• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.282-286
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• 2000

In this paper, magneto-rheological(MR) damper is studied for vibration control of large infra structures under earthquake. Generally, active control devices need a large control force and a high power supply system to reduce the vibration effectively. Large and miss tuned control force may induce the dangerous situation such that the generated large control force acts to amplify the structural vibration. Recently, to overcome the weaknesses of the active control, the semi-active control method is suggested by many researchers. Semi-active control uses the passive control device of which the characteristics can be modified. Control force of the semi-active device is not generated from the actuator with power supply. It is generated as a dynamic reaction force of the device same as in the passive control case, so the control system is inherently stable and robust. Unlike the case of passive control, control force of semi-active control is adjusted depending on the measured response of the structure, so the vibration can be reduced more effectively against various unknown environmental loads. Magneto-rheological(MR) damper is one of the semi-active devices. Dynamic characteristics of the MR material can be changed by applying the magnetic fields. So the control of MR damper needs only small power. Response time of MR to the input voltage is very short, so the high performance control is possible. MR damper has a high force capacity so it is adequate to the vibration control of large infra structure. Because MR damper has a nonlinear property, normal control method used in active control may not be effective. Clipped optimal control, modified bang-bang control etc. have been suggested to MR damper by many researchers. In this study, sliding mode fuzzy control(SMFC) is applied to MR damper. Genetic algorithm is used for the controller tuning. To verify the applicability of MR damper and suggested algorithm, numerical simulation on the aseismic control is carried out. Simulation model is three-story building structure, which was used in the paper of Dyke, et al. The control performance is compared with clipped optimal control. The present results indicate that the SMFC algorithm can reduce the earthquake-induced vibration very effectively.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.7
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• pp.1674-1684
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• 1994

An efficient iterative method is presented for the dynamic analysis of bodies moving on flexible structures. In contrast to traditional approaches, the nominal motion of the body is considered here as an unknown. The correct contact forces between the bodies and the flexible structures are computed by an iterative method reducing the specially defined error vectors to zero, and thus satisfying the constraints between the bodies and the structures. Even thought only simple equations of motions and simple time integrators are adopted, the correct solutions are economically obtained and the Timoshenko paradox is completely resolved. Numerical simulations are conducted demonstrate the accuracy and reliability of the solution and to compare the results with the reference.

• Advances in aircraft and spacecraft science
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• v.6 no.4
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• pp.297-314
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• 2019

Dynamic stability of a porous metal foam nano-dimension plate on elastic substrate exposed to bi-axial time-dependent forces has been studied via a novel 3-variable plate theory. Various pore contents based on uniform and non-uniform models have been introduced. The presented plate model contains smaller number of field variables with shear deformation verification. Hamilton's principle will be utilized to deduce the governing equations. Next, the equations have been defined in the context of Mathieu-Hill equation. Correctness of presented methodology has been verified by comparison of derived results with previous data. Impacts of static and dynamical force coefficients, non-local coefficient, foundation coefficients, pore distributions and boundary edges on stability regions of metal foam nanoscale plates will be studied.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.319-328
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• 2010

This paper proposes a robust adaptive fuzzy tracking control scheme for a nonholonomic mobile robot with external disturbances as well as parameter uncertainties in the robot kinematics, the robot dynamics, and the actuator dynamics. In modeling a mobile robot, the actuator dynamics is integrated with the robot kinematics and dynamics so that the actuator input voltages are the control inputs. The presented controller is designed based on a FBFN (Fuzzy Basis Function Network) to approximate an unknown nonlinear dynamic function with the uncertainties, and a robust adaptive input to overcome the uncertainties. When the controller is designed, the different parameters for two actuator models in the actuator dynamics are taken into account. The proposed control scheme does not require the kinematic and dynamic parameters of the robot and actuators accurately. It can also alleviate the input chattering and overcome the unknown friction force. The stability of the closed-loop control system including the kinematic control system is guaranteed by using the Lyapunov stability theory and the presented adaptive laws. The validity and robustness of the proposed control scheme are shown through a computer simulation.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.3
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• pp.226-232
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• 2020

