• 대한공업교육학회지
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• v.34 no.2
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• pp.396-410
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• 2009

The goal of this work is to present an advanced method of an estimation of the Modeling Uncertainties coming up in industrial rigid robot's manipulator and actuators. First, with the given physical robot model, the motion equation was derived. Considering a fictitious model, a new extended motion equation is developed. Based on this extended model, an observer and observer bank are designed for the estimation of modeling uncertainties which are involving the effects of gravity, friction, mass unbalance, and Coriolis which show the nonlinear characteristics in operation states.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.12
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• pp.679-684
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• 2017

Friction Stir Welding is a metal welding technique, in which friction heat between a welding tool and a welding material is used to weld parts at temperatures below the melting point of a material. In this study, the temperature and velocity changes in a magnesium alloy (AZ31) during the welding process were analyzed by computational flow dynamics technique while welding the material using a friction stir welding technique. For the analysis, the modeling and analysis were carried out using Fluent as a fluid analysis tool. First, the welding material was assumed to be a temperature-dependent Newtonian fluid with high viscosity, and the rotation region and the stationary region were simulated separately to consider the rotational flow generated by the rotation of the welding tool having a helical groove. The interface between the welding tool and welding material was given the friction and slip boundary conditions and the heat transfer effect to the welding tool was considered. Overall, the velocity and temperature characteristics of the welded material according to time can be understood from the results of transient analysis through the above flow analysis modeling.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.4
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• pp.347-355
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• 2008

In this paper single degree of freedom macro-element model was presented to investigate the interaction between soil and the deep foundation under the lateral loads. It was made by modelling each component related to the soil-structure interaction and combining them into one piece. It enhanced the conventional method that was not able to break down the interaction components in piece due to the usage of simple spring element for interaction. A proposed macro-element classified the stress components in relation to the interaction into frictional and compressive resistance. Each component was modelled using the classical plasticity theory, and finally combined in parallel. An example study was carried out using the proposed macro-element for deep foundation embedded in three layered cohesive soil. It showed improved results compared to the conventional method by producing additional information of the interaction components as well as the overall behavior of foundation.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.14 no.2
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• pp.151-160
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• 2002

A modeling system for three-dimensional flow (FEMOS) has been developed and applied to simulate the tidal currents of Asan Bay. The system can consider tidal flats changing with time and uses a finite element method that can adapt coastline change effectively. The simulation results for Asan Bay with large tidal flats, shallow water depth and high tidal range showed good agreements with the observed currents of long-term variations at the medium layer and short-term variations of vertical profiles. Based on the simulated tidal currents, the horizontal distributions of bottom shear stress were calculated and showed close relation with the change of bottom topography. The system can be used widely to study coastal circulation in the coastal region with complex geography.

• Journal of the Institute of Convergence Signal Processing
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• v.14 no.2
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• pp.117-123
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• 2013

Since the nonlinear factors such as friction in a mechanical servo system can't be easily measured nor estimated accurately. Therefore, it is difficult to compensate friction correctly. Friction makes a significant error in a 2-axis stabilized gimbal system and finally fails to reach the ultimate control performance goals. To solve these problems, lots of studies on the control methods applying observer have been performed. However, these methods can be used in specific conditions and are limited to apply them to the accurate 2-axis stabilized gimbal system in military sector. This paper deals with the PI-LEAD algorithm which is modified with a general and robust PID algorithm, proves the effect of the algorithm through modeling and simulation, and verifies the performance by applying the algorithm to the real 2-axis stabilized system. It is verified through the performance test that the PI-LEAD algorithm minimizes the error caused by friction and meets requirements of the accurate servo system.

