• 한국정밀공학회지
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• 제10권3호
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• pp.175-181
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• 1993

In this paper, a practical method to generate task strategies applicable to chamferless and high-precision assembly, is proposed. The difficulties in devising reliable assembly strategies result from various forms of uncertainty such as imperfect knowledge on the parts being assembled and functional limitations of the assembly devices. In approach to cope with these problems, the robot is provided with the capability of learning the corrective motion in response to the force signal trrough iterative task execution. The strategy is realized by adopting a learning algorithm and represented in a binary tree type database. To verify the effectiveness of the proposed algorithm, a series of simulations and experiments are carried out under assimilated real production environments. The results show that the sensory signal-to-robot action mapping can be acquired effectively and, consequently, the chamferless assembly can be performed successfully.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.238-238
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• 2000

In this paper, to increase the utilization of uranium resources contained in the spent fuel, the spent fuel is reused. for this, the spent fuel is dismantled or spent fuel rod is extracted from the spent fuel assembly. Therefore, to achieve the performance of compacting the spent fuel assembly, we proposed the controller consisting of adaptive and fuzzy with teaming algorithm. In order to show the performance of proposed algorithm compares, we compared the controller with conventional controller in plant.

• Structural Engineering and Mechanics
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• 제5권2호
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• pp.149-165
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• 1997

A dynamic time-history analysis of the coupled internals and core in the vertical direction is performed as a part of the fuel assembly qualification program. To reflect the interaction between the fuel rods and grid cage, friction element is developed and is implemented. Also derived here is a method to calculate a hydraulic force on the reactor internals due to pipe break. Peak responses are obtained for the excitations induced from earthquake and pipe break. The dynamic responses such as fuel assembly axial forces and lift-off characteristics are investigated.

• 한국생산제조학회지
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• 제19권5호
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• pp.609-615
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• 2010

Angular contact ball bearings in a high speed spindles are under the extreme conditions, such as high temperature, big centrifugal force and thrust cutting forces. So, the assembly contacts between spindle shaft and inner ring bearings, bearing housing and outer ring of bearings are occasionally unstable at high speed revolution. Furthermore, the ball contact angle of a bearing, which influence stiffness and lifetime of bearings, are changed according to loads and rotational speed. To analyze internal forces of a bearing under high speed revolution, the ball contact are calculated using nonlinear equations in consideration of rotational speed, thrust loads and raceway form. Diameter increase of inner and outer ring by influence factors, such as internal forces to inner and outer ring, centrifugal force and temperature of inner and outer rings are calculated to establish stable state in bearing assembly in high speed spindle. Finally, contribution ratio of influence factor to assembly design tolerance of inner and outer rings are shown and the stable assembly design tolerance are proposed.

• Smart Structures and Systems
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• 제21권5호
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• pp.623-635
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• 2018

In order to study the mechanical behavior of shield tunnel segments during assembly stage, the in-situ tests and FDM numerical simulation were conducted based on the Foguan Shiziyang Tunnel with large cross-section. Analysis for the load state of the assembling segments in different assembly steps as well as the investigation for the changing of inner forces and longitudinal stress of segments with assembling steps were carried out in this paper. By comparing the tested results with the simulated results, the conclusions and suggestions could be drawn as follows: (1) It is the most significant for the effects on axial force and bending moment caused by the assembly of adjacent segment, followed by the insertion of key segment while the effects in the other assembly steps are relative smaller. With the increasing value of axial force, the negative bending moment turns into positive and remains increasing in most monitored sections, while the bending moment of segment B1and B6 are negative and keeping increasing; (2) The closer the monitored section to the adjacent segments or the key segment, the more significant the internal forces response, and the monitored effects of key segment insertion are more obvious than that of calculation; (3) The axial forces are all in compression during assembling and the monitored values are about 1.5~1.75 times larger than the calculated values, and the monitored values of bending moment are about 2 times the numerical calculation. The bending moment is more sensitive to the segments assembly process compared with axial force, and it will result in the large bending moment of segments during assembling when the construction parameters are not suitable or the assembly error is too large. However, the internal forces in assembly stage are less than those in normal service stage; (4) The distribution of longitudinal stress has strong influence on the changing of the internal forces. The segment side surface and intrados in the middle of two adjacent jacks are the crack-sensitive positions in the early assembly stage, and subsequently segment corners far away from the jacks become the crack-sensitive parts either.

