• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.10
• /
• pp.45-52
• /
• 2001

This paper presents a study on the position tracking control of a robot system on the uncertain elastic base. The elastic bathe is a nonholonomic system but it can be changed into holonomic system, which is much easier to analyze, by modeling an elastic base as a virtual robot that has passive joints. Also, Jacobian operators, which represent the overall robot system including base movement, are defined and applied to the changed model. However, because base movements are not known, the exact Jacobian operators can＇t be estimated. The control algorithm proposed is that uses only Jacobians of a real robot as approximate Jacobian operators. Therefore the approximate Jacobian operators compensate the measured errors from external sensors. The proposed control strategy is evaluated by the simulation and experiment of a single-axis robot system on the elastic base.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.647-652
• /
• 2000

This paper presents a study on the position tracking control of robot system on the uncertain elastic base. The elastic base is modeled as a virtual robot which has passive joints and the control strategy is using approximate Jacobian operators. Jacobian operators represent the overall robot system including base movement. However, because we don't know the base movement we can't estimate the jacobian operators directly. The control algorithm is proposed which uses only Jacobian operators of a real robot as approximate Jacobian operators. The measured errors from external sensor are compensated by approximate Jacobian operators. The simulation results of a single-axis robot system show that the control strategy can be used for position tracking.

• Earthquakes and Structures
• /
• v.5 no.4
• /
• pp.461-475
• /
• 2013

A new experimental system of base-isolated structures is proposed. There are two kinds of dampers usually used in the base-isolated buildings, one is a viscous-type damper and the other is an elastic-plastic hysteretic-type damper. The base-isolated structure with a viscous damper and that with an elastic-plastic hysteretic damper are compared in this paper. The viscous damper is modeled by a mini piston and the elastic-plastic hysteretic damper is modeled by a low yield-point steel. The capacity of both dampers is determined so that the dissipated energies are equivalent at a specified deformation. When the capacity of both dampers is determined according to this criterion, it is shown that the response of the base-isolated structure with the elastic-plastic hysteretic damper is larger than that with the viscous damper. This characteristic is demonstrated through the comparison of the bound of the aspect ratio. It is shown that the bound of aspect ratio for the base-isolated structure with the elastic-plastic hysteretic damper is generally smaller than that with the viscous damper. When the base-isolated structure is subjected to long-duration input, the mechanical property of the elastic-plastic hysteretic damper deteriorates and the response of the base-isolated structure including that damper becomes larger than that with the viscous damper. The effect of this change of material properties on the response of the base-isolated structure is also investigated.

• Journal of the Microelectronics and Packaging Society
• /
• v.21 no.4
• /
• pp.125-131
• /
• 2014

In order to develop stretchable substrates for wearable packaging applications, the variation behavior of elastic modulus was evaluated for transparent PDMS Sylgard 184 and black PDMS Sylgard 170 as a function of the base/curing agent mixing ratio. Both for Sylgard 184 and Sylgard 170, the true elastic modulus evaluated on a true stress-true strain curve was higher more than two times compared to the engineering elastic modulus obtained from an engineering stres-sengineering strain curve, and their difference became larger with increasing the stiffness of the PDMS. Sylgard 184 exhibited a maximum engineering elastic modulus of 1.74 MPa and a maximum true elastic modulus of 3.57 MPa at the base/curing agent mixing ratio of 10. A maximum engineering elastic modulus of 1.51 MPa and a maximum true elastic modulus of 3.64 MPa were obtained for Sylgard 170 at the base/curing agent mixing ratio of 2.

• Journal of the Korean Society of Safety
• /
• v.22 no.2 s.80
• /
• pp.22-27
• /
• 2007

To assess a creep life of elevated temperature plant components, inspections and analysis are usually focused on the critical locations. In this study, stress analysis of a weld region in branch part of Y-piece was conducted by using a three-dimensional finite element analysis. The stresses at the inner and outer surface in the weld part were estimated by using elastic and elastic-creep analysis. For the elastic-creep analysis two kinds of elastic-creep analysis was conducted. The one was assumed that base and weld material properties were same and the other was that material properties were different between base and weld metal. The material properties of base and weld metal were used from reference data. The results showed the stress relaxation level and its location. The result stresses are also compared with elastic stresses.

