에 의한 구조 부재의 응답을 분석하기 위해서는 이러한 조건들을 고려한 가스폭발 수치해석 과정이 반드시 필요하다. 본 연구에서는 FPSO 탑사이드의 형상 및 장비 배치와 같은 세부적인 부분까지 고려하여 폭발해석을 수행하였으며, 이를 바탕으로 획득한 하중 이력들의 특성을 분석하였다. 또한 다양한 형태로 나타나는 폭발하중 이력들 중 구조물 손상에 직접적으로 영향을 미칠 수 있는 최대 압력과 지속시간들을 고려하여 유한요소해석 시 하중조건으로 적용한 후, 부재의 응답특성에 관한 분석을 수행하였다. 유한요소해석 모델은 실제 구조물에 적용이 가능하고, 복잡한 형상을 이상화한 단 자유도 및 다 자유도 모델을 사용하였다. 정 압력 및 부 압력단계의 최대 압력이 증가함에 따라 구조 부재의 최대 응답이 증가하였고, 부 압단계에서 하중 지속시간이 증가함에 따라 구조물의 최대 변위가 증가는 경향을 보였다.

• Structural Engineering and Mechanics
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• 제38권1호
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• pp.39-63
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• 2011

Referring to the formulation of physical stochastic optimal control of structures and the scheme of optimal polynomial control, a nonlinear stochastic optimal control strategy is developed for a class of structural systems with hysteretic behaviors in the present paper. This control strategy provides an amenable approach to the classical stochastic optimal control strategies, bypasses the dilemma involved in It$\hat{o}$-type stochastic differential equations and is applicable to the dynamical systems driven by practical non-stationary and non-white random excitations, such as earthquake ground motions, strong winds and sea waves. The newly developed generalized optimal control policy is integrated in the nonlinear stochastic optimal control scheme so as to logically distribute the controllers and design their parameters associated with control gains. For illustrative purposes, the stochastic optimal controls of two base-excited multi-degree-of-freedom structural systems with hysteretic behavior in Clough bilinear model and Bouc-Wen differential model, respectively, are investigated. Numerical results reveal that a linear control with the 1st-order controller suffices even for the hysteretic structural systems when a control criterion in exceedance probability performance function for designing the weighting matrices is employed. This is practically meaningful due to the nonlinear controllers which may be associated with dynamical instabilities being saved. It is also noted that using the generalized optimal control policy, the maximum control effectiveness with the few number of control devices can be achieved, allowing for a desirable structural performance. It is remarked, meanwhile, that the response process and energy-dissipation behavior of the hysteretic structures are controlled to a certain extent.

• 방사성폐기물학회지
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• 제17권2호
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• pp.227-234
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• 2019

국내 고준위 방사성폐기물 심층처분시스템에 대한 프로세스 기반의 종합성능평가체계(APro) 개발을 위하여 사용자 편의성이 향상된 모델링 인터페이스를 구축하였다. APro의 모델링 인터페이스는 프로그래밍 언어인 MATLAB을 이용하여 구축되었고, 다중물리현상 모사가 가능한 COMSOL과 지화학반응 계산이 가능한 PHREEQC를 계산 엔진으로 활용하여 연산자분리 방식을 적용하였다. APro는 모델링 영역을 기존의 정형화된 처분시스템으로 제한함으로써 모델의 자유도는 낮지만, 사용자 편의성을 향상시켰다. 처분시스템에서 고려되는 주요 현상들을 모듈화하였고, 이를 "Default process"와 다수의 "Alternative process"로 구분하여 사용자가 선택할 수 있도록 함으로써 모델의 유연성을 높였다. APro는 크게 입력자료 부분과 계산실행 부분으로 구성된다. 기본 입력자료는 하나의 EXCEL 파일에 일정한 포맷으로 정리되고, 계산실행 부분은 MATLAB을 이용하여 코딩되었다. 최종적인 전체 계산 결과는 독립적인 COMSOL 파일 형태로 생성되도록 하여 COMSOL을 이용한 계산 결과의 후처리가 가능하도록 하였다.

