• 한국지반공학회논문집
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• 제34권2호
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• pp.33-42
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• 2018

본 연구에서는 소형 압전소자의 전기-역학적 임피던스를 이용하여 모래의 단위중량이나 강도를 평가하였다. 다짐 몰드 내 크기가 다른 세 종류의 미고결 낙동강모래를 느슨하거나 조밀하게 성형한 다음 내부에 직경 20mm 원형모양의 납작한 압전소자를 설치하고 임피던스를 측정하였다. 또한, 가는 낙동강모래에 시멘트비 4, 8, 12, 16%로 직경 50mm, 높이 100mm의 고결 공시체를 6층으로 다져서 제작하였다. 고결 공시체의 3층 내부에 압전소자를 수평방향으로 설치한 다음 3일 동안 임피던스 신호를 측정하였으며, 측정 후 일축압축시험을 실시하였다. 미고결 모래의 단위중량이 증가함에 따라 공진주파수는 102kHz에서 105kHz까지 약간 증가하였으며, 공진주파수 발생 시 컨덕턴스는 감소하였다. 고결 모래의 양생시간과 시멘트비가 증가함에 따라 공진주파수는 129kHz에서 266kHz까지 크게 증가하였으며, 공진주파수 발생 시 컨덕턴스는 반대로 감소하는 경향을 보였다. 고결 모래의 일축압축강도는 시멘트비에 따라 289-1,390kPa 정도이며, 공진주파수와는 뚜렷한 정비례 관계를 보이지만 공진주파수 발생 시 컨덕턴스와는 반비례 관계를 보였다.

• 한국산학기술학회논문지
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• 제19권12호
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• pp.265-271
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• 2018

본 연구에서는 임피던스(impedance)를 이용하여 저비용으로 구조물의 결함을 탐지할 수 있는 기법을 연구한다. 임피던스 기법은 구조물 건전성 모니터링을 위한 국부적 결함탐지의 대표적인 기법으로써, 압전재료를 구조물의 표면에 부착하여 구조물의 전기-역학적 어드미턴스(electro-mechanical admittance) 신호를 모니터링 함으로써 결함을 추정하는 기법이다. 이 기법을 적용하기 위하여 일반적으로 고가의 임피던스 분석기(impedance analyser)가 사용되는데, 기술의 효과적인 보급을 위해서는 저비용의 기법을 개발할 필요가 있다. 본 연구에서는 임피던스 분석기를 대체하여, 일반적으로 실험실에서 사용되는 함수발생기(function generator)와 디지털 멀티미터(digital multimeter)만을 이용하여 전달 임피던스(transfer impedance)를 측정함으로써 구조물에 발생하는 결함을 탐지할 수 있는 기법을 연구한다. 즉, 건전상태와 손상상태에서 측정되는 전압의 진폭비를 이용한 손상지수를 비교함으로써 결함 유무를 판정할 수 있는 기법을 연구한다. 강재 시편에 대한 전달 임피던스 실험을 수행하였는데, 출력 전압의 진폭비를 이용한 손상지수를 비교함으로써 결함 유무를 합리적으로 판정할 수 있었다. 본 연구는 임피던스 기반 저비용 결함탐지기법을 위한 기초연구로써, 향후 결함의 위치 및 정도를 판정할 수 있는 연구가 보완된다면 구조물 건전성 모니터링에 효과적으로 활용될 수 있을 것으로 판단된다.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2009년도 춘계 학술대회 제21권1호
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• pp.573-574
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• 2009

The feasibility of electro-mechanical impedance (EMI) sensing technique, utilizing piezo-ceramic (PZT) patches, for online strength gain monitoring of early age concrete is investigated. An experimental study is conducted on PZT patch instrumented concrete specimens. The applicability of the EMI sensing technique for strength gain monitoring is discussed.

• 한국정밀공학회지
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• 제19권4호
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• pp.202-208
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• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this report, we applied a compliance control which is based on the position control by a disturbance observer for our manipulator system. And a reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and position of environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2004년도 봄 학술발표회 논문집
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• pp.373-380
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• 2004

This paper presents the feasibility of an impedance-based damage detection technique using piezoelectric (PZT) transducers for civil infrastructures such as steel bridges. The impedance-based damage detection method is based on monitoring the changes in the electrical impedance. Those changes in the electrical impedance are due to the electro-mechanical coupling property of the piezoelectric material and structure. An effective integrated structural health monitoring system must include a statistical process of damage detection that is automated and real time assessment of damage in the structure. Once measured, damage sensitive features from this impedance change can be statistically quantified for various damage cases. The results of the experimental study on three kinds of structural members show that cracks or loosened bolts/nuts near the PZT sensors may be effectively detected by monitoring the shifts of the resonant frequencies. The root mean square (RMS) deviations of impedance functions between before and after damages were also considered as a damage indicator. The subsequent statistical methods using the impedance signature of the PZT sensors were investigated.

