• Journal of Mechanical Science and Technology
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• 제20권5호
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• pp.591-601
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• 2006

In this paper, we present a new control methodology for perturbed crane systems. Nonlinear crane systems are transformed to linear models by feedback linearization. An inverse dynamic equation is applied to compute the system PD control force. The PD control parameters are selected based on a nominal model and are therefore suboptimal for a perturbed system. To achieve the desired performance despite model perturbations, we construct a neural network auxiliary controller to compensate for modeling errors and disturbances. The overall control input is the sum of the nominal PD control and the neural auxiliary control. The neural network is iteratively trained with a perturbed system until acceptable performance is attained. We apply the proposed control scheme to 2- and 3-degree-of-freedom (D.O.F.) crane systems, with known bounds on the payload mass. The effectiveness of the control approach is numerically demonstrated through computer simulation experiments.

• 대한수학회보
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• 제52권3호
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• pp.895-906
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• 2015

Recently, Li [12] gave an asymptotic formula for the ultimate ruin probability in a delayed-claim risk model with constant force of interest and pairwise quasi-asymptotically independent and extended-regularly-varying-tailed claims. This paper extends Li's result to the case in which the risk model is perturbed by diffusion, the claims are consistently-varying-tailed and the main-claim interarrival times are widely lower orthant dependent.

• 산업경영시스템학회지
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• 제31권4호
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• pp.146-152
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• 2008

This study was aimed to understand the effects of perturbed floor surface on human postural stability while standing. Ten subjects were asked to stand quietly on the surface with two angles of inclination ($0^{\circ}$ and $5^{\circ}$), two contamination conditions (dry and oil-contaminated), and three commercial floor materials (ceramic tile, coated wood, and vinyl tile). During each trial, a force plate with data acquisition systems was used to collect subject's center of pressure (COP) position. Measured COPs were then converted into the length of postural sway path in both subject's anterior-posterior (AP) and medio-lateral (ML) axis. Results showed that the length of sway path in ML axis was significantly affected by the angle of inclination and the type of floor material. The sway length was increased significantly at the inclination angle of $5^{\circ}$ and on the vinyl tile, respectively. The contamination condition, however, did not significantly affect the postural sway length in both AP and ML axis. The results imply that a proper treatment of floor surface and material is critical to preserving postural balance while standing.

• Smart Structures and Systems
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• 제10권4_5호
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• pp.485-499
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• 2012

Mode shape expansion is useful in structural dynamic studies such as vibration based structural health monitoring; however most existing expansion methods can not consider the modelling errors in the finite element model and the measurement uncertainty in the modal properties identified from vibration data. This paper presents a reliable approach for expanding mode shapes with consideration of both the errors in analytical model and noise in measured modal data. The proposed approach takes the perturbed force as an unknown vector that contains the discrepancies in structural parameters between the analytical model and tested structure. A regularisation algorithm based on the Tikhonov solution incorporating the L-curve criterion is adopted to reduce the influence of measurement uncertainties and to produce smooth and optimised expansion estimates in the least squares sense. The Canton Tower benchmark problem established by the Hong Kong Polytechnic University is then utilised to demonstrate the applicability of the proposed expansion approach to the actual structure. The results from the benchmark problem studies show that the proposed approach can provide reliable predictions of mode shape expansion using only limited information on the operational modal data identified from the recorded ambient vibration measurements.

