• Structural Engineering and Mechanics
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• v.27 no.4
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• pp.425-438
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• 2007

Large changes in stiffness associated with cracking and yielding of reinforced concrete sections may be expected to occur during the dynamic response of reinforced concrete frames to earthquake ground shaking. These changes in stiffness in stories that experience cracking might be expected to cause relatively large peak interstory drift ratios. If so, accounting for such changes would add complexity to seismic design procedures. This study evaluates changes in an index parameter to establish whether this effect is significant. The index, known as the coefficient of distortion (COD), is defined as the ratio of peak interstory drift ratio and peak roof drift ratio. The sensitivity of the COD is evaluated statistically for five- and nine-story reinforced concrete frames having either uniform story heights or a tall first story. A suite of ten ground motion records was used; this suite was scaled to five intensity levels to cause varied degrees of damage to the concrete frame elements. Ground motion intensity was found to cause relatively small changes in mean CODs; the changes were most pronounced for changes in suite scale factor from 0.5 to 1 and from 1 to 4. While these changes were statistically significant in several cases, the magnitude of the change was sufficiently small that values of COD may be suggested for use in preliminary design that are independent of shaking intensity. Consequently, design limits on interstory drift ratio may be implemented by limiting the peak roof drift in preliminary design.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.424-429
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• 2003

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(Voice Coil Motor) for coarse motion, for SFF ODD(Small Form Factor Optical Disk Drive), in order to achieve fast access speed and precise track following control. We focus our attention on the design and control of the PZT actuator, because there have been a lot of previous researches related to the VCM and dual-stage actuators. Due to the dual cantilever structure, the PZT actuator can generate precise translational tracking motion at its tip where optical pickup is attached at, and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• 한국기계연구소 소보
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• s.17
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• pp.157-165
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• 1987

The SWATH concept hull form which is capable of high speed navigation with small oscillatory motions in waves, was developed from the catamaran type hull forms. This paper describes how the motion of a SWATH ship in irregular waves can be reduced by regulating the stabilizing fins. The optimal regulator and LQG (Linear Quadratic Gaussian) controller for vertical plane motion have been applied for both platforming mode and contouring mode controls. The calculations of hydrodynamic coefficients and external forces are possible for defining the system equation for the design purpose of motion control. Performances of the controlled system are compared with those of original system.

• Journal of Magnetics
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• v.21 no.3
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• pp.421-424
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• 2016

The purpose of this study is to evaluate an effectiveness of switching turbo direction to improve motion artifacts of small bowels and aorta. From June to October 2015, 60 patients suspected of having Crohn's disease were enrolled. The MR Enterography scans were performed using same protocol other than the turbo direction: with the Z phase encoding (group A) and with Y phase encoding (group B). Qualitative analysis of each group was performed to evaluate the effectiveness of switching turbo direction from Z to Y. As a result, the 5-point Likert scale for paired observers were $2.33{\pm}0.88$ for group A and $3.80{\pm}0.85$ for group B on dynamic contrast enhanced coronal images. In conclusion, group B is proved to be superior to group A and can lessen the motion artifacts derived from phase shifts.

• Journal of Ocean Engineering and Technology
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• v.17 no.2
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• pp.60-66
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• 2003

In this paper, an actively controlled anti-rolling system is considered, in order to reduce the rolling motion of a ship. In this control system, a small auxiliary mass is installed on the upper area of the ship, and an actuator is connected between the auxiliary mass and the ship. The actuator reacts the auxiliary mass, applying inertial control forces to the ship to reduce the rolling motion in the desired manner. In this paper, we introduce LMI based H$_{\infty}$ control approach to design the anti-rolling control system for the controlled ship. And the experimental results show that the desirable control performance can be achieved.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2420-2426
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• 2015

This paper proposes an evolutionary optimization approach for optimal hopping of humanoid robots. In the proposed approach, the hopping trajectory is generated by a central pattern generator (CPG). The CPG is one of the biologically inspired approaches, and it generates rhythmic signals by using neural oscillators. During the hopping motion, the disturbance caused by the ground reaction forces is compensated for by utilizing the sensory feedback in the CPG. Posture control is essential for a stable hopping motion. A posture controller is utilized to maintain the balance of the humanoid robot while hopping. In addition, a compliance controller using a virtual spring-damper model is applied for stable landing. For optimal hopping, the optimization of the hopping motion is formulated as a minimization problem with equality constraints. To solve this problem, two-phase evolutionary programming is employed. The proposed approach is verified through computer simulations using a simulated model of the small-sized humanoid robot platform DARwIn-OP.

• Journal of KSNVE
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• v.6 no.5
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• Journal of KSNVE
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• v.7 no.3
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• pp.387-392
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• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.225-228
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• 1996

This paper concerns a SCARA type robot with the second arm flexible. Its equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are first determined based on the inverse dynamics of the latter. Next, in order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified with a prescribed degree of stability. The numerical simulations results show the satisfactory control performance.

• 전자공학회논문지 IE
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• v.43 no.2
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• pp.49-53
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• 2006

A fast motion-estimation algorithm based on regulated partial block distortions is proposed. The proposed algorithm can obtain very accurate motion vectors with a small computational load. Simulation results show that the proposed scheme provides very close performance to the full search while it is about 6 to 28 times faster than the full search.