• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.220-224
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• 2003

This is a preliminary study is to make the robot walk more stably by observing the ZMP (Zero Moment Point) of the robot when the robot stands on one leg(single support) and then on two legs(double support) and so on. The robot consists of nine DOF (Degree of freedom) with lower part of the body. It is equipped with motor drivers and force sensors inside the robot. The motors are controlled by the external PC (Intel pentium 4). By the experimental results, it is found that the robot is unstable in the instant of changing from single support to double support or from double support to single support. We use the trajectory compensation of the angle and the length of both legs to realize more stable walking.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.46-51
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• 2004

This paper presents an adaptive control method based on parameter linearization for incompletely restrained wire-suspended mechanisms. The main purpose of this control method is utilizing it in a walking assist service robot for elderly people. This method is computationally simple and requires neither end-effector acceleration feedback nor inversion of estimated inertia matrix. In the proposed adaptive control law, mass, moment of inertia and external force and torque on the end-effector are considered as components of parameter adaptation vector. Nonlinear simulation for walking an elderly shows the effectiveness of the parameter adaptation law.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.52-56
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• 2004

Unmanned Aerial Vehicles (UAVs) are remotely piloted or self-piloted aircraft by inputted program in advance or artificial intelligence. In this study Aileron and Elevator are used to control the movement of airplane for horizontal and vertical flights about its longitudinal and lateral axis. In an introduction, the drone was linearly modeled by extracting aerodynamic parameter through flight test and simulation, lift and drag coefficient corresponding to angle of attack, changes of pitching moment coefficient. In the main subject, the flight simulation was performed after constructing hardware using TMS320F2812 from TI company and PID with lateral and longitudinal controller for horizontal and vertical flights. Flying characteristics of two system were estimated and compared through real flight test with hardware equipped algorithm and adaptive algorithm that was applied to consider external factors such as turbulence. In conclusion the control performance of the controller with proposed algorithm was streamlined at lateral and longitudinal controller respectively, we will discuss guidance command to pass way point.

• Computers and Concrete
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• v.21 no.2
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• pp.157-166
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• 2018

This article presents the flexural behaviour of reinforced fly ash (FA)-based geopolymer concrete (GPC) beams with partial replacement of FA for about 10% by weight with paper sludge ash (PSA). The beams were made of M35 grade concrete and cured under three curing conditions for comparison viz., ambient curing, external exposure curing, and oven curing at $60^{\circ}C$. The beams were experimentally tested at the 28th day of casting after curing by conducting two-point loading flexural test. Performance aspects such as load carrying capacity, first crack load, load-deflection and moment-curvature behaviours of both types of beams were experimentally studied and their results were compared under different curing conditions. To verify the response of reinforced GPC beams numerically, an ANSYS 13.0 finite element program was also used. The result shows that there is a good agreement between computer model failure behaviour with the experimental failure behaviour.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.2
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• pp.252-261
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• 1988

Through the careful interpretation of the results of the cutting tests carried out in this study, it is found that under the cutting conditions when the internal shear of the chips take place the cutting can be treated essentially as a steady state problem. A new shear angle equation has been developed employing the conditions of force and moment equilibrium about the tool edge and the stress distribution model suggested by Zorev.The equation contains the chip-tool contact length C and stress distribution index n as important parameters.

• Proceedings of the Korea Concrete Institute Conference
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• 1999.04a
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• pp.399-404
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• 1999

An improved finite element modeling technique is proposed for the assessment of load carrying capacity partilly prestressed concrete beam bridges. Based on the finite element method of analysis, shell and frame elements are utilized to model the slab and beams of the superstructure, respectively. In the modeling of superstructure, the emphasis is placed on the use of rigid link between the middle surface of slab and mid-plane of beam. This paper also includes the comparision of three different equations that used in the calculation of effective moment of inertia for the partially prestressed concrete beams. Numerical analysis is performed for the unstrengthened and strengthened bridges. The obtained results are compared with those of load test for a prototype bridge. Agreement with the numerical solutions by using the proposed method and load test results is generally excellent.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1998.10a
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• pp.137-141
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• 1998

Todays the efficient management of container has not been realized in container terminal, because of the excessive quantity of container transported and manual system. For the efficient and automated management of container in terminal, the automated container identifier recognition system in terminal is a significant problem. However, the identifier recognition rate is decreased owing to the difficulty of image preprocessing caused the refraction of container surface, the change of weather and the damaged identifier characters. Therefore, this paper proposes more accurate system for container identifier recognition as suggestion of Line-Scan Proper Region Detect for stronger preprocessing against external noisy element and Moment Back-Propagation Neural Network to recognize identifier.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.4
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• pp.22-32
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• 2001

One of the important considerations in designing a machine tool is the durability. In this study, a durability estimation system for horizontal machining centers is developed to evaluate the effects of structural specification and driving condi-tions on the durability. All loads such as weights, inertial forces, cutting force and so on, are automatically transferred from the upper elements to the lower elements by the force flows which can be derived from the structural code of horizontal machining centers. And the external loads applied to the motion elements such as bearings, LM guides, ball screws and ao on, are determined by the equilibrium conditions of force and moment. Especially, the durability of horizontal machining centers is estimated based on the lifes of motion elements operating under the desired driving conditions.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.1
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• pp.52-60
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• 2002

The purpose of this research is to study the vibration and acoustic pressure radiation from a thin isotropic flat plate stiffened by a rectangular array of beams, and excited by a time harmonic point force. These constructions on aircraft and ship structures are often subjected to fiequency dependent pressure fluctuations and forces. Forces from the these excitations induce structural vibrations in a wide range of fiequencies, which may cause such things as acoustic fatigue and internal cabin noise in the aircraft. It is thus important that the response characteristics and vibration modes of such periodic structures be horn. From this theoretical model, the sound pressure levels(SPL) in a semi-infinite fluid(water) bounded by the plate with the variation in the locations of an external time harmonic point farce on the plate can be calculated efficiently using three numerical tools such as the Gauss-jordan method the LU decomposition method md the IMSL numerical package.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.214-220
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• 1998

The determination of sound pressure radiated from periodic plate structures is fundamental in the estimation of noise levels in aircraft fuselages and ship hull structures. As a robust approach to this problem, here a very general and comprehensive analytical model for prediction the sound radiated by a vibration plate stiffened by periodically spaced orthogonal symmetric beams subjected to a sinusoidally time varying point load is developed. The plate is assumed to be infinite in extent, and the beams are considered to exert both line force and moment reactions on it. Structural damping is included in both plate and beam materials. From this theoretical model, the sound pressure levels on axis in a semi-infinite fluid(water) bounded by the plate with the variation in the loactions of an external using three numerical tools such as the Gauss-Jordan method, the LU decomposition method and the IMSL numerical package.