• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 I
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• pp.297-303
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• 2001

This research presents an analytical model to characterize the ball bearing vibration due to the waviness in a rigid rotor supported by multi-row ball bearings considering centrifugal force and gyroscopic moment of ball. The effects of centrifugal force and gyroscopic moment are introduced to the kinematic constraints and force equilibrium equations. The waviness of ball and races is modeled by the superposition of sinusoidal function and it is introduced to position vectors of race curvature center to use the Hertzian contact theory in order to calculate the elastic deflection and nonlinear contact force resulting from the waviness while the rotor has translational and angular motion. They can be determined by solving the nonlinear equations of motion with five degrees of freedom by using the Runge-Kutta-Fehlberg algorithm. The accuracy of this research is validated by comparing with the results of the prior researches. It characterizes the vibration frequencies resulting from the various kinds of waviness in rolling elements, the harmonic frequencies resulting from the nonlinear load-deflection characteristics of ball bearing resulting from the waviness interaction.

• International Journal of Precision Engineering and Manufacturing
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• 제4권2호
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• pp.13-22
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• 2003

To coordinate the robot manipulator along the desired trajectory, the exact model of the dynamics is required. The added mass and added moment of inertia, buoyancy, drag force, and friction mainly affect the dynamics of the undersea robot manipulator, and they are quite complex and unknown. In this reason. the exact model of the undersea robot manipulator is difficult to obtain. In this paper, instead of having efforts to get the exact model of the robot dynamics, a control-based approach was performed. We modeled the dynamics of the undersea robot manipulator whose parameters are unknown, and then applied a proposed direct adaptive and robust control, which is different from previous studies. The unknown added mass, and added moment of inertia, drag force and friction are estimated by the direct adaptive control scheme, and the drag force which is dominant disturbance is compensated by the robust control. Also, stability of the proposed control scheme is analyzed.

• Wind and Structures
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• 제30권3호
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• pp.245-260
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• 2020

Wind load and responses are the major factors which govern the design norms of tall buildings. Corner modification is one of the most commonly used minor shape modification measure which significantly reduces the wind load and responses. This study presents a comparison of wind load and pressure distribution on different corner modified (chamfered and rounded) Y plan shaped buildings. The numerical study is done by ANSYS CFX. Two turbulence models, k-epsilon and Shear Stress Transport (SST), are used in the simulation of the building and the data are compared with the previous experimental results in a similar flow condition. The variation of the flow patterns, distribution of pressure over the surfaces, force and moment coefficients are evaluated and the results are represented graphically to understand the extent of nonconformities due to corner modifications. Rounded corner shape is proving out to be more efficient in comparing to chamfered corner for wind load reduction. The maximum reduction in the maximum force and moment coefficient is about 21.1% and 19.2% for 50% rounded corner cut.

• 반도체디스플레이기술학회지
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• 제18권1호
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• pp.25-31
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• 2019

In this study, a new adhesion evaluating equipment and data processing methods were developed to overcome some limitations of existing evaluating equipment. Nano-diamond coated tool is a specimen of experiment. When applying frictional force and shear force on the specimen by a rotating polishing pad, delamination occurs at a moment. During each experiment, the vibration, load, and torque is obtained by accelerometer, loadcell and torque s+ kpensor. Frictional force and coefficient of friction are obtained by calculating torque and load. Based on FFT transformation, acceleration is processed and analyzed. As a result, the moment of delamination and the load at that time can be detected by the new developed equipment and measurement system. Finally, we call this load as an Adhesion force.

• Structural Engineering and Mechanics
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• 제27권3호
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• pp.347-363
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• 2007

Assessment of structural behaviour of corrosion affected structures is an important issue, which would help in making certain decisions pertaining to the inspection, repair, strengthening, replacement and demolition of such structures. The paper presents formulations to predict the loss of weight and the loss of cross-sectional area of the reinforcing bar undergoing corrosion based on the earlier study carried out by the present authors (Bhargava et al. 2006). These formulations have further been used to analytically evaluate the ultimate bending moment and ultimate shear force capacity of the corroded concrete beams. Results of the present study indicate that, a considerably good agreement has been observed between the experimental and the analytically predicted values for the weight loss and reduction in radius of the corroded reinforcing bars. A considerably good agreement has also been observed between the experimental and the analytically predicted values of ultimate bending moment and ultimate shear force capacity for the corroded concrete beams.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1621-1623
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• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.

• 산업기술연구
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• 제19권
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• 한국소음진동공학회논문집
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• 제11권4호
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• pp.22-30
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• 2001

In this paper, active control of vibrational intensity at a reference point in an infinite, elastic plate was discussed. The plate is excised harmonically by a vibrating source, which has a vertical point force. The optimal condition of controller was investigated to minimize the vibrational intensity being transmitted from the vibrating source to a reference point. Hence the method of feedforward control was employed for the control strategy and then the cost function was evaluated to find the optimal control force. Three types of control force (Vertical force, Moment, and Coupling force (a set of vertical force and moment) ) and controller's positions were examined to define the optimal condition of the controller. The vibrational intensity at a reference point was found to be reduced down to a zero level, compared with the uncontrolled case. Especially maximum reduction of vibrational intensity was achieved when the controller was collinearly positioned between a vibrating source and a reference point.

• 대한치과교정학회지
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• 제18권1호
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• pp.25-53
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• 1988

Retraction of canines represents a fundamental stage in a considerable number of orthodontic treatment. Correct position of the canine after retraction is most important for function, stability, and esthetics. The purpose of this study was to investigate the stress in the periodontal tissue at the initial phase during canine retraction using various types of sectional retraction springs, by finite element method. Three dimensional model of tooth, periodontal ligament, bone and eight springs were simulated and tested. The following results were obtained. 1. In sectional retraction springs, increasing number of helix and the closed loop in preference to the open loop provided an decrease in horizontal force. Without angulating the arms of spring, the T-loop revealed the highest Moment-to-force ratio. 2. The Moment-to-force ratio raised by angulating mesial and distal arms of spring, but very large horizontal force was applied to canine. 3. When optimal force and optimal moment was applied to canine, the stress induced was homogeneous and the difference of stress value from cervix to the apex was little.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.283-286
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• 2004

This work presents a 3-axis active mount featuring the piezoelectric stack actuators. The inertia configuration for the piezoelectric actuators is adopted to achieve appropriate force and moment in each axis. In addition, the rubber mount is integrated to provide stiffness for system loading. In order to analyze the active mount, the governing equation for the force and moment is derived and its validity is demonstrated by comparing generated force and moment of each actuator between analysis and experiment. In addition, the natural frequency of each actuator is identified though both simulation and experiment.