• Structural Engineering and Mechanics
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• 제52권5호
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• pp.903-918
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• 2014

Large space structures may have resonant low eigenvalues and often these appear with closely-spaced natural frequencies. Owing to the coupling among modes with closely-spaced natural frequencies, each eigenvector corresponding to closely-spaced eigenvalues is ill-conditioned that may cause structural instability. The subspace to an invariant subspace corresponding to closely-spaced eigenvalues is well-conditioned, so a method is presented to design the feedback control law of intelligent structures with closely-spaced eigenvalues in this paper. The main steps are as follows: firstly, the system with closely-spaced eigenvalues is transformed into that with repeated eigenvalues by the spectral decomposition method; secondly, the computation for the linear combination of eigenvectors corresponding to repeated eigenvalues is obtained; thirdly, the feedback control law is designed on the basis of the system with repeated eigenvalues; fourthly, the system with closely-spaced eigenvalues is regarded as perturbed system on the basis of the system with repeated eigenvalues; finally, the feedback control law is applied to the original system, the first order perturbations of eigenvalues are discussed when the parameter modifications of the system are introduced. Numerical examples are given to demonstrate the application of the present method.

• Journal of Astronomy and Space Sciences
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• 제20권4호
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• pp.319-326
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• 2003

The motion of each satellite in a tethered satellite system is non-Keplerian in the Earth's gravitational field. In this paper, the tether perturbation force is formulated and compared with the perturbation force due to the Earth's oblateness. Also, the center of mass motion of the tethered satellite system is analyzed. The tether perturbing force on the one of satellites in a tethered satellite system is much bigger than the Earth's oblateness perturbation. The two-body motion approximation of the center of mass is acceptable to describe the motion of the system, when the libration is small.

• 정보저장시스템학회:학술대회논문집
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• 정보저장시스템학회 2005년도 추계학술대회 논문집
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• pp.177-178
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• 2005

The load/unload behavior of the hard disk drive slider is studied in terms of the air bearing static characteristics. The numerical continuation methods are applied to calculate suspension force - equilibrium position curve. The critical preloads of the femto size slider are analyzed. The hi-stability conditions are depicted on the skew angle - preload diagram. The perturbation method is used to check the stability of the solution branches.

• 한국자동차공학회논문집
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• 제8권4호
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• pp.169-176
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• 2000

Longitudinal and lateral forces acting on tires are known to be closely related to the tract-ability braking characteristics handling stability and maneuverability of ground vehicles. In thie paper in order to develop tire force monitoring systems a monitoring model is proposed utilizing not only the vehicle dynamics but also the roll motion. Based on the monitoring model three monitoring systems are developed to estimate the tire force acting on each tire. Two monitoring systems are designed utilizing the conventional estimation techniques such as SMO(Sliding Mode Observer) and EKF(Extended Kalman Filter). An additional monitoring system is designed based on a new SKFMEC(Scaled Kalman Filter with Model Error Compensator) technique which is developed to improve the performance of EKF method. Tire force estimation performance of the three monitoring systems is compared in the Matlab simulations where true tire force data is generated from a 14 DOF vehicle model with the combined-slip Magic Formula tire model. The built in our Lab. simulation results show that the SKFMEC method gives the best performance when the driving and road conditions are perturbed.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 1999년도 제29회 춘계학술대회
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• pp.175-181
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• 1999

The present work is an attempt to calculate the steady state pressure and perturbed pressure of journal bearings that has a helical groove. A coordinate is fitted to the helical groove and governing equation is derived by applying generalized coodinate system to the divergence formulation method. This method makes it possible to deal with an arbitrary configuration of a lubricated surface. The dynamical response of shaft-bearing system is calculated using the bearing reaction force and external force.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2004년도 학술대회지
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• pp.143-148
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• 2004

The numerical analysis of the hard disk drive slider is presented. The pressure distribution was calculated using the finite element method. The generalized Reynolds equation was applied in order to include the gas rarefaction effect. The balance of the air bearing force and preload force was considered. The characteristics of the small vibrations near the equilibrium were studied using the perturbation method. Triangular mesh with variable element size was employed to model the two-rail slider. The flying height, pitching angle, rolling angle, stiffness and damping of the two-rail slider were calculated for radial position changing from the inner radius to the outer radius and for a wide range of the slider crown values. It was found that the flying height, pitching angle and rolling angle were increased with radial position while the stiffness and damping coefficients were decreased. The higher values of crown resulted in increased flying height, pitching angle and damping and decreased stiffness.