lab introduction - kaistsss.kaist.ac.kr/wp-content/uploads/2014/09/lab_intro_2014_1.pdf · lab...

Lab Introduction

2014.09.22.

Jae-Hung Han

Smart Systems and Structures Lab: Design & Control

Lab overview

Members (As of September 2014) Supervisor: Prof. Jae-Hung HAN Post Doc. (0) Grad. Students: Ph.D.(full-time 10/part-time 1), M.S.(4) Alumni (since 2007)

Ph. D. (7): 2008(1), 2009(1), 2010(2), 2012(1), 2013(2) M. S. (13): 2006(2), 2007(1), 2008(1), 2009(2), 2010(3), 2011(2), 2012(2), 2013(1) Exchange Students (8): From Germany, Italy 2006(1), 2007(1), 2008(1), 2009(2), 2010(1), 2011(1), 2012(1)

Honors and awards The first creative lecturer awards in KAIST, 2007 Best Paper Award, World Automation Congress, Kobe,

Japan, 2010 Best Poster Award, European Conf. on Composite

Materials, Venice, Italy, 2012

International collaborations Technical University of Munich, Germany (Prof. Baier) University of Cambridge, UK (Prof. Ellington) Fukuoka Institute of Technology, Japan (Prof. Kawamura) Nanjing University of Aeronautics and Astronautics, China

(Prof. Qiu)

Lab brief history

3

Date Events

Oct. 2012 Selected as Center for Intelligent Multi-Agent Defense System

Sep. 2009 Selected as one of NSL (National Space Lab.)

Feb. 2008 First Ph.D. (D.-K. Kim, He joined KARI)

Mar. 2007 Triple S Lab. was founded. (#1315 of N7 building)

Feb. 2006 First M.S. students graduated.

Sep. 2003 First Ph.D. student joined (Mr. D.-K. Kim)

Mar. 2003 First M.S. student joined (Mr. L.-H. Kang)

Mar. 2003 Form a research group in ISVC Lab.

Feb. 2003 Prof. Han joined the faculty of AE, KAIST

Lab members and their research interests

Ph.D. Course Ph.D. Course Ph.D. Course Ph.D. Course Ph.D. Course

Ph.D. Course Ph.D. Course

Pseudo flight environment, UAV

Vibration isolator for space applications

Insect flight dynamics and control, Flexible multi-body dynamics

Plasma actuator in atmospheric

condition

Microvibration emulator for space

applications

Explosive bolts design and analysis,

Behavior analysis at high strain rate

deformation

Small UAV control using motion capture

system

Ph.D. Course

Aerodynamics of the flapping-wing flyers

Ph.D. Course

Vortex Lattice Method, FEM, Flapping wing

Ph.D. Course

3D shape-estimation via Stereo pattern recognition (SPR)

method

http://sss.kaist.ac.kr/wp-content/uploads/2010/01/identification-picture.jpghttp://sss.kaist.ac.kr/wp-content/uploads/2010/01/Ho-Young.png

Lab members and their research interests

M. S Student

Pseudo flight environment, UAV

M. S Student

Insect flight dynamics and control, Flexible multi-body dynamics

M. S Student

Explosive bolts design and analysis,

Behavior analysis at high strain rate

deformation

M. S Student

TBD

Lab research facility (1/2)

Simulated space environment facility

Thermal vacuum chamber

DAQ systems

LabVIEW/ DSPACE devices

3D printer/ Laser cutter

Manufacturing facilities

Chamber

Computer

Diffuser

SpecimenBase

TargetMirror Ref-Mirror

Door-Heater

Wall-Heater, Cooler

Thermal vacuum chamber

3D printer and its user interface LabVIEW and DSPACE systems

Lab research facility (2/2)

KARPE (KAIST Arena with Real-time Positioning Environment) A Universal Testbed with Real-time External Positioning System

12 Motion Capture Cameras(Motion Analysis Eagle Camera) http://karpe.kaist.ac.kr

Pseudo Flight Environment

A safety guaranteed flight test environment for a MAV using magnetic levitation device

Magnetic Levitation Device (2kW) and Wind Tunnel (30cm x 30cm)

Research in Pseudo Flight Environment

Research area

Smart Structures & Technologies Vibration Control using Smart Materials Plasma Actuator Real-time Shape Estimation

Smart Aerospace Systems Bioinspired Ornithopter Pseudo Flight Environment Intelligent Multiple Autonomous Defense System Projectile Trajectory Control Pyrotechnic-Mechanical Device & Pyroshock Satellite Jitter Analysis

