• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.2 s.257
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• pp.152-159
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• 2007

A study on the control of free vibration and stability characteristics of rotating hollow circular shafts subjected to compressive axial forces is presented in this paper. Both passive structural tailoring technique and active control scheme via collocated piezoelectric sensing and actuation are used in the study Gyroscopic and centrifugal forces combined with the compressive axial force contribute to the occurrence of divergence and flutter instabilities of the rotating shaft. The dual methodology based on the passive and active control schemes shows a high degree of efficiency toward postponement of these instabilities and expansion of the domain of stability of the system. The structural model of the shaft is based on an advanced thin-walled beam structure that includes the non-classical effects of transverse shear, anisotropy of constituent materials and rotatory inertia.

• Smart Structures and Systems
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• v.24 no.1
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• pp.111-125
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• 2019

Metallic shape memory alloys present fascinating physical properties such as their super-elastic behavior in austenite phase, which can be exploited for providing a structure with both a self-centering capability and an increased ductility. More or less accurate numerical models have been introduced to model their behavior along the last 25 years. This is the reason for which the literature is rich of suggestions/proposals on how to implement this material in devices for passive and semi-active control. Nevertheless, the thermo-mechanical coupling characterizing the first-order martensite phase transformation process results in several macroscopic features affecting the alloy performance. In particular, the effects of day-night and winter-summer temperature excursions require special attention. This aspect might imply that the deployment of some devices should be restricted to indoor solutions. A further aspect is the dependence of the behavior from the geometry one adopts. Two fundamental lacks of symmetry should also be carefully considered when implementing a SMA-based application: the behavior in tension is different from that in compression, and the heating is easy and fast whereas the cooling is not. This manuscript focuses on the passive devices recently proposed in the literature for civil engineering applications. Based on the challenges above identified, their actual feasibility is investigated in detail and their long term performance is discussed with reference to their fatigue life. A few available semi-active solutions are also considered.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1797-1801
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• 2005

SLAM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important issues in mobile robot research. Until now expensive sensors like a laser sensor have been used for the mobile robot's localization. Currently, as the RFID reader devices like antennas and RFID tags become increasingly smaller and cheaper, the proliferation of RFID technology is advancing rapidly. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used to identify the mobile robot's location on the smart floor. We discuss a number of challenges related to this approach, such as RFID tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, because the reader just can senses whether a RFID tag is in its sensing area, the localization error occurs as much as the sensing area of the RFID reader. And, until now, there is no study to estimate the pose of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. We use the Markov localization algorithm to reduce the location(X,Y) error and the Kalman Filter algorithm to estimate the pose(q) of a mobile robot. We applied these algorithms in our experiment with our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors like odometers and RFID tags for the mobile robot's localization on the smart floor.

• Smart Structures and Systems
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• v.23 no.6
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• pp.627-639
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• 2019

Passive control may not provide enough damping for a stay cable since the control devices are often restricted to a low location level. In order to enhance control performance of conventional passive dampers, a new type of damper integrated with a rotary electromagnetic damper providing variable damping force and a flywheel serving as an inertial mass, called the rotary electromagnetic inertial mass damper (REIMD), is presented for suppressing the cable vibrations in this paper. The mechanical model of the REIMD is theoretically derived according to generation mechanisms of the damping force and the inertial force, and further validated by performance tests. General dynamic characteristics of an idealized taut cable with a REIMD installed close to the cable end are theoretically investigated, and parametric analysis are then conducted to investigate the effects of inertial mass and damping coefficient on vibration control performance. Finally, vibration control tests on a scaled cable model with a REIMD are performed to further verify mitigation performance through the first two modal additional damping ratios of the cable. Both the theoretical and experimental results show that control performance of the cable with the REIMD are much better than those of conventional passive viscous dampers, which mainly attributes to the increment of the damper displacement due to the inertial mass induced negative stiffness effects of the REIMD. Moreover, it is concluded that both inertial mass and damping coefficient of an optimum REIMD will decrease with the increase of the mode order of the cable, and oversize inertial mass may lead to negative effect on the control performance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.1032-1038
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• 2002

The Active Constrained Layer Damping(ACLO) combines the simplicity and reliability of passive damping with the low weight and high efficiency of active control to attain high damping characteristics. The proposed ACLD treatment consists of a viscoelastic damping which is sandwiched between an active piezoelectric layer and a host structure. In this manner, the smart ACLD consists of a Passive Constrained Layer Damping(PCLD) which is augmented with an active control in response to the structural vibrations. The Arc type shell model is introduced to describe the interactions between the vibrating host structure, piezoelectric actuator and visco damping, The system is modeled by applying ARMAX model and changing a state-space form through the system identification method. An optimum control law for piezo actuator is obtain by LQR(Linear Quadratic Regulator) Method. The performance of ACLD system is determined and compared with PCLD in order to demonstrate the effectiveness of the ACLD treatment, Also, the actuation capability of a piezo actuator is examined experimentally by using various thickness of Viscoelastic Materials(VEM).

