• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.371-379
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents a vibration control solution for industrial robots which have flexible joints. The joint flexibility is modeled as a two-mass system. And we analyze the vibration problem of a classical P-PI controller when it used for the flexible joints of industrial robots. Then a state feedback controller is designed for vibration suppression of the two-mass system. Finally, a gain-scheduling method is designed for maintaining control performance in spite of the time-varying nature of each joint's load side inertia. Simulation and experimental results show effective vibration suppression and uniform properties in overshoot in spite of the variation of load. The result of this study can be applied to the appropriate gain manipulation of many other mechatronic devices which have the two-mass system with varying load side inertia.

• Proceedings of the Korean Geotechical Society Conference
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• 2004.03b
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• pp.730-737
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• 2004

In this paper, in order to examine cyclic hehavior characteristics and safety of underground flexible pipes for electric cables subject to cyclic vehicle load, FEM analysis and cyclic soil box test were carried out. As results of the test, it was revealed that the vertical displacement of the test was larger than that of FEM analysis because thermal effect arising from power cables made reduction of rigidity of the pipe so that large deformation of the pipe induced by the heat occured. Moreover, it was shown that the final vertical displacement under about 0.4 million times of the cyclic load test was not satisfied with elastic allowable displacement of the pipe, and long term stability of the pipe was not stable since behavior characteristics of the pipe exists plastic strain range pasted clastic strain range.

• Journal of the Korea institute for structural maintenance and inspection
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• v.16 no.2
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• pp.1-9
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• 2012

Reinforced concrete buildings will be deteriorated as passed time or effect of an earthquake, etc in main elements. In order to manage such cracks, time and efforts, expense, etc, are required. So micro lead switch sensors are embedding or bonding in flexible specimens, and these are smart elements for diagnostic crack damages by external force such as physical load, dynamic load, etc in this study. The monitoring to crack damages are studied using radio frequency system. If load is received on the center of flexible specimens, embedded and bonded lead switch sensors will be destroyed, and these become to send signals of damages at radio frequency system connected with lead switch sensors. This study is fundamental research of the diagnostic system for architectural elements using radio frequency.

• Transactions of the Society of Information Storage Systems
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• v.5 no.2
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• pp.96-101
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• 2009

In recent years, the demand for portable digital devices such as cellular phone, digital camera, and MP3 player has been largely increased. To meet the requirements of such portable applications the information storage devices with smaller size, higher capacity, and lower power consumption are needed. A small form factor (SFF) HDD using a load/unload (L/UL) system is one of the appropriate alternatives to satisfy these requirements. Due to complexity of L/UL process and mechanism, it is required to investigate for better understanding the effects of design parameters. Among the various design parameters, flexible cable and friction force on the L/UL ramp become important to the dynamic characteristics of L/UL process as the system is miniaturized. The program for L/UL simulation which considers the effect of flexible cable and L/UL ramp is needed. Unfortunately, there is hardly any commercial program for the L/UL simulation except the Computer Mechanics Laboratory (CML) air bearing design program and the CML L/UL simulation code. Furthermore, the design parameters such as flexible cable and the L/UL ramp are not considered in the CML L/UL simulation code. So we embody the L/UL simulation considering flexible cable and an L/UL ramp by using the ANSYS/LS-DYNA. In this thesis, the effects of flexible cable and friction force on the dynamic characteristics and the performances of the L/UL process are studied. Numerical simulation and related experiments are carried out and compared each other.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.750-753
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• 2002

At present, almost circuits are wired using copper in flexible circuits. But, these circuit have limit to flexibility so it occurs fracture about cyclic bending and, thermal load of bending stress occur a circuit trouble. a study of all-polymer flexible circuits get over that problem. Established fabrication method of all-polymer circuits is photolithograph. This method can not have mass production, so this method wastes time and human effort. In this study, all polymer flexible circuits are fabricated using the inkjet process.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.130-135
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• 2003

This paper presents the method for structure borne noise analysis of a flexible body in multibody system. The proposed method is the superposition method using flexible muitibody dynamic analysis and finite element one. This method is executed in 3 steps. In the la step, time dependent quantities such as dynamic loads, modal coordinates ana gross body motion of the flexible body are calculated efficiently through flexible multibody dynamic analysis. And frequency response functions are computed using Fourier transforms of those time dependent quantities. In the 2$\^$nd/ step, acoustic pressure coefficients are obtained through structure-acoustic coupling analysis by finite element analysis. In the final step, frequency responses of acoustic pressure at the acoustic nodes are recovered through linear superposition of frequency response functions with acoustic pressure coefficients. The accuracy of the proposed method is verified in the numerical example of a simple car model.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.93.2-93
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• 2001

This paper presents the implementation of fuzzy PI gain scheduling controller (FPICGS) for controlling flexible joint robot arms with uncertainties from time-varying load. The term FPICGS is called based on a combination of fuzzy PI control scheme with a set of rule bases. Principle of design for a FPICGS is given along with the implementation of the designed computer aided control system. The experiment reveals an effectiveness of the proposed control scheme for flexible joint robot arms driven by a DC motorhooked with a spring which both parameters are completely unknown parameters ...

• Journal of the Korean Society for Precision Engineering
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• v.30 no.11
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• pp.1171-1177
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• 2013

In this study, the torque transmitting capability of a flexible disk coupling was investigated. Flexible disc coupling is used to transmit power between two axes, and there exist mis-alignments such as angle of deviation and end play between two shafts. A disk is an important part in the flexible disk coupling because the disk has to transmit power between two mis-aligned shafts. To investigate the effect of mis-alignment on load carrying capacity, finite element analyses were carried out. Analyses were carried out for two types of disk; i.e., circular and square disks. The rotational and bending stiffness of disk plates was predicted to investigate the effect of mis-alignment on stress. As a result, it was shown that the mis-alignment can cause severe decrease in load-carrying capacity. And, the square disk showed better performance than the circular disk.

• Structural Engineering and Mechanics
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• v.55 no.3
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• pp.605-638
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• 2015

It is intended to perform buckling analysis of steel gabled frames with tapered members and flexible connections. The method is based on the exact solutions of the governing differential equations for stability of a gabled frame with I-section elements. Corresponding buckling load and subsequently effective length factor are obtained for practical use. For several popular frames, the influences of the shape factor, taper ratio, span ratio, flexibility of connections and elastic rotational and translational restraints on the critical load, and corresponding equivalent effective length coefficient are studied. Some of the outcomes are compared against available solutions, demonstrating the accuracy, efficiency and capabilities of the presented approach.

• International Journal of Highway Engineering
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• v.10 no.4
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• pp.213-224
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• 2008

Flexible pavement responses to vehicular loading, such as critical stresses and strains, in each pavement layer, could be predicted by the multilayered elastic analysis. However, multilayered elastic theory suffers from major drawbacks including spatial dimension of a numerical model, material properties considered in the analysis, boundary conditions, and ill-presentation of tire-pavement contact shape and stresses. To overcome these shortcomings, three-dimensional finite element (3D FE) models are developed and numerical analyses are conducted to calculate pavement responses to moving load in this study. This paper introduces a methodology for an effective 3D FE to simulate flexible pavement structure. It also discusses the mesh development and boundary condition analysis. Sensitivity analyses of flexible pavement response to loading are conducted. The infinite boundary conditions and time-dependent history of calculated pavement responses are considered in the analysis. This study found that the outcome of 3D FE implicit dynamic analysis of flexible pavement that utilizes appropriate boundary conditions, continuous moving load, viscoelastic hot-mix asphalt model is comparable to field measurements.