Satellite Vibration Analysis and Isolation (1/8)

Effect of jitter on the performance of optical payloads in a satellite

Changes in the Line of Sight

Jitter

Degraded image due to jitter

Image without jitter effects

Lightweight Flexible Structure

10 micro radian angular vibration 5m change in LOS at 500 km 360m change in LOS at geostationary orbit

http://images.google.co.kr/imgres?imgurl=http://blog.joins.com/usr/s/u/suns2000/1/%EC%A7%80%EA%B5%AC.jpg&imgrefurl=http://blog.joins.com/media/folderListSlide.asp?uid=suns2000&folder=1&list_id=3862150&usg=__aQlcj_36Zr6a4Re5JuFFEFL596I=&h=479&w=479&sz=60&hl=ko&start=2&sig2=oIBLciiuqRCJx1UGpHbrwg&um=1&tbnid=3xhNWK5FVbZosM:&tbnh=129&tbnw=129&prev=/images?q=%EC%A7%80%EA%B5%AC&ndsp=20&hl=ko&lr=&rlz=1G1GGLQ_KOKR324&sa=N&um=1&newwindow=1&ei=GNtuStzREI_utQPN9-3CBA


Development of integrated jitter analysis framework to evaluate performance degradation of optical payloads due to micro-vibration

Disturbance + Structure + Vibration Isolator + Optical Model

Framework Overview MATLAB GUI


Development of micro-vibration emulator Micro-vibration emulator can generate vibration

disturbances that closely resemble the input profile (measured disturbance profiles of FM RWA of various wheel speed, type, size, etc)

Allows vibration isolation test in vibration environment that closely resembles the actual vibration environment without FM RWAs which are expensive and hard to access

Single axis micro-vibration emulator

3 axis micro-vibration emulator

Input Force Profile Measured Generated Force

Vibration Emulator


Analytical & Experimental jitter evaluation Analytical approach

RWA disturbance model + Satellite structure model = Prediction of acceleration & displacement

Experimental approach

RWA emulator + Satellite structure testbed = Measurement of acceleration & displacement

Analytical

Experimental


Development of hybrid vibration isolator single axis Passive Components

Bellows (Stiffness) Viscous fluid + orifice (damping)

Active Components Voice coil motor Force Sensor Active Controller

100

101

102

-60

-50

-40

-30

-20

-10

0

10

20Experiment

Tran

smis

sibi

lity

(dB

)

Frequency (Hz)

PassiveHybrid

2 22a

Notcho o

K sGs s

=+ +

aIFF

KGs

=


Development of hybrid vibration isolator multi-axis Cubic Stewart platform


Vibration suppression of flexible structures using shunted piezoelectric In order to suppress low-frequency and low-damping vibrations of flexible aerospace

structures, shunted piezoelectric technique is studied in a passive or a semi-active way.

Experiment Setup Experiment Results


Performance sensitivities of passive shunted piezoelectrics The sensitivity of the damping performance is evaluated according to the change of

shunted piezoelectric characteristics considering the operating conditions. A loss factor and a Q factor are selected as performance indices for a resistive and

resonant shunted piezoelectrics (RES and RSPs), respectively.

Sensitivities

Damping Performance

Material Status at 0.005 ms

Pyroshock Analysis and Isolation (1/6)

Separation Behavior Analysis of Ridge-Cut Explosive Bolts

Pressure Contour

Failure

Cross-sectional diagram of ridge-cut explosive bolts Before Separation After Separation


A Parametric Study

Explosive Weights

Ridge Angle

Ridge Position

Confinement Condition

Contact Distance (Confinement Condition)

Study of Separation Characteristics using Behavior analysis

Pressure Contour

No Contact Distance Case


Explosive Bolt Separation Experiments and Pyro-shock Analysis

Experiment Setup and SEA Model

(Sensor 3)

(Sensor 4)

Separation Experiment Simulator

(Sensor 2)

(Sensor 1)

Comparison of Analysis and Experiment Results

Measured Shock Response Spectrum

(SRS)


Dynamic environment during the flight of launch vehicle Sinusoidal vibration

Induces the maximum dynamic pressure during flight , brings down the structural stability of payload

Pyrotechnic shock Cause malfunctions in the electric components equipped within launch vehicles or the satellites

I. Pyroshock Isolator using SMA

High reliability & strength High strength of SMA wire Enhancement of isolation capacity Mesh structure + Pseudoelasticity of SMA Easy to apply and design