• Journal of Korean Society of Steel Construction
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• v.14 no.6
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• pp.755-763
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• 2002

Multispan simply supported bridges and multispan continuous bridges take a large portion of bridges in Central and Southeastern United Sates. The superstructure of the bridges are supported by steel rocker bearings. In general, the rocker bearings are modeled with ideal rollers or Coulomb fricition in seismic analysis. However, the rocker bearings have rocking action on pintles after rolling some distance. This rocking action may have considerable effect on the seismic performance of bridges. This study compares the effect of expansion rocker bearings models on a multispan simply supported and a multispan continuous bridge. Since the ideal roller model produces larger responses than the rocking model, its use is undesirable. However, the fricition and hardening model does not have much difference from the responses of the rocking model. In addition, the use of the tow models is convenient in seismic analyses of bridges. Although the rocking model can obtain more exact responses, its behavior is complicated and it may induce the conversion problem in time history analysis because it includes the abrupt changing of stiffiness. The friction and hardening model of expansion rocker bearings is therefore recommended in sesismic analysis.

• Journal of the Korean GEO-environmental Society
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• v.15 no.3
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• pp.21-32
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• 2014

This Research have suggested the new estimation method using parameter estimation algorithm to substitute established velocity and friction factor calculation equation. Established calculation equation has some difficulties for estimation and reflecting exactly flow specification cause parameter uncertainty and material uncertainty governed real phenomenon, so this research has used system modeling method for flow specification estimation and suggested estimation method.

• Journal of the Korean Society for Railway
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• v.16 no.4
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• pp.253-261
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• 2013

According to the measured results of KTX brake squeal noise in this study, high level brake noise occurred in a wide frequency range, 100~18,000Hz. To identify the sources of the brake squeal noise, unstable vibration modes due to brake disc/pad interaction were analyzed under various conditions by the finite element method. Complex eigenvalues for a brake unit with a disc and four pads were obtained. It was found that the real parts of the complex eigenvalues, that is, unstable vibration modes, were closely related to friction coefficients, pressure on the brake cylinders, elastic moduli of the components, and other conditions.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2000.04a
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• pp.15-15
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• 2000

제트 베인에 의한 추력 방향 제어 장치는 롤 운동 제어를 가능하게 하고, 큰 선회 각도를 얻을 수 있는 장점이 있으나, 기계 장치가 비교적 복잡하고, 제트 베인의 열적, 구조적 문제를 해결하여야 한다. 복잡한 기계 장치는 유동 해석의 측면에서 고려해 볼 때 격자 형성을 어렵게 만들어 유동장 해석을 통한 성능예측을 어렵게 만든다. 구조물의 응력해석을 위하여 제트 베인 표면에서의 정압력과 더불어 마찰력도 고려하여야 하는데, 정확한 마찰력 계산을 위해서는 난류 모델링이 필수적이고, 그에 따라 벽면 근처에서 격자를 밀접시키는 것이 요구된다. 본 연구에서는 상용 유동해석 소프트웨어인 Fluent를 사용하여 제트 베인이 장착된 추력 방향 제어 장치의 3차원 난류 유동장 계산을 수행하였다. 피치, 요 운동의 경우와 롤 운동의 경우로 구분하여 계산하였으며, 최대 받음각을 $25^{\cire}$ 로 하여 제트 베인의 받음각에 따라 회전축에 작용하는 힘과 모멘트를 계산하였다. 본 연구의 결과는 향후 개발될 제트 베인이 장착된 추력 방향 제어 장치의 개념설계 단계에 필요한 기본자료로서 신뢰도를 높이는데 도움이 되리라 판단된다.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.371-376
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• 1999

Stick-slip friction is present to some degree in almost all actuators and mechanisms and is often responsible for performance limitations. Simulation of stick-slip friction is difficult because of strongly nonlinear behavior in the vicinity of zero velocity. A straightforward method for representing and simulating friction effects is presented. True zero velocity sticking is represented without equation reformulation or the introduction of numerical stiffness problems. Stick-slip motion is investigated experimentally, and the fundamental characteristics of the stick-slip motion are clarified. Based on these experimental results, the characteristics of static in the period of stick and kinetic friction in the period of slip are studied concretely so as to clarify the stick-slip process.