Repetition of landing with visual control in sports and training is common, yet it remains unknown how landing with visual control affects postural stability and lower limb kinetics. The purpose of this study was to test the hypothesis that landing with visual control will influence on lower limb control for intrinsic dynamic postural stability. Kinematics and kinetics variables were recorded automatically when all participants (n=10, mean age: 22.00±1.63 years, mean heights: 177.27±5.45 cm, mean mass: 73.36±2.80 kg) performed drop landings from 30 cm platform. Visual control showed higher medial-lateral force, peak vertical force, loading rate than visual information condition. This was resulted from more stiff leg and less time to peak vertical force in visual control condition. Leg stiffness may decrease due to increase of perturbation of vertical center of gravity, but landing strategy that decreases impulse force was shifted in visual control condition during drop landing. These mechanism explains why rate of injury increase.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.263-266
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• 1994

Recently, complicated and dexterous tasks with two or more arms are needed in ninny robot manipulator applications which can not be accomplished with one manipulator. In general, when two arms manipulate an object, tile dynamics of the arms and the object should be considered simultaneously. In order to control the force of tile arms, we can use various control schemes based upon dynamic modeling. But, there are difficulties in solving inverse dynamics equations, and the environment where a manipulator performs various tasks is usually unknown, and we can not describe a model precisely, for instances, the effect of the joint flexibility, and the friction between the arm and the object. Therefore, in this paper, we suggest a new force control method employing fuzzy inference without solving dynamic equations. Fuzzy inference rules and parameters are designed and adjusted with the automatic fuzzy modeling method using the Hough transform and gradient descent method.

• Earthquakes and Structures
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• v.5 no.3
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• pp.359-378
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• 2013

The problem of identification of multi-component and (or) spatially varying earthquake support motions based on measured responses in instrumented structures is considered. The governing equations of motion are cast in the state space form and a time domain solution to the input identification problem is developed based on the Kalman and particle filtering methods. The method allows for noise in measured responses, imperfections in mathematical model for the structure, and possible nonlinear behavior of the structure. The unknown support motions are treated as hypothetical additional system states and a prior model for these motions are taken to be given in terms of white noise processes. For linear systems, the solution is developed within the Kalman filtering framework while, for nonlinear systems, the Monte Carlo simulation based particle filtering tools are employed. In the latter case, the question of controlling sampling variance based on the idea of Rao-Blackwellization is also explored. Illustrative examples include identification of multi-component and spatially varying support motions in linear/nonlinear structures.

• Smart Structures and Systems
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• v.17 no.6
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• pp.917-933
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• 2016

In a prestressed concrete bridge, the magnitude of the prestress force (PF) decreases with time. This unexpected loss can cause failure of a bridge which makes prestress force identification (PFI) critical to evaluate bridge safety. However, it has been difficult to identify the PF non-destructively. Although some research has shown the feasibility of vibration based methods in PFI, the requirement of having a determinate exciting force in these methods hinders applications onto in-service bridges. Ideally, it will be efficient if the normal traffic could be treated as an excitation, but the load caused by vehicles is difficult to measure. Hence it prompts the need to investigate whether PF and moving load could be identified together. This paper presents a synergic identification method to determine PF and moving load applied on a simply supported prestressed concrete beam via the dynamic responses caused by this unknown moving load. This method consists of three parts: (i) the PF is transformed into an external pseudo-load localized in each beam element via virtual distortion method (VDM); (ii) then these pseudo-loads are identified simultaneously with the moving load via Duhamel Integral; (iii) the time consuming problem during the inversion of Duhamel Integral is overcome by the load-shape function (LSF). The method is examined against different cases of PFs, vehicle speeds and noise levels by means of simulations. Results show that this method attains a good degree of accuracy and efficiency, as well as robustness to noise.

• Smart Structures and Systems
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• v.10 no.4_5
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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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• v.43 no.6
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• pp.711-724
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• 2012

The goal of this study is to conceptually orientate optimized layouts of outrigger belt trusses which are in widespread use today in the design of tall buildings by strut-and-tie truss models utilizing a topology optimization method. In this study unknown strut-and-tie models are realized by using a typical SIMP method of topology optimization methods. In tradition strut-and-tie model designs find the appropriate strut-and-tie trusses along force paths with respect to elastic stress distribution, and then engineers or designers determine the most proper truss models by experience and intuition. It is linked to a trial-and-error procedure based on heuristic strategies. The presented strut-and tie model design by using SIMP provides that belt truss models are automatically and robustly produced by optimal layout information of struts-and-ties conforming to force paths without any trial-and-error. Numerical applications are studied to verify that outrigger belt trusses for tall buildings are optimally chosen by the proposed method for both static and dynamic responses.