II. Frequency Tunable Isolator

Sinusoidal & random vibration region Higher stiffness to avoid the low frequency

vibration amplification at maximum dynamic pressure phase

Pyro-shock events Lower stiffness to increase shock

attenuation


Development Pyroshock Mesh Isolator Based on SMA Pseudoelasticity

9mm

50mm

27mm

15mm

All Thickness = 5mm

Pyroshock Isolation Test Results

Manufactured and designed shape of the mesh isolator

Manufacturing processes of the mesh isolators

Frequency [Hz]

Shock

Res

ponse

Spec

trum

[G

]

Lateral Axis Pyroshock Test

Shock

Res

ponse

Spec

trum

[G

]

Frequency [Hz]

Axial Axis Pyroshock Test


Development of frequency tunable isolator

Mode 1 Spring force stretches the SMA wires up to guide bolt head With 1mm pre-compressive deformation The natural frequency of isolator is low ( < 80Hz)

Mode 2 Recovery load and deformation of actuators compress WI The natural frequency of isolator is high ( >160Hz)1

Natural frequency Dynamic Stiffness

Mode 1 55 Hz 119,422 N/m

Mode 2 195 Hz 1,501,166 N/m

Ratio(Mode2/Mode1) 3.55 12.57

Real-time shape estimation (1/5)

FBG sensors

FORJ(Fiber optic rotary joint)

FBGinterrogator

Strains [ ]FEMDST

FEM model

Strain measurement using fiber optic sensors

Precise strain measurement using Fiber Bragg Grating sensors

=> Uncertainty evaluation of strain measurements

=> Rotating application


Strain based shape estimation Sensor location optimization => Efficient optimization approach based on the system observability Minimization of system uncertainty effects using Operational Modal Analysis (OMA) => Field update of Displacement-Strain relationship

OMA


Shape estimation of wind turbine blade


Shape reconstruction using Stereo Pattern Recognition (SPR) method Development of Webcam-based SPR System

4. Triangulation

1. Calibration

2. Image Processing

3. Epipolar Method

[X Y Z]i

Calculate camera parameters Acquire camera positions

Extract the 2-D coordinates Compensate for distortion

Match points between image planes

[x y]i

Calculate 3-D coord. of points

P-matrix

Estimation Process Developed SPR System

Deformation Measurement Results


Shape reconstruction using stereo pattern recognition (SPR) method Shape estimation using commercial motion capture cameras

Vibrating Shape Measurement of Composite Wing

1st mode shape 3rd mode shape

Estimation of Rotor Blade Motions

KARI Wind Tunnel

Plasma Actuator (1/2)

Dielectric barrier glow discharge plasma actuator for active flow control

Simple and easy method for generating air-flow w/o mechanical moving parts

E field amplitude

distance

Momentum change due to the actuator [1]

Discharged plasma and asymmetric E field

induce wall jet

Flow visualization of plasma actuator[2]

Plasma Actuator (2/2)

Improvement & modeling of plasma actuator performance

Semi-empirical thrust model

Electrode shape variation for performance enhancement

Saw-tooth shape electrode discharge Meshed shape electrode discharge

Actuator experiment set up

Amplifier

DAQ Com

Wind-tunnel

6DOF force sensor

Power line

Actuator + airfoil

Plasma actuator flow control

Flight dynamics and stability of hovering insect Flexible multibody dynamics approach for 6-DOF nonlinear flight dynamic analysis Based on data from real insect (collaboration with UCAM Zoology Dept.)

Bioinspired Ornithopters (1/3)

u+q

Ex.) Longitudinal mode #1 and #2 (Two cases are overlapped in the video)

wz

Stroke plane

spy( )t

( )t

wy( )t

spz

spx

wx

-0.4

-0.3

-0.2

-0.1

0.0

0.1

0.2

0.3

0.4

-0.2

-0.1

0.0

0.1

0.2

-3

-2

-1

0

1

2

3

-80

-60

-40

-20

0

20

40

60

80

(ai)

Longitudinal mode #1: +u, +q (in-phase)

[ u, v

, w] /

U

u v w

(aii)

[p, q

, r]c

/U

p q r

(bi)

wingbeat stroke

[ XG, Y

G, Z

G] /

R

XG YG ZG

109876543210

(bii)

wingbeat stroke

Eule

r ang

les

(deg

)

roll pitch yaw

109876543210

0.0 0.5 1.0-60

-30

0

30

60

90

120

150

180

(t)

(t)

wingbeat stroke

Angl

e (d

eg)

down stroke up stroke

(t)

measured rigid-wing flexible-wing


Flight dynamics and control study using motion capture system

In-flight deformation of wings and tail, body motion measurement


Indoor formation flight of multiple flapping-wing air vehicles

Focus on how to deal the nonlinear and uncertain flight system?

