• Journal of Electrical Engineering and Technology
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• 제11권1호
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2007년도 춘계학술대회
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• pp.97-100
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• 2007

Fuel Cell Stack performance, which is influenced by the maintenance of a constant internal environment, requires high levels of air tightness. Used for analysis, gasket for fuel cell is made of elastic rubber materials and placed over separator, and shape of deformation of a gasket affects the transformation separator and airtightness while fastening structure. Separator as made of steel sheet isn't broken under pressure but can affect gas and cool water flow by the plastic deformation process. Therefore， it is understood that assembly process is well developed in case distribution of stress and shape of deformation is shown uniformly. This study is conducted on the assumption that a fuel cell maintenance is advantageous in that conditions. In this paper, analyses of unit cell and partial model were performed and distribution of stress and shape of deformation of Gasket and separator were analyzed to evaluate the airtightness while fastening structure.

• Geomechanics and Engineering
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• 제7권3호
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• pp.317-333
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• 2014

The study of the mechanical behavior of rockfill materials under three-dimensional loading conditions is a current research focus area. This paper presents a microscale numerical study of rockfill deformation and strength characteristics using the Combined Finite-Discrete Element Method (FDEM). Two features unique to this study are the consideration of irregular particle shapes and particle crushability. A polydisperse assembly of irregular polyhedra was prepared to reproduce the mechanical behavior of rockfill materials subjected to axial compression at a constant mean stress for a range of intermediate principal stress ratios in the interval [0, 1]. The simulation results, including the stress-strain characteristics, relationship between principal strains, and principal deviator strains are discussed. The stress-dilatancy behavior is described using a linear dilatancy equation with its material constants varying with the intermediate principal stress ratio. The failure surface in the principal stress space and its traces in the deviatoric and meridian plane are also presented. The modified Lade-Duncan criterion most closely describes the stress points at failure.

• Advances in Computational Design
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• 제1권1호
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• pp.105-117
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• 2016

The objective of this work is to study the restraining effect in fire resistance of framed structures and to evaluate the global response of reinforced concrete frames when exposed to fire based on advanced finite element method. To study the response a single portal frame is analyzed. The effect of floor slab on this frame is studied by modeling a beam-column-slab assembly. The evolution of temperature distribution, internal stresses and deformations of the frame subjected to ISO 834 standard fire curve for both the frames are studied. The thermal and structural responses are evaluated and a comparison of results of individual members and entire structure is done. From the study it can be seen that restraining forces has significant influence on both stresses and deflection and overall response of the structure when compared to individual structural member. Among the various structural elements, columns are the critical members in fire and failure of column causes the failure of entire structure. The fire rating of various structural elements of the frame is determined by various failure criteria and is compared with IS456 2000 tabulated fire rating.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2002년도 Proceedings of the International Welding/Joining Conference-Korea
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• pp.181-186
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• 2002

Laser welding application for car body manufacturing has many advantages in the stiffness and the lightness of vehicle, the productivity of assembly line, and the degree of freedom in design. This presentation will express the innovation of car body manufacturing including parameter optimization, process modeling, and system integration. In this application the investment for systems was cut down dramatically by real time switching over the laser path between two welding stations. Points of technical discussion are as follows: optimization of parameters such as laser power, robot speed and trajectory, compact and useful design of jig & fixture to assure welding quality for 3 sheet-layer zinc-coated steel, system integration between 4kW Nd:YAG laser device and the other systems, on-line real time welding quality monitoring system, perfect safety standards for high power laser, minimization of consumption costs such as arc lamp, protective glass for optic, etc. Laser welding has found a place on Hyundai's production plant in conjunction with the startup of mass production of new sports car, and this production system is the result of a collaboration of its engineers. Outer side sheets are joined to inner side sheets by 122 stitch welds totally. And the length is about 2.4meter.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.607-612
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• 2004

Disc brake noise continues to be a major concern throughout the automotive industry despite efforts to reduce its occurrence. Eliminating vibrations during braking is an important task for both vehicle passenger comfort and reducing the overall environmental noise levels. There are several classes of disc brake noise, the major ones being squeal, judder, groan, and moan. In this study, analytical model for moan noise of rear disk brake is investigated. Modeling of the disc brake assembly to take account of the effect of different geometrical and contact parameters is studied through the use of multi-body model. The contact stiffness of the caliper and torque member plays an important role in controlling brake vibration. Therefore, a suitable material pair at the caliper/body contact has been made. An ADAMS model of a rear disc brake system was integrated with a flexible suspension trailng arm from MSC/NASTRAN. A fully non-linear dynamic simulatin of brake system behavior, containing rigid and flexible bodies, was performed for a Prescribed set of operating conditions. Simulation results were validated using data from vehicle experimental testing.