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.47-53
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• 2006

Localization is a essential technology for mobile robot to work well. Until now expensive sensors such as laser sensors have been used for mobile robot localization. We suggest RFID tag based localization system. RFID tag devices, antennas and tags are cheap and will be cheaper in the future. The RFID tag system is one of the most important elements in the ubiquitous system and RFID tag will be attached to all sorts of goods. Then, we can use this tags for mobile robot localization without additional costs. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying mobile robot's location and pose in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. When a mobile robot localizes in this smart floor, the localization error mainly results from the sensing range of the RFID reader, because the reader just ran know whether a tag is in the sensing range of the sensor. So, in this paper, we suggest two algorithms to reduce this error. We apply the particle filter based Monte Carlo localization algorithm to reduce the localization error. And with simulations and experiments, we show the possibility of our particle filter based Monte Carlo localization in the RFID tag based localization system.

• IEIE Transactions on Smart Processing and Computing
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• v.6 no.4
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• pp.299-304
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• 2017

A wireless passive sensor network is a network consisting of sink nodes, sensor nodes, and radio frequency (RF) sources, where an RF source transfers energy to sensor nodes by radiating RF waves, and a sensor node transmits data by consuming the received energy. Against theoretical expectations, a wireless passive sensor network suffers from many practical difficulties: scarcity of energy, non-simultaneity of energy reception and data transmission, and inefficiency in allocating time resources. Perceiving such difficulties, we propose a simple contending-type medium access control (MAC) scheme for many sensor nodes to deliver packets to a sink node. Then, we derive an approximate expression for the network-wide throughput attained by the proposed MAC scheme. Also, we present an approximate expression for the optimal partition, which maximizes the saturated network-wide throughput. Numerical examples confirm that each of the approximate expressions yields a highly precise value for network-wide throughput and finds an exactly optimal partition.

• Smart Structures and Systems
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• v.17 no.5
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• pp.773-793
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• 2016

This work presents a methodology to distribute piezoelectric material for structural vibration active control. The objective is to design controlled structures with actuators which maximizes the system controllability. A topology optimization was formulated in order to distribute two material phases in the domain: a passive linear elastic material and an active linear piezoelectric material. The objective is the maximization of the smallest eigenvalue of the system controllability Gramian. Analytical sensitivities for the finite element model are derived for the objective functions and constraints. Results and comparisons with previous works are presented for the vibration control of a two-dimensional short beam.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.133-137
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• 2001

Active control of flexural vibrations of smart laminated composite beams has been carried out using piezoceramic sensor/actuator and viscoelastic material. The beams with passive constrained-layer damping have been analyzed by formulating the equations of motion through the use of extended Hamilton's principle. The dynamic characteristics such as damping ratio and modal damping of the beam are calculated for various fiber orientations by means of iterative complex eigensolution method, This paper addresses a design strategy of laminated composite under flexural vibrations to design structure with maximum possible damping capacity.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.437-444
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• 2006

Recently, as large structures become lighter and more flexible, the necessity of structural control for reducing excessive displacement and acceleration due to seismic excitation is increased. As a means to minimize seismic damages, various base isolation systems are adopted or considered for adoption. In this study, a base isolation system using Magneto-Sensitive(MS) rubbers is proposed and shown to effectively protect structures against earthquakes. The MS Rubber is a class of smart controllable materials whose mechanical properties change instantly by the application of a magnetic field To demonstrate the advantages of this approach, the MS Rubber isolation system is compared to Lead-Rubber Bearing(LRB) isolation systems and judged based on computed responses to several historical earthquakes. The MS Rubber isolation system is shown to achieve notable decreases in base drifts over comparable passive systems with no accompanying increase in base shears or in accelerations imparted to the superstructure.