• International Journal of Highway Engineering
• /
• v.19 no.1
• /
• pp.45-52
• /
• 2017

PURPOSES : The main purpose of this study is to develop a high elastic modulus and low-shrinkage roller-compacted concrete base (RCCB) in order to prevent fatigue cracking and reflective cracking in the asphalt surface layer of composite pavement. Using a rigid base material with low shrinkage can be a solution to this problem. Moreover, a strong rigid base with high elastic modulus is able to shift the location of critical tensile strain from the bottom of the asphalt layer to the bottom of the rigid base layer, which can prevent fatigue cracking in the asphalt layer. METHODS : Sensitivity analysis of composite pavement via numerical methods is implemented to determine an appropriate range of elastic modulus of the rigid base that would eliminate fatigue cracking. Various asphalt thicknesses and elastic moduli of the rigid base are used in the analysis to study their respective influences on fatigue cracking. Low-shrinkage RCC mixture, as determined via laboratory testing with various amounts of a CSA expansion agent (0%, 7%, and 10%), is found to achieve an appropriate low-shrinkage level. Shrinkage of RCC is measured according to KS F 2424. RESULTS : This study shows that composite pavements comprising asphalt thicknesses of (h1) 2 in. with E2 > 19 GPa, 4 in. with E2 > 15 GPa, and 6 in. with E2 > 11 GPa are able to eliminate tensile strain in the asphalt layer, which is the cause of fatigue cracking in this layer. Shrinkage test results demonstrate that a 10% CSA RCC mixture can reduce shrinkage by 84% and 93% as compared to conventional RCC and PCC, respectively. CONCLUSIONS : According to the results of numerical analyses using various design inputs, composite pavements are shown to be able to eliminate fatigue cracking in composite pavement. Additionally, an RCC mixture with 10% CSA admixture is able to reduce or eliminate reflective cracking in asphalt surfaces as a result of the significant shrinkage reduction in the RCC base. Thus, this low-shrinkage base material can be used as an alternative solution to distresses in composite pavement.

• Journal of the Korean Society of Hazard Mitigation
• /
• v.7 no.5
• /
• pp.99-110
• /
• 2007

A single slab concrete pavement has been modeled and analyzed by ABAQUS program. The stress and displacement of the JCP slab under traffic load with frictionless contact interaction between slab and base calculated by ABAQUS program have been compared with the results obtained by KENSLABS program. The results of the stresses of the two modeling show similar tendency and the difference of the two modeling is very small however the results of the displacement of the two modeling show some dissimilarity. In order to analyze the effects of material and geometric properties on the responses of slab, some varying parameters were chosen as input for the modeling. The changing parameters include the thickness and elastic modulus of the concrete slab, the thickness and elastic modulus of base and the elastic modulus of the subgrade. The contact interaction between the slab and base layer had been also studied and different friction coefficient 0, 2.5, 6.6, 7.5, 8.9 had been used to simulate the different friction interface condition. The results of the analysis showed that the responses of the concrete slab vary with the material and geometric properties of the pavement structure and the slab-base friction condition.

• Journal of Korean Society of Steel Construction
• /
• v.16 no.4 s.71
• /
• pp.471-478
• /
• 2004

The object of this study is to experimentally investigate the structural behavior of circular tube column bases under axial loads and to ascertain the test results using elastic numerical analysis. A literature survey was conducted on the AISC design code and a few design formulae. Tests were axially conducted under compressive loads. The thickness of the base plate was the main parameter of the specimens. Nine base plate specimens were used, with thicknesses ranging from 9 millimeters to 35 millimeters. The relationship of the load and the vertical displacement of base plates and the relationship of the load and the strain of the base plates were tested. Ansys version 6.1 was used for the elastic numerical analysis, to ascertain the test results. he test results and the elastic numerical analysis results will be used to suggest design formulae for inelastic numerical analyses that will be conducted later on.

• Earthquakes and Structures
• /
• v.26 no.2
• /
• pp.163-174
• /
• 2024

Dynamic equilibrium equations for finite element analysis were derived for the free field one-dimensional shear wave propagation through the horizontally layered soil deposits with the elastic half-space. We expressed Rayleigh's viscous damping consisting of mass and stiffness proportional terms. We considered two cases where damping matrices are defined in the total and relative displacement fields. Two forms of equilibrium equations are presented; one in terms of total motions and the other in terms of relative motions. To evaluate the performance of new equilibrium equations, we conducted two sets of site response analyses and directly compared them with the exact closed-form frequency domain solution. Results show that the base shear force as earthquake load represents the simpler form of equilibrium equation to be used for the finite element method. Conventional finite element procedure using base acceleration as earthquake load predicts exact solution reasonably well even in soil deposits with unrealistically high damping.

• Nuclear Engineering and Technology
• /
• v.30 no.4
• /
• pp.287-297
• /
• 1998

The elastic stiffness formula of leaf type holddown spring(HDS) assembly is verified by comparing the values of elastic stiffness with the characteristic test results of the HDS's specimens. The comparisons show that the derived elastic stiffness formula is useful in reliably estimating the elastic stiffness of leaf type HDS assembly. The elastic stiffness sensitivity of leaf type HDS assembly is analyzed using the formula and its gradient vectors obtained from the mid-point formula. As a result of sensitivity analysis, the elastic stiffness sensitivity with respect to each design variable is quantified and design variables of large sensitivity are identified. Among the design variables, leaf thickness is identified as the most sensitive design variable to the elastic stiffness of leaf type HDS assembly. In addition, the elastic stiffness sensitivity, with respect to design variable, is in power-law type correlation to the base thickness of the leaf.