• 한국구조물진단유지관리공학회 논문집
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• 제25권3호
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• pp.21-30
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• 2021

건축문화재들은 다양한 환경적 요인들로 인해 많은 손상이 발생된다. 손상된 문화재를 보존하기 위해서 예방보존 및 장기적인 보존관리가 더욱 중요해지고 있다. 그래서 정기적인 점검 시에 적용 가능한 과학적인 비파괴 검사 방법에 대한 연구가 요구되고 있다. 관련된 연구를 위해서, 여러 문화재들 중에서 높은 깃대 형상의 당간을 연구 대상으로 선정하였다. 보존되고 있는 당간들 중에서 보물 제49호 나주 석당간을 선정하여, 구조 안정성을 평가하기 위한 분석 기법에 대한 기초적인 연구를 진행하였다. 이상화된 모델을 제시하고, 다자유도 운동방정식을 유도하였다. 그리고 연결부 위치별 임계 강성 값을 추정할 수 있는 식을 제시하였다.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.1-9
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• 2016

In this paper, we propose a new learning control scheme for various walk motion control of biped robot with same learning-base by neural network. We show that learning control algorithm based on the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multi layer back propagation neural network identification is simulated to obtain a dynamic model of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The biped robots have been received increased attention due to several properties such as its human like mobility and the high-order dynamic equation. These properties enable the biped robots to perform the dangerous works instead of human beings. Thus, the stable walking control of the biped robots is a fundamentally hot issue and has been studied by many researchers. However, legged locomotion, it is difficult to control the biped robots. Besides, unlike the robot manipulator, the biped robot has an uncontrollable degree of freedom playing a dominant role for the stability of their locomotion in the biped robot dynamics. From the simulation and experiments the reliability of iterative learning control was illustrated.

• 대한조선학회논문집
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• 제36권2호
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• pp.114-120
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• 1999

기존의 DDAM에서 충격응답해석을 위해 널리 채용되는 수학적 모델은 단순화된 다자유도의 질량 스프링계 모델이었다. 그러나 근래에는 탑재장비가 점점 복잡하고 다양해지기 때문에 이들을 전체 유한요소 모델로 모델링해서 충격해석을 실시하고 있다. 본 논문에서는 범용 구조유한요소 해석프로그램인 MSC/NASTRAN에서 제공하는 DMAP 기능을 활용하여 선박, 함정용 탑재장비의 내충격 안전성평가에 활용할 수 있는 DDAM 프로그램을 개발하였다. 고유진동해석후 DMAP으로 추출한 데이터를 입력치로 하여 본 연구에서 개발된 DDAM에 의해 도출된 장비의 유효질량, 중량, 충격응답등은 ANSYS에서 제공하는 DDAM 결과와 비교되었다. 대체적으로 두 결과는 잘 일치하여 프로그램의 유용성 및 정확성이 확인되었다.

• 한국운동역학회지
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• 제15권3호
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• pp.143-152
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• 2005

The purpose of this study was to predict the failure or success of the Snatch-lifting trial as a consequence of the stand-up phase simulated in Kane's equation of motion that was effective for the dynamic analysis of multi-segment. This experiment was a case study in which one male athlete (age: 23yrs, height: 154.4cm, weight: 64.5kg) from K University was selected The system of a simulation included a multi-segment system that had one degree of freedom and one generalized coordinate for the shank segment angle. The reference frame was fixed by the Nonlinear Trans formation (NLT) method in order to set up a fixed Cartesian coordinate system in space. A weightlifter lifted a 90kg-barbell that was 75% of subject's maximum lifting capability (120kg). For this study, six cameras (Qualisys Proreflex MCU240s) and two force-plates (Kistler 9286AAs) were used for collecting data. The motion tracks of 11 land markers were attached on the major joints of the body and barbell. The sampling rates of cameras and force-plates were set up 100Hz and 1000Hz, respectively. Data were processed via the Qualisys Track manager (QTM) software. Landmark positions and force-plate amplitudes were simultaneously integrated by Qualisys system The coordinate data were filtered using a fourth-order Butterworth low pass filtering with an estimated optimum cut-off frequency of 9Hz calculated with Andrew & Yu's formula. The input data of the model were derived from experimental data processed in Matlab6.5 and the solution of a model made in Kane's method was solved in Matematica5.0. The conclusions were as follows; 1. The torque motor of the shank with 246Nm from this experiment could lift a maximum barbell weight (158.98kg) which was about 246 times as much as subject's body weight (64.5kg). 2. The torque motor with 166.5 Nm, simulated by angular displacement of the shank matched to the experimental result, could lift a maximum barbell weight (90kg) which was about 1.4 times as much as subject's body weight (64.5kg). 3. Comparing subject's maximum barbell weight (120kg) with a modeling maximum barbell weight (155.51kg) and with an experimental maximum barbell weight (90kg), the differences between these were about +35.7kg and -30kg. These results strongly suggest that if the maximum barbell weight is decided, coaches will be able to provide further knowledge and information to weightlifters for the performance improvement and then prevent injuries from training of weightlifters. It hopes to apply Kane's method to other sports skill as well as weightlifting to simulate its motion in the future study.