• 한국소음진동공학회논문집
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• 제23권3호
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• pp.234-239
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• 2013

There are many types of speed reducer for industrial uses. However the cycloid speed reducer is widely used in manipulators based on excellent performance of low backlash, high reduction ratio and compact size. It is essential to use precision speed reducer for accuracy of position controls on robot systems and electric vehicles. The cycloid speed reducer has a eccentric rotating motion and offset to avoid some problem of assembly, so it has a disadvantage for vibration. In this paper, a multi-body dynamic model is developed for a cycloid speed reducer and the dynamic behaviors of the reducer are investigated. The cycloid speed reducer consists of cycloidal plate gears, housing gear, input shaft, output pin and shaft, and eccentric bearings. Using a CAD program, each component of cycloid reducer is modeled based on the offset and eccentric. Multi-body simulations using Recurdyn and test using a rig tester are performed. As a result, the pin reaction force and the amplitude of housing displacement are increased by the larger offset and smaller eccentric value of cycloid reducer.

• 한국소음진동공학회논문집
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• 제22권11호
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• pp.1057-1063
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• 2012

A cycloid speed reducer is a type of the speed reducers. The cycloid speed reducer has a eccentric rotating motion and offset to avoid some problem of assembly, so it has a disadvantage for vibration. In this paper, a multi-body dynamic model is developed for a cycloid speed reducer and the dynamic behaviors of the reducer are investigated. The cycloid speed reducer consists of cycloidal plate gears, housing gear, input shaft, output pin and shaft, and eccentric bearings. Using a CAD program, each component of cycloid reducer is modeled based on the offset and multi-body simulations are performed using Recurdyn. As a result, the pin reaction force and the amplitude of bearing displacement are increased by the offset.

• 한국CDE학회논문집
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• 제3권3호
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• pp.201-209
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• 1998

To develop timely an optimal fan, a design system and a new manufacturing process used step by step have to be integrated. A small sized optimal fan for refrigerators, that was the goal on this project, was developed by the following principal processes. All processes are technologically linked in many directions: The existing fan was measured through reverse engineering. The measured data was used for the basic source of 3D design. The performance tests were carried and used as the data for the evaluation of the existing fan. Flow analysis by FANS-3D/sup [1]/ was performed at the given information (pressure drop and flow rate) to find out the configuration of optimal fan design. The flow patterns were investigated to measure the performance of fan through numerical experiment. The grid point data obtained by the above analysis turned into 3D high efficiency fan model by using CATIA. The product was manufactured by RP process (SLS, SLA) and tested the characteristic curves of the developed fan to compare with the existing fan. The modification of fan design were all examined to see any change in performance and checked to find any deficiency in assembling the fan into a duct. After the plastics flow analysis of the injection molding cycle to ensure acceptable quality fan, an optimal mold was processed by using tool-path for the newly designed fan.

• Steel and Composite Structures
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• 제20권2호
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• pp.251-266
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• 2016

The paper combines two distinct parts. First the behavior of welded headed studs with small diameters of 10 and 13 mm acting as shear connectors (which are not embraced in current standards) is studied. Based on standard push tests the load-slip relationships and strengths are evaluated. While the current standard (Eurocode 4 and AISC) formulas used for such studs give reasonable but too conservative strengths, less conservative and full load-slip rigidities are evaluated and recommended for a subsequent investigation or design. In the second part of the paper the partially encased beams under bending are analyzed. Following former experiments showing rather indistinct role of studs used for shear connection in such beams their role is studied. Numerical model employing ANSYS software is presented and validated using former experimental data. Subsequent parametric studies investigate the longitudinal shear between steel and concrete parts of the beams with respect to friction at the steel and concrete interface and contribution of studs with small diameters required predominantly for assembly stages (concreting). Substantial influence of the friction and effect of concrete confinement was observed with rather less noticeable contribution of the studs. Distribution of the longitudinal shear and its sharing between friction and studs is presented with concluding remarks.