• Journal of Mechanical Science and Technology
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• 제17권7호
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• pp.999-1010
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• 한국소음진동공학회논문집
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• 제27권2호
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• pp.221-233
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• 2017

The array equations are commonly used for analysis and conceptual design of active sonar projector arrays. Calculation of the radiation impedance matrix poses a major computational bottleneck for the solution of the array equations, which leads to a dramatic increase in computational load as the number of constituent transducers increases. Here, we propose an iteration-based solution method that does not require the calculation of the radiation impedance matrix, as a computationally efficient alternative to the status quo. The validity of the iteration-based analysis is judged against the full finite-element analysis that includes the entire array as well as the medium. The array equations for the 1/3-sector of a cylindrical array comprised of 48 Tonpilz transducers are augmented by the lumped element models, and are solved iteratively for the acoustic and electro-mechanical characteristics. The iteration-based analysis exhibits rapid convergence and accuracy comparable with the FE analysis. Simulations also reveal that the acoustic coupling between transducers has more pronounced effects on the electro-mechanical characteristics of individual transducers than the acoustic performance of the array.

• 대한기계학회논문집A
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• 제35권4호
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• pp.347-352
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• 2011

일반 산업용 로봇의 위치정밀도는 $100{\mu}m$ 정도임에 반해, 정밀부품의 조립공차는 수십 ${\mu}m$ 이내이다. 또한, 조립공차가 작을 경우 미소한 위치/각도 오차에 의해 재밍 또는 웨징이 쉽게 발생하며, 위치제어 기반의 로봇인 경우 부품 조립 시 접촉력을 적절히 조절하지 못하여 조립물이 파손될 가능성이 크다 이와 같은 문제를 해결하기 위하여 접촉력에 능동적으로 반응할 수 있는 힘제어 기반의 로봇조립에 대한 연구가 진행되고 있다. 본 연구에서는 기존의 산업용 로봇에 적용하기 용이하도록 위치제어 기반의 머니퓰레이터에 힘제어를 적용할 수 있는 시스템을 구현하였다. 머니퓰레이터에 어드미턴스 필터를 이용한 임피던스 제어를 적용하여 안정적인 접촉운동을 구현하였다. 또한, 임피던스 제어와 blind 검색을 적용하여 정밀부품을 조립할 수 있음을 검증하였다.

• Structural Engineering and Mechanics
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• 제40권5호
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• pp.719-743
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• 2011

A hybrid damage monitoring scheme using parallel acceleration-impedance approaches is proposed to detect girder damage and support damage in steel plate-girder bridges which are under ambient train-induced excitations. The hybrid scheme consists of three phases: global and local damage monitoring in parallel manner, damage occurrence alarming and local damage identification, and detailed damage estimation. In the first phase, damage occurrence in a structure is globally monitored by changes in vibration features and, at the same moment, damage occurrence in local critical members is monitored by changes in impedance features. In the second phase, the occurrence of damage is alarmed and the type of damage is locally identified by recognizing patterns of vibration and impedance features. In the final phase, the location and severity of the locally identified damage are estimated by using modal strain energy-based damage index methods. The feasibility of the proposed scheme is evaluated on a steel plate-girder bridge model which was experimentally tested under model train-induced excitations. Acceleration responses and electro-mechanical impedance signatures were measured for several damage scenarios of girder damage and support damage.

• Smart Structures and Systems
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• 제4권1호
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• pp.35-46
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• 2008

In this paper the authors address the problem of comparing two different smart damping techniques using the numerical modelling of the electro-mechanical impedance for plate structures partially treated with active constrained layer damping treatments. The paper summarizes the modelling procedures including a finite element formulation capable of accounting for the observed behaviour. The example used is a smart cantilever plate structure containing a viscoelastic material (VEM) layer sandwiched between a piezoelectric constrained layer and the host vibrating plate. Comparisons are made between active constrained layer and active damping only and based on the resonance frequency amplitudes of the electrical admittance numerically evaluated at the surface of the piezoelectric model of the vibrating structure.