• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.89-94
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• 1994

This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the. proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to tire operational space dynamic formulation which maps tire joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator's configurations. This is done by using the null space dynamics which does not affect the motion of an end-effector. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effectiveness of the algorithm in reducing both the effects of impact and large torque requirements.

• 한국정밀공학회지
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• 제7권4호
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• pp.29-39
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• 1990

The purpose of this research is to analyze the impact behaviors of laminated composite plates subjected to the transverse low-velocity impact by the steel ball. A plate finite element model based on Whitney and Pagano's the first-order shear deformation theory (FSDT) in conjunction with experimental static contact laws is formulated and then compared with the results of the impact experiments. Because the input data and the output data printed at every integration time step are lots of amount, these are interactively poecessed by the developed pre-processor(PREPLOT) and postprecessor(POSTPLOT). All results from these procesors are automatically generated by CALCOMP plotter. Test materials are glass/expoxy composite materials. The specimens are composed of [$0^{\circ} /45^{\circ}/0^{\circ}/-45^{\circ}/0^{\circ}/]2s\ and \[90^{\circ}/45^{\circ}/90^{\circ}/-45^{\circ}/90^{\circ}/$]2s stacking sequences and have $4.5^t{\times}200^w{\times}200^l$(mm) and $4.5^t{\times}300^w{\times}300^l$(mm) dimensions.

• Structural Engineering and Mechanics
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• 제60권5호
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• pp.829-849
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• 2016

In this paper, experimental as well as numerical analysis of Glass Fiber Reinforced Polymer (GFRP) laminated composite has been presented under ballistic impact with varying projectile nose shapes (conical, ogival and spherical) and incidence velocities. The experimental impact tests on GFRP composite plate reinforced with woven glass fiber ($0^{\circ}/90^{\circ}$)s are performed by using pneumatic gun. A three dimensional finite element model is developed in AUTODYN hydro code to validate the experimental results and to study the ballistic perforation characteristic of the target with different parametric variations. The influence of projectile nose shapes, plate thickness and incidence velocity on the variation of residual velocity, ballistic limit, contact force-time histories, energy absorption, damage pattern and damage area in the composite target have been studied. The material characterization of GFRP composite is carried out as required for the progressive damage analysis of composite. The numerical results from the present FE model in terms of residual velocity, absorbed energy, damage pattern and damage area are having close agreement with the results from the experimental impact tests.

• Composites Research
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• 제23권4호
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• pp.1-6
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• 2010

진주조개를 모방한 생체모방 복합재료의 저속충격 하에서의 동적 거동에 대해 연구하였다. 이러한 복합재료는 단백질과 미네랄 층이 계층구조를 이루고 있다. 유한요소해석을 사용하여 복합재료의 충격거동을 해석하였다. 복합재료의 계층구조가 동적 거동에 미치는 영향을 고찰하였다. 생체모방구조물은 계층구조의 차수가 높아짐에 따라 저속충격에 대해 충격지점에서 구조물이 받는 최대 응력과 변위, 접촉하중을 감소시킨다.

• Design & Manufacturing
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• 제2권4호
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• pp.11-15
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• 2008

In the sheet metal forming using a high speed press machine, driving device, such as crank, link, and knuckle mechanism, has to be designed in consideration of impact at a moment when press die contact with material, because the impact affects a dimensional accuracy of products and a life span of press die. In this study, dynamic analysis was performed using numerical simulation in order to verify the impact reduction effect for proposed double knuckle mechanism by estimating rolling and pitching moment of slide.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2003년도 가을 학술발표회 논문집
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• pp.71-78
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• 2003

In this study, the impact analysis for the steel fender system that designed for protection of collision between vessel and bridge was peformed. The size of objective collision vessel assumed as 3000 dead weight tonnage(DWT). The impact forces and the impact energies were estimated by formulas of several design codes, and the steel fender system was designed based on the estimated forces and energy. The bow of objective vessel was modeled as rigid body, and bridge substructure was modeled as fixed support. Since, the impact analysis have the dynamic nonlinear features, such as, material nonlinear, large deformation and contact, explicit structural analysis program was used. The analysis results presented that the impact forces formulas in codes have the sufficient conservativeness.