4 sec/turn

Four agents Single agents

Taken for 0.5 sec

Pseudo Flight Environment (1/2)

What is Pseudo Flight Environment? a test environment that emulates free flight test for a MAV based on wind tunnel tests

using a magnetic levitation device.

Pseudo Flight Environment (2/2)

Demonstration of DOF Adjustment and Safety Guaranteed Flight Test The magnetic constraint moment for the yaw DOF of a MAV model is removed while

the other DOFs of the MAV model are still fixed by the magnetic levitation device. The yaw controller of the MAV model is activated so that the MAV model can hold the

yaw attitude by itself using control surface (rudder).

Control algorithm of the magnetic levitation device

Intelligent Multi Agent Defense system(iMADs) (1/2)

G C S

Data-link between GCS and other systems Data-link between Manned/Unmanned system

Supply mission

Fire support

Mobile Navigation Support

Manned/Unmanned system operation

Surveillance/Reconnaissance

Cooperative system of multi/heterogeneous agents Development of autonomous architecture Development of decision making and topology optimization of real-time cooperative system. Autonomous and collaborative UAV task research and technical demonstration

Intelligent Multi Agent Defense system(iMADs) (2/2)

Technical demonstration of multi agent system in indoor environment Using KARPE(KAIST Arena of Real-time Positioning Environment) motion capture system.

System Modelling Controller Design & Simulation Flight test using KARPE

Trajectory Tracking Test(4 quad-rotors) Hovering Test(6 quad-rotors)

Thank you

Reference Recent publications (2012-2014)

1. Jeong, H.-K., Han, J.-H., Youn, S.-H., and Lee, J., Frequency Tunable Vibration and Shock Isolator using SMA Wire Actuator, Journal of Intelligent Material Systems and Structures, Vol. 25, No. 7, pp. 908-919, 2014. [DOI]

2. Park, J.-W., and Han, J.-H., Sensitivity analysis of damping performances for passive shunted piezoelectrics Aerospace Science and Technology, Vol. 33, No. 1, pp.16-25 2014 [DOI].

3. Park, G.-Y., Lee, D.-O., and Han, J.-H., Development of multi-degree-of-freedom microvibration emulator for efficient jitter test of spacecraft, Journal of Intelligent Material Systems and Structures, Vol. 25, No. 9, pp. 1069-1081, 2014 [DOI].

4. Yoon, J.-S., Kim, H.-I., Han, J.-H., and Yang, H.-S., Effects of Dimensional Stability of Composites on Optical Performances of Space Telescopes, Journal of Aerospace Engineering, Vol. 27 No. 1, pp.40-47, 2014 [DOI].

5. Kang, C.-G., Lee, J.-S, and Han, J.-H., Development of bi-stable and millimeter-scale displacement actuator using snap-through effect for reciprocating control fins, Aerospace Science and Technology, Vol. 32, No. 1, pp.131-141, 2014 [DOI].

6. Kim, J.-K., and Han, J.-H., A multibody approach for 6-DOF flight dynamics and stability analysis of the hawkmoth Manduca sexta, Bioinspiration & Biomimetics, Vol. 9, No. 1, 016011, 2014 [DOI].

7. Woo, S-H. and Han, J.-H ., Mid frequency shock response determination by using energy flow method and time domain correction,Shock and Vibration, Vol. 20, No. 5, pp.847-861, 2013 [DOI].

8. Kim, J.-K. and Han, J.-H., Control Effectiveness Analysis of Hawkmoth Manduca Sexta: a Multibody Dynamics Approach, International Journal of Aeronautical and Space Sciences, Vol. 14, No. 2, pp. 152-161, 2013 [DOI].

