• Structural Engineering and Mechanics
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• 제62권6호
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• pp.709-717
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• 2017

This paper develops a two-stage method for structural damage identification by using modal data. First, the Residual Force Vector (RFV) is introduced to detect any potentially damaged elements of structures. Second, data of the frequency domain are used to build up the objective function, and then the Imperialist Competitive Algorithm (ICA) is utilized to estimate damaged extents. ICA is a heuristic algorithm with simple structure, which is easy to be implemented and it is effective to deal with high-dimension nonlinear optimization problem. The advantages of this present method are: (1) Calculation complexity can be decreased greatly after eliminating many intact elements in the first step. (2) Robustness, ICA ensures the robustness of the proposed method. Various damaged cases and different structures are investigated in numerical simulations. From these results, anyone can point out that the present algorithm is effective and robust for structural damage identification and is also better than many other heuristic algorithms.

• Steel and Composite Structures
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• 제25권4호
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• pp.485-496
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• 2017

In this paper, damage detection has been introduced as an optimization problem and a two-step method has been proposed that can detect the location and severity of damage in truss structures precisely and reduce the volume of computations considerably. In the first step, using the residual force vector concept, the suspected damaged members are detected which will result in a reduction in the number of variables and hence a decrease in the search space dimensions. In the second step, the precise location and severity of damage in the members are identified using the genetic algorithm and the results of the first step. Considering the reduced search space, the algorithm can find the optimal points (i.e. the solution for the damage detection problem) with less computation cost. In this step, the Efficient Correlation Based Index (ECBI), that considers the structure's first few frequencies in both damaged and healthy states, is used as the objective function and some examples have been provided to check the efficiency of the proposed method; results have shown that the method is innovatively capable of detecting damage in truss structures.

• Structural Engineering and Mechanics
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• 제63권2호
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• pp.251-257
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• 2017

A local damage identification method using measured structural static displacement is proposed in this study. Based on the residual force vector deduced from the static equilibrium equation, residual strain energy (RSE) is introduced, which can localize the damage in the element level. In the case of all the nodal displacements are used, the RSE can localize the true location of damage, while incomplete displacement measurements are used, some suspicious damaged elements can be found. A model updating method based on static displacement response sensitivity analysis is further utilized for accurate identification of damage location and extent. The proposed method is verified by two numerical examples. The results indicate that the proposed method is efficient for damage identification. The advantage of the proposed method is that only limited static displacement measurements are needed in the identification, thus it is easy for engineering application.

• Structural Engineering and Mechanics
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• 제81권2호
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• pp.195-203
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• 2022

This paper presents the quantification and location damage detection of plane and space truss structures in a two-phase method to reduce the computations efforts significantly. In the first phase, a proposed damage indicator based on the residual force vector concept is used to get the suspected damaged members. In the second phase, using damage quantification as a variable, a teaching-learning based optimization algorithm (TLBO) is used to obtain the damage quantification value of the suspected members obtained in the first phase. TLBO is a relatively modern algorithm that has proved distinguished in solving optimization problems. For more verification of TLBO effeciency, the classical particle swarm optimization (PSO) is used in the second phase to make a comparison between TLBO and PSO algorithms. As it is clear, the first phase reduces the search space in the second phase, leading to considerable reduction in computations efforts. The method is applied on three examples, including plane and space trusses. Results have proved the capability of the proposed method to precisely detect the quantification and location of damage easily with low computational efforts, and the efficiency of TLBO in comparison to the classical PSO.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• Structural Engineering and Mechanics
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• 제75권5호
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• pp.585-594
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• 2020

Detecting the damage of indeterminate trusses is of major importance in the literature. This paper proposes a quick approach in this regard, utilizing a precise mathematical approach based on Finite Element Method. Different to a general two-step method defined in the literature essentially based on optimization approach, this method consists of three steps including Damage-Suspected Element Identification step, Imminent Damaged Element Identification step, and finally, Damage Severity Detection step and does not need any optimizing algorithm. The first step focuses on the identification of damage-suspected elements using an index based on modal residual force vector. In the second step, imminent damage elements are identified among the damage-suspected elements detected in the previous step using a specific technique. Ultimately, in the third step, a novel relation is derived to calculate the damage severity of each imminent damaged element. To show the efficiency and quick function of the proposed method, three examples including a 25-bar planar truss, a 31-bar planar truss, and a 52-bar space truss are studied; results of which indicate that the method is innovatively capable of suitably detecting, for indeterminate trusses, not only damaged elements but also their individual damage severity by carrying out solely one analysis.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권1호
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• pp.14-26
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• 2014

This paper provides the prediction of ultimate longitudinal strengths of the hull girders of a very large crude carrier considering probabilistic damage extent due to collision and grounding accidents based on IMO Guidelines (2003). The probabilistic density functions of damage extent are expressed as a function of non-dimensional damage variables. The accumulated probabilistic levels of 10%, 30%, 50%, and 70% are taken into account for the estimation of damage extent. The ultimate strengths have been calculated using the in-house software called Ultimate Moment Analysis of Damaged Ships which is based on the progressive collapse method, with a new convergence criterion of force vector equilibrium. Damage indices are provided for several probable heeling angles from $0^{\circ}$ (sagging) to $180^{\circ}$ (hogging) due to collision- and grounding-induced structural failures and consequent flooding of compartments. This paper proves from the residual strength analyses that the second moment of area of a damage section can be a reliable index for the estimation of the residual ultimate strength. A simple polynomial formula is also proposed based on minimum residual ultimate strengths.