• 한국정밀공학회지
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• 제13권4호
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• pp.122-128
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• 1996

In high speed and high precision assembly systems such as a surface mounting device and robotend effector, the contact force control is required. As the operation repeats, the repetitive control is applied to reduce the periodic contact force errors. Since high order unmodelled dynamics are easily excited in contact force control, a Q filter was introduced and its robust stability was analyzed. Simulation and Experimental results show the effectiveness of the algorithm.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2011년도 제40회 동계학술대회 초록집
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• pp.24-25
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• 2011

Molecular self-assembly has several advantages over other nanofabrication methods. Molecular building blocks ensure ultrafine pattern precision, parallel structure formation allows for mass production and a variety of three-dimensional structures are available for fabricating complex structures. Nevertheless, the molecular interaction for self-assembly generally relies on weak forces such as van der Waals force, hydrogen bonding, or hydrophobic interaction. Due to the weak interaction, the structure formation is usually slow and the degree of ordering is low in a self-assembled structure. To promote self-assembly, directed assembly methods employing prepatterned substrates or external fields have been developed and gathered a great deal of technological attention as a next generation nanofabrication process. In this presentation a variety of directed assembly methods for soft nanomaterials including block copolymers, peptides and carbon nanomaterials will be introduced. Block copolymers are representative self-assembling materials extensively utilized in nanofabrication. In contrast to colloid assembly or anodized metal oxides, various shapes of nanostructures, including lines or interconnected networks, can be generated with a precise tunability over their shape and size. Applying prepatterned substrates$^{1,2}$ or introducing thickness modulation$^3$ to block copolymer thin films allowed for the control over the orientational and positional orderings of self-assembled structures. The nanofabrication processes for metals, semiconductors$^4$, carbon nanotubes$^{5,6}$, and graphene$^{6,7}$ templating block copolymer self-assembly will be presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 C
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• pp.1317-1318
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• 2006

In this paper, we have been described a new constructing method of multichannel biosensor using self-assembly by magnetic force interaction. A metal particle and an array was fabricated by photolithographic. Biomaterials were immobilized on the metal particle. The array and the particles were mixed in a buffer solution, and were arranged by magnetic force interaction and self-assembly. A quarter of total Ni dots were covered by the particles. The binding direction of the particles was controllable, and condition of particles was almost with Au surface on top. The particles were successfully arranged on the array. The biomaterial activities were detected by chemiluminescence.

• 한국정밀공학회지
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• 제22권5호
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• pp.197-204
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• 2005

In this study, ground reaction force(GRF), absolute symmetry index(ASI) and coefficient of variation(CV) of fixed, single-axis and multi-axis prosthetic ankle assemblies were investigated to show the biomechanical evaluation for above knee amputees. In the experiments, 37 normal male volunteers, two male and two female AK amputees were tested with fixed, single-axis and multi-axis prosthetic ankle assembly. A gait analysis was carried out to derive the ratio of GRF to weight as the percentage of total stance phase for ten points. The results showed that fixed-axis ankle was superior to the other two ankle assemblies for the characteristic of forwarding and breaking forces. Multi-axis ankle was relatively superior to the other two ankle assemblies for gait balancing and movement of the center for mass. single-axis ankle was relatively superior to the other two ankle assemblies for CV and ASI of GRF.

• Structural Engineering and Mechanics
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• 제53권3호
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• pp.537-573
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• 2015

Multiple-step beams carrying intermediate lumped masses with/without rotary inertias are widely used in engineering applications, but in the literature for free vibration analysis of such structural systems; Bernoulli-Euler Beam Theory (BEBT) without axial force effect is used. The literature regarding the free vibration analysis of Bernoulli-Euler single-span beams carrying a number of spring-mass systems, Bernoulli-Euler multiple-step and multi-span beams carrying multiple spring-mass systems and multiple point masses are plenty, but that of Timoshenko multiple-step beams carrying intermediate lumped masses and/or rotary inertias with axial force effect is fewer. The purpose of this paper is to utilize Numerical Assembly Technique (NAT) and Differential Transform Method (DTM) to determine the exact natural frequencies and mode shapes of the axial-loaded Timoshenko multiple-step beam carrying a number of intermediate lumped masses and/or rotary inertias. The model allows analyzing the influence of the shear and axial force effects, intermediate lumped masses and rotary inertias on the free vibration analysis of the multiple-step beams by using Timoshenko Beam Theory (TBT). At first, the coefficient matrices for the intermediate lumped mass with rotary inertia, the step change in cross-section, left-end support and right-end support of the multiple-step Timoshenko beam are derived from the analytical solution. After the derivation of the coefficient matrices, NAT is used to establish the overall coefficient matrix for the whole vibrating system. Finally, equating the overall coefficient matrix to zero one determines the natural frequencies of the vibrating system and substituting the corresponding values of integration constants into the related eigenfunctions one determines the associated mode shapes. After the analytical solution, an efficient and easy mathematical technique called DTM is used to solve the differential equations of the motion. The calculated natural frequencies of Timoshenko multiple-step beam carrying intermediate lumped masses and/or rotary inertias for the different values of axial force are given in tables. The first five mode shapes are presented in graphs. The effects of axial force, intermediate lumped masses and rotary inertias on the free vibration analysis of Timoshenko multiple-step beam are investigated.