• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.718-721
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• 1996

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.2
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• pp.215-222
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• 2003

In this paper, kinematic analysis and design of constant force mechanisms which employ a linear spring are studied. Firstly, sufficient conditions for the mechanisms to be the constant force mechanisms are derived in terms of displacement variables through the kinematic analysis. Secondly, a few conceptual mechanisms satisfying these constraints are proposed.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2284-2296
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• 1994

Force control of robotic mechanisms continues to be a challenging area. Previous implementation have seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. In this study, a new stability factor in force control will be pointed out. When a manipulator is constrained to an environment(force-controlled), geometric instability due to the relationship between the manipulator configuration and the force-controlled direction is shown to be a significant factor in overall system stability. This exploratory study points out a rather intuitive, geometrically based stability factor in terms of an effective system stiffness and analyzes the phenomenon both analytically and graphically. Also, a stiffness control algorithm using the kinematic redundancy of a kinematically redundant manipulator is proposed to improve the overall stability in force control.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.05a
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• pp.321-321
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• 2004

본 연구에서는 웨이퍼 단면 연삭기 구조물의 경량화 고강성화 최적설계를 위하여 가변벌점함수 유전 알고리즘을 이용한 다단계 최적설계 방법을 적용하였다. 구조강성 최대화와 중량 최소화라는 상반된 성질의 목적함수를 최적화하기 위하여 강성의 역수 개념인 컴플라이언스(compliance)를 도입하여 목적함수론 최소화시키는 문제로 만들었으며, 가증방법(weighted method)을 이용하여 다목적 함수를 단일 목적함수로 변환시켰다. 부재 단면형상 최적화 단계와 정적설계 최적화 단계, 및 동적 설계 최적화 단계를 순차적으로 수행하는 다단계 최적설계를 방법을 연삭기 구조물의 최적설계에 적용하였다.(중략)

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.1
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• pp.235-242
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• 2019

Self-reciprocal polynomials over finite fields are useful in several applications, including reversible codes with read-backward properties. This paper is a study on 90/150 CA with characteristic polynomials of maximal weight polynomials, which is one of the self-reciprocal polynomials. In this paper, we propose a decision method for determining the existence of 90/150 MWCA corresponding to the maximum weight polynomial of degree 2n using n-cell 90/150 CA with transition rule <$100{\cdots}0$>. The proposed method is verified through experiments.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.4
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• pp.846-855
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• 1994

An effective stiffness, analogous to that of a wound spring, can be created by antagonistic redundant actuation of general closed-chain mechanisms. The qualitative and quantitative characteristics of the effective stiffness are investigated through a Four-bar mechanism, and a load distribution method is introduced which simultaneously guarantees the required system motion and the effective stiffness of the Four-bar mechanism. Furthermore, a simulation is performed to understand the inter-relationship among the effective stiffness, the Four-bar geometry, and the actuation effort. Based on this analysis, the Four-bar synthesis problem for effective stiffness generation is discussed.

• Journal of KSNVE
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• v.8 no.4
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• pp.690-699
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• 1998

This paper discusses the techniques, procedures and the results of the ground vibration test(GVT) performed on the development aircraft and the simple procedure of FE model updating technique from the GVT results. The GVT was carried out using random excitation technique with MIMO(Multi-Input-Multi-Output) data acquistion method, and taking full advantage of poly-reference global parameter estimation technique to identify the vibration modes. In dynamic FE modeling, the aircraft was represented by beam elements and all dynamic analysis was performed using MSC/NASTRAN for this model. In updating procedure, the stiffness of the beam model was adjusted iteratively so as to get the natural frequencies and mode shapes close to the GVT results.