• 대한기계학회논문집A
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• 제26권3호
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• pp.576-585
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• 2002

A three-dimensional Lagrangian explicit time-integration finite element code for analyzing the dynamic impact phenomena was developed. It uses four node tetrahedral elements. In order to consider the effects of strain rate hardening, strain hardening and thermal softening, which are frequently observed in high-velocity deformation phenomena, Johnson-Cook model is used as constitutive model. For more accurate and robust contact force computation, the defense node contact algorithm was adopted and implemented. In order to evaluate the performance of the newly developed three-dimensional hydrocode NET3D, numerical simulations of the oblique impact of mild steel plate by mild steel sphere were carried out. Ballistic limit about various oblique angle between 0 degree and 80 degree was estimated through a series of simulations with different initial velocities of sphere. Element eroding by equivalent plastic strain was applied to mild steel spheres and targets. Ballistic limits and fracture characteristics obtained from simulation were compared with experimental results conducted by Finnegan et al. From numerical studies, the following conclusions were reached. (1) Simulations could successfully reproduce the key features observed in experiment such as tensile failure termed "disking"at normal impacts and outwards bending of partially formed plus segments termed "hinge-mode"at oblique impacts. (2) Simulation results fur 60 degrees oblique impact at 0.70 km/s and 0.91 km/s were compared with experimental results and Eulerian hydrocode CTH simulation results. The Lagrangian code NET3D is superior to Eulerian code CTH in the computational accuracy. Agreement with the experimentally obtained final deformed cross-sections of the projectile is excellent. (3) Agreement with the experimental ballistic limit data, particularly at the high-obliquity impacts, is reasonably good. (4) The simulation result is not very sensitive to eroding condition but slightly influenced by friction coefficient.

• 한국해안·해양공학회논문집
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• 제23권2호
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• pp.139-146
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• 2011

충격쇄파압은 권파성 파랑이 구조물 전면에 갑자기 충돌할 때 발생하며 접촉면에서 공기포켓의 생성여부에 따라 충격쇄파압의 작용특성이 달라진다. 수괴의 직접적인 충돌에 따른 Wagner형은 접촉면에서 단일 압력 첨두치를 보이는 반면, Bagnold형은 공기포켓의 진동에 의하여 비접촉면에서도 압력의 첨두치를 보이는 특성이 있다. 본 연구에서는 시공 중의 수중터널 벌크헤드의 배면(육측면)에 발생하는 충격쇄파압을 고찰하였다. Navier-Stokes 방정식을 직접 푸는 수치해석을 적용하여 벌크헤드 인근에 발생하는 쇄파를 모의한 결과, 벌크헤드의 배면에서 강한 Bagnold형 충격쇄파압이 발생함을 확인하였다. 본 충격쇄파압의 존재는 동일 조건에 대하여 수행한 수리모형실험에 의해서도 확인되었으며, 실험결과와 수치해석결과가 대체적으로 유사한 성향을 보임을 확인하였다.

• 대한기계학회논문집A
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• 제25권5호
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• pp.899-905
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• 2001

The damage behavior of soda-lime glass was studied due to a steel ball of 1mm and 2mm at oblique impact test. The thickness of glass specimen were 3mm and 5mm and oblique degrees of impact were 90$^{\circ}$,70$^{\circ}$ and 50$^{\circ}$. After the steel ball impact test, the crack patterns were investigated using a stereo-microscope. In addition, the finite element method was performed to analyze the stresses distribution and variation in the oblique impacted glass by steel ball. As a result of the impact test, the crack length of 90$^{\circ}$impacted glass was the largest and that of 50$^{\circ}$impacted glass was the smallest. In particular, as the impact velocity and diameter of the steel ball increased, the difference of crack length was prominent. The finite element analysis showed the maximum principle stresses distribution in contact area of glass specimen. The result of analysis was accorded with the crack growth behavior by the oblique impact test.

• Computers and Concrete
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• 제22권6호
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• pp.515-525
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• 2018

This paper presents a numerical study on the performance of reinforced concrete (RC) bridge structures subjected to heavy goods vehicle (HGV) collision. The objectives of this study are to investigate the dynamic response and failure modes of different types of bridges under impact loading as well as to give an insight into the simplified methods for modeling bridge structures. For this purpose, detailed finite-element models of HGV and bridges are established and verified against the full-scale collision experiment and a recent traffic accident. An intensive parametric study with the consideration of vehicle weight, vehicle velocity, structural type, simplified methods for modeling bridges is conducted; then the failure mode, impact force, deformation and internal force distribution of the validated bridge models are discussed. It is observed that the structural type has a significant effect on the force-transferring mechanism, failure mode and dynamic response of bridge structures, thus it should be considered in the anti-impact design of bridge structures. The impact force of HGV is mainly determined by the impact weight, impact velocity and contact interface, rather than the simplification of the superstructure. Furthermore, to reduce the modeling and computing cost, it is suggested to utilize the simplified bridge model considering the inertial effect of the superstructure to evaluate the structural impact behavior within a reasonable precision range.