• 한국정밀공학회지
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• 제18권10호
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• pp.45-52
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• 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.647-652
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• 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
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• 제5권4호
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• pp.461-475
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• 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.

• 마이크로전자및패키징학회지
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• 제21권4호
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• pp.125-131
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• 2014

웨어러블 패키징용 신축성 기판을 개발하기 위해 투명한 PDMS인 Sylgard 184와 검정색 PDMS인 Sylgard 170에 대해 base/curing agent 혼합비에 따른 탄성계수의 변화거동을 분석하였다. Sylgard 184와 Sylgard 170의 공칭응력-공칭변형률 곡선에서 구한 공칭탄성계수에 비해 진응력-진변형률 관계로부터 구한 진탄성계수가 2배 이상 높았으며, 진탄성계수와 공칭탄성계수의 차이는 PDMS의 강성도가 높아질수록 증가하였다. Sylgard 184에서는 base/curing agent의 혼합비가 10일 때 탄성계수의 최대값을 얻을 수 있었으며, 이때 공칭탄성계수는 1.74 MPa, 진탄성계수는 3.57 MPa이었다. Sylgard 170에서는 base/curing agent 혼합비가 2일 때 탄성계수가 최대가 되었으며, 이때 공칭탄성계수와 진탄성계수는 각기 1.51 MPa와 3.64 MPa이었다.

• 한국안전학회지
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• 제22권2호
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• pp.22-27
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• 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.

• 한국도로학회논문집
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• 제19권1호
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• pp.45-52
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• 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.

• 한국방재학회 논문집
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• 제7권5호
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• pp.99-110
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• 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.

• 한국강구조학회 논문집
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• 제16권4호통권71호
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• pp.471-478
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• 2004

이 연구의 목적은 노출형 원형강관 주각이 중심축압축력을 받을 때 그 역학적 거동을 실험적으로 조사하고 탄성수치해석을 통하여 실험결과를 검토하고자 함에 있다. 실험에 앞서 AISC의 제안식 및 기존 연구에 관한 문헌조사를 실시하였다. 실험으로 중심축압축가력을 실시하였으며 베이스 플레이트 두께를 변수로 하여 두께 9mm부터 35mm까지의 9개의 시험체를 제작하였다. 실험결과는 하중 - 베이스 플레이트 수직변위관계, 하중 - 베이스 플레이트 변형도관계 등으로 정리하였다. 실험결과를 검토하기 위하여 탄성수치해석을 실시하였으며 탄성수치해석 프로그램으로는 Ansys version 6.1을 사용하였다. 실험 및 해석결과는 향후 실시할 비탄성해석결과와 함께 설계식 제안에 사용될 것이다.

• Earthquakes and Structures
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• 제26권2호
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• pp.163-174
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• 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
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• 제30권4호
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• pp.287-297
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• 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.