• Journal of the Korean Geosynthetics Society
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• v.6 no.3
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• pp.17-23
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• 2007

To construct an ideal geosynthetic reinforced soil retaining wall (GRS-RW), the facing of the wall should be flexible enough to accommodate a large deformation of the supporting ground and to develop the large tensile force in reinforcements during wall construction as long as the stability is ensured, but should be rigid enough to be stiff and stable as well as durable and aesthetically acceptable for a long life time when the wall is in service. Facing conditions during the construction and service of the wall are quite different. So it is difficult to be satisfied all these conditions with the current construction method which is mainly used in reinforced wall construction in Korea. Most of this contradiction could be solved by the staged construction procedure. According to the results of cases and references analyses, stage construction procedures make it possible to accommodate large deformation of the supporting ground and backfill without losing the stability of the wall, and to derive the tensile strength of reinforcement causing deformation of the facing. When the facing is a full-height rigid one, it also appeared almost impossible to occur a local shear failure of the active zone, and pull-out failure of reinforcements. Therefore, GRS-RWs having a full-height rigid facing have been constructed by the staged construction procedures that matched well with the theory of reinforced soil, which had outstanding stability and durability, and thus could be used for railways and bridge abutments in Korea in the future.

• Journal of the Korean Geotechnical Society
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• v.30 no.9
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• pp.41-55
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• 2014

In performing seismic analysis of tunnels, it is a common practice to ignore the rock joints and to assume that the rock mass surrounding the tunnel is continuous. The applicability of this assumption has not yet been validated in detail. This study performs a series of pseudo-static discrete element analyses to evaluate the effect of rock joint on the seismic response of tunnels. The parameters considered are joint intersection location, joint spacing, joint stiffness, joint dip, and interface stiffness. The results show that the joint stiffness has the most critical influence on the tunnel response. The tunnel response increases with the spacing, resulting in localized concentration of moment and shear stress. The response of the tunnel is the lowest for joints dipping at $45^{\circ}$. This is because large shear stresses result in rotation of the principal planes by $45^{\circ}$. In summary, the weathered and smooth, vertical or horizontal, and widely spaced joint set will significantly increase the tunnel response under seismic loading. The tunnel linings are shown to be most susceptible to damage due to induced shear stress, and therefore should be checked in the seismic design.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1989.06b
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• pp.35-47
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• 1989

누설방지를 목적으로 산업용 기계에서 많이 사용되고 있는 기계평면시일(mechanical face seal)은 기능상 높은 신뢰도를 요구하고 있다. 이를 위하여 동적 안정성이 커야되고, 밀봉된 유체의 누설을 최소화시킬 수 있는 정도에서 시일의 수명을 결정해야 한다. 이와같이 상반된 성질을 동시에 만족시키기 위하여 시일 성능에 영향을 미칠 수 있는 기하학적 요인들을 고려하여 해석해야 한다. 일반적으로 미끄럼 접촉운동을 하고 있는 시일에서 시일링 간극(sealing gap)이 수 micron 단위라는 점을 고려할때 시일 조립시 중심맞추기(alignnment) 정미\ulcorner 결여 및 회전축의 자중량 등에 의한 기계적 변형(mechanical distortion), 특히 고온의 분위기에서 작동되고 있는 시일의 열변형(thermal distortion)은 시일의 경사집에 커다란 영햐을 주고 있다. 또한 누설을 최소화시킬 목적으로 시일 링(seal ring) 을 시일의 경사짐에 커다란 영향을 주고 있는 스프링의 강성도를 증가시키면 상대 미끄럼 운동을 하고 있는 접촉명이 건조마찰에 의한 마멸이 진행되어 코닝(coning)현상이 생긴다. 시일 평면에서 코닝 현상은 시일의 축방향 분리력(axial separtating force)과 경사 모우면트(tilting moment)에 커다란 영향을 주고 있는 것으로 알여졌다. 이들의 연구는 주로 경사진 시일평판에 시일근사치이논(seal approximation bhoryl)을 이용하여 1차원 비압축성에 관한 시월 성능을 해석하였다. 본 연구에서는 비압축성 유체의 점성이 온도에 의하여 변화를 일으키는 조건하에서 경사진 회전시일에 코닝이 발생되었을때 시일링 각극에서의 압력분포를 ㅈ차원인 경우에 대하여 수치적으로 해석을 하였다.