• 한국전산구조공학회논문집
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• 제21권1호
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• pp.73-82
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• 2008

본 논문에서는 구조손상 탐색을 위해 매개변수 부 집합 선택에 의한 새로운 정규화 방법을 제안하였다. Residual function을 위해 동적 residual force 벡터를 이용하였다. 과거에는 Residual function으로서 기본 동적 특성치(고유치와 고유모드)를 이용하여 단일구조손상은 탐색할 수 있었지만 다중구조손상 위치를 탐색하기에는 한계가 있었을 뿐 아니라 고유모드와 고유치의 상이한 기여도 때문에 가중치를 적용해야 하는 어려움이 있었다. 본 논문에서 제안된 방법은 고유모드의 불완전한 계측을 보완하기 위하여 모델 확장법을 적용하였다. 제안된 구조손상 탐색법은 다중구조손상 위치를 동시에 찾아 낼 수 있는 장점을 가지고 있다. 2차원 평면 트러스 구조를 이용하여 제안된 방법의 효용성을 검증하였다.

• 한국해양학회지:바다
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• 제18권2호
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• pp.53-64
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• 2013

이 연구는 서해 천수만에서 2010년 7월 29일부터 8월 30일까지 33일동안 관측한 ADCP 자료와 바람(기상청), 서산AB지구의 방류량(한국농어촌공사 천수만사업단)자료를 분석하였다. 기술통계, 조류의 조화분석을 통해 조류의 특성을 파악했고, 스펙트럼(spectrum)과 코히런시(coherency) 분석, 콤플렉스 코릴레이션(complex correlation)과 진행 벡터(progressive vector) 등을 통해 비조류 특성을 파악하여 바람과 담수 유입이 잔차류에 미치는 영향을 알아보았다. 관측 유속의 범위는 -30~41 cm/sec였고, 표준편차는 저층에서 1.7 cm/sec, 표층에서 18.7 cm/sec로 계산되었다. 조화분석 결과 유향은 북북서-남남서 방향으로 주된 흐름을 보였다. M2의 조류타원 장축과 단축은 각각 9.4~14.8, 0.1~0.5 cm/sec의 범위를 보였고, S2의 경우 각각 4.4~7.0, 0.4~1.4 cm/sec의 범위를 보였다. 잔차류 전 수층의 대한 스펙트럼 분석 결과 3~6개의 유의한 주기가 2~8일 주기에 포함되어 있었으며, 바람도 유사한 결과를 보였다. 바람과 전 수층 잔차류의 코히런시 분석 결과 3~5개의 유의한 주기가 2.8일 이내의 위상차로 나타났고, 담수 유입량과 표층 잔차류의 코히런시 분석 결과 4.6일 주기가 가장 유의했으며, 위상차는 1.2일이었다. 잔차류의 진행 벡터는 전 층에서 북향했고, 표층보다 중층에서 북향하는 거리가 컸다. 잔차류의 북향은 바람의 계절적 요인에 기인했다고 볼 수 있으나, 만 북부에서 남하하는 담수의 영향(밀도류)에 의해 표층 잔차류 일부가 남향하는 흐름을 보였다.

• Parasites, Hosts and Diseases
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• 제47권2호
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• pp.159-165
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• 2009

House-residual spraying and insecticide-treated bed nets have achieved some success in controlling anthropophilic and endophagic vectors. However, these methods have relatively low efficacy in Korea because Anopheles sinensis, the primary malaria vector, is highly zoophilic and exophilic. So, we focused our vector control efforts within livestock enclosures using ultraviolet black light traps as a mechanical control measure. We found that black light traps captured significantly more mosquitoes at 2 and 2.5 m above the ground (P<0.05). We also evaluated the effectiveness of trap spacing within the livestock enclosure. In general, traps spaced between 4 and 7m apart captured mosquitoes more efficiently than those spaced closer together (P>0.05). Based on these findings, we concluded that each black light trap in the livestock enclosures killed 7,586 female mosquitoes per trap per night during the peak mosquito season (July-August). In May-August 2003, additional concurrent field trials were conducted in Ganghwa county. We got 74.9% reduction (P<0.05) of An. sinensis in human dwellings and 61.5% reduction (P>0.05) in the livestock enclosures. The black light trap operation in the livestock enclosures proved to be an effective control method and should be incorporated into existing control strategies in developed countries.