9. Lee, D.-K. , Lee, J-S. , Han, J.-H., and Yoshiyuki Kawamura.,Dynamic calibration of magnetic suspension and balance system for sting-free measurement in wind tunnel tests, Journal of Mechanical Science and Technology, Vol.27, No.7, pp.1963-1970, 2013. [DOI]

10. Kim, H.-Y., Lee, J.-S., and Han, J.-H., Indoor autonomous flight of ornithopter using motion capture system, International Journal of Intelligent Unmanned Systems, Vol. 1, No. 3, pp. 204-214, 2013. [DOI]

11. Han, J.-H., Lee, D.-K., Lee, J.-S. and Chung, S.-J., Teaching Micro Air Vehicles How to Fly as We Teach Babies How to Walk, Journal of Intelligent Material Systems and Structures, Vol. 24, No.8, pp. 936-944, 2013. [DOI]

Reference Recent publications (2012-2014)

12. Lee, J.-W., Kim, J.-K., Han, J.-H., and Shin, H.-K., Active load control for wind turbine blades using trailing edge flap, Wind & Structures,Vol. 16, No. 3, pp.263-278, Mar.2013.

13. Yoon, J.-S., Kim, H.-I., Han, J.-H., Transverse Strain Effects on the Thermal Expansion Measurement of Composite Structure Using FBG Sensors: Experimental Validation, Journal of Intelligent Material Systems and Structures, Vol. 24, No. 7, pp. 796-802, 2012. [DOI]

14. Lee, J.-W., Lee, J.-S., Han, J.-H., and Shin, H.-K., Aeroelastic Analysis of Wind Turbine Blades based on Modified Strip Theory, Journal of Wind Engineering and Industrial Aerodynamics, Vol. 110, pp. 62-69, Sept. 2012. [DOI]

15. Lee, J.-S., and Han, J.-H., Experimental Study on the Flight Dynamics of a Bioinspired Ornithoper: Free Flight Testing and Wind Tunnel Testing, Smart Materials and Structures, Vol. 21, No. 9, Article No. 094023 (11pp), Sept. 2012. [DOI]

16. Farinelli, C., Kim, H.-I., and Han, J.-H., Feasibility Study to Actively Compensate Deformations of Composite Structure in a Space Environment, International Journal of Aeronautical and Space Sciences, Vol. 13, No. 2, pp. 221-228, Jun. 2012. [DOI]

17. Lee, D.-O., Yoon, J.-S., and Han, J.-H., Development of Integrated Simulation Tool for Jitter Analysis, International Journal of Aeronautical and Space Sciences, Vol. 13, No. 1, pp. 64-73, Mar. 2012. [DOI]

18. Kim, J.-K., Lee, J.-S., and Han, J.-H., Passive Longitudinal Stability in Ornithopter Flight, Journal of Guidance, Control, and Dynamics, Vol. 35, No. 2, pp. 669-673, Mar.-Apr. 2012. [DOI]

19. Lee, J.-S., Kim, J.-K., Han, J.-H., and Ellington, C. P., Periodic Tail Motion Linked to Wing Motion Affects the Longitudinal Stability of Ornithopter Flight, Journal of Bionic Engineering, Vol. 9, No. 1, pp. 18-28, Mar., 2012. [DOI]

Lab IntroductionLab overviewLab brief history Lab members and their research interestsLab members and their research interestsLab research facility (1/2)Lab research facility (2/2)Research areaSatellite Vibration Analysis and Isolation (1/8)Satellite Vibration Analysis and Isolation (2/8)Satellite Vibration Analysis and Isolation (3/8)Satellite Vibration Analysis and Isolation (4/8)Satellite Vibration Analysis and Isolation (5/8)Satellite Vibration Analysis and Isolation (6/8)Satellite Vibration Analysis and Isolation (7/8)Satellite Vibration Analysis and Isolation (8/8)Pyroshock Analysis and Isolation (1/6)Pyroshock Analysis and Isolation (2/6)Pyroshock Analysis and Isolation (3/6)Pyroshock Analysis and Isolation (4/6)Pyroshock Analysis and Isolation (5/6)Pyroshock Analysis and Isolation (6/6)Real-time shape estimation (1/5)Real-time shape estimation (2/5)Real-time shape estimation (3/5)Real-time shape estimation (4/5)Real-time shape estimation (5/5)Plasma Actuator (1/2)Plasma Actuator (2/2)Bioinspired Ornithopters (1/3)Bioinspired Ornithopters (2/3)Bioinspired Ornithopters (3/3)Pseudo Flight Environment (1/2)Pseudo Flight Environment (2/2)Intelligent Multi Agent Defense system(iMADs) (1/2)Intelligent Multi Agent Defense system(iMADs) (2/2)Thank youReference Recent publications (2012-2014)Reference Recent publications (2012-2014)

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