• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.5
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• pp.1-6
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• 2007

This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.

• Journal of the Korea Institute of Building Construction
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• v.18 no.2
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• pp.125-132
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• 2018

In this study, a direct tensile test was planned to identify the tensile performance of UHPC, and the irregularity of cracks, which is a problem of the direct tensile test, was complemented through the introduction of notches at the center of a specimen. In this regard, a number of specimens divided by batch to reduce the deviation of direct tensile test values were fabricated to present reference data with respect to highly reliable direct tensile strength values. In addition, the mechanical properties and reliability of the specimens were examined under the curing conditions of the specified design strength of 120MPa for the steel fiber reinforced concrete with 1.5% fiber volume fraction, which is most suitable for the field application. As a result, the deviation of averages by batch between compressive strength and direct tensile strength did not show a large difference, and all cracks occurred within 20mm in the direct tensile test. At the 95% confidence interval of the direct tensile strength, the range was considerably small in the mean and the standard deviation, and there was no significant difference depending on the curing conditions. The results confirmed that a stable direct tensile test was performed, and highly reliable results were obtained through the fabrication of specimens by batch and test progress.

• Journal of the Korean Society for Nondestructive Testing
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• v.29 no.5
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• pp.473-478
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• 2009

The purpose of this study is to evaluate the behaviour of the plastic deformed zone at crack tip on the standard Charpy specimens which were taken from the multi-passed weld block of the pressure vessel steel. Notch was machined on the standard Charpy test specimens and pre-crack which was located around the fusion line was made under the repeat load. Four point bend and acoustic emission tests were carried out simultaneously. The size of plastic region at crack tip was calculated using stress intensity factor. Relationships between characteristics of acoustic emission and plastic zone size at crack tip were discussed through the cumulative AE energy. Regardless of the specimens, AE signals were absent within the elastic region almost and most of AE signals were produced at the plastic deformation region from yield point to the mid-point between yield and maximum load. More AE signals for the weldment were produced compared with the base-metal and PWHT specimen. Relations between plastic deformed zones at crack tip and cumulative AE energy for the weldment and PWHT specimen were different quietly from the base-metal. Besides, number of AE counts for the weldment was the larger than those of the base-metal and PWHT specimen.

• Journal of the Microelectronics and Packaging Society
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• v.14 no.3
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• pp.7-13
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• 2007

In the optical module for optical communications, the flip chip bonding is used fer the precise alignment of the optical fiber and optical device. In flip chip bonding, the optical device is aligned and welded while observing the alignment mark of substrate and chip by using flip chip bonder in order to bond the optical device at the exact position. In this research, optical passive alignment method of photodiode(PD) flip chip bonding is suggested for low cost optical subassembly. By using the visible He-Ne laser (633nm wavelength), photodiode is easily aligned with emitting spot on the optical fiber with the help of stereoscopic alignment system. We compensated wavelength dependent deviation about 4m to find out real alignment position of 1550nm input laser by ray tracing. The maximum optical coupling efficiency between the optical fiber and photodiode was about 23.3%.