• 대한기계학회논문집A
• /
• 제24권2호
• /
• pp.481-488
• /
• 2000

This paper presents a new passive gravity -compensating system for articulated robot manipulators. The system, which consists of linear zero- free -length springs, achieves exact counterbalancing o f the gravitational loads throughout the entire range of the manipulator workspace, A basic concept is to design springs such that the total potential energy of the system including the manipulator and the springs should be maintained constant. A prototype has been developed for a direct-drive five-bar manipulator and its performances have been investigated. Results show that the gravity-induced motor torques have been reduced to less than 5% of those of uncompensated robots. Also, the gravity-compensating system simplifies the position control algorithm while maintaining the trajectory-tracking errors in a satisfactory level. In conclusion, the proposed system efficiently improves the manipulator performances by reducing the driving motor size and the energy consumption as well as by simplifying the control systems.

• 한국전산구조공학회논문집
• /
• 제23권3호
• /
• pp.255-266
• /
• 2010

초고층 건물에서 아웃리거를 이용한 횡력저항시스템이 자주 사용되고 있다. 아웃리거가 외부 기둥과 내부 코어를 연결함으로써 외부 기둥이 횡력저항시스템에 참여할 수 있어 구조적 저항능력이 향상될 수 있다. 그러나 아웃리거는 횡력 뿐만 아니라 중력하중의 조절에도 기여할 수 있다. 하중을 메가 기둥으로 전이시키거나 기둥, 벽체, 파일 등의 연직 부재들 간에 중력하중을 균등하게 분포시키며, 기초 시스템에서의 부등침하를 최소화하기 위하여 중력하중의 흐름이 아웃리거 부재에 의하여 변경될 수 있다. 본 연구에서는 100층 이상의 초고층 사례들에 대한 전산구조해석을 통하여 중력하중 조절에 대한 아웃리거의 효과를 분석한다. 아웃리거 유무에 따른 3차원 모델의 구조해석이 수행되며, 기둥과 파일에서의 중력하중 분포 및 기초 침하가 분석된다. 또한, 완공 단계 뿐만 아니라 시공 단계에서의 중력하중 조절에 대한 아웃리거의 효과도 분석된다.

• Nuclear Engineering and Technology
• /
• 제31권5호
• /
• pp.476-485
• /
• 1999

In order to evaluate the gravity-injection capability to maintain core cooling after a loss-of-shutdown-cooling event during shutdown operation, the plant conditions of the Yong Gwang Units 3&4 were reviewed. The six cases of possible gravity-injection paths from the refueling water tank (RWT) were identified and the thermal-hydraulic analyses were performed using the RELAP5/MOD3.2 code. The core cooling capability was significantly dependent on the gravity-injection path, the RCS opening, and the injection rate. In the cases with the pressurizer manway opening higher than the RWT water level, the coolant was held up in the pressurizer and the system pressure continued increasing after gravity-injection. The gravity injection eventually stopped due to the high system pressure and the core was uncovered. In the cases with the injection path and opening on the same leg side, the core cooling was dependent on whether the water injected from the RWT passed the core region or not. However, in the cases with the injection path and opening on the different leg side, the system was well depressurized after gravity-injection and the core boiling was successfully prevented for a long-term transient. In addition, from the sensitivity study on the gravity-injection flow rate, it was found that about 54 kg/s of injection rate was required to maintain the core cooling and the core cooling could be provided for about 10.6 hours after event with that injection rate from the RWT. Those analysis results would provide useful information to operators coping with the event.

• 대한원격탐사학회:학술대회논문집
• /
• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
• /
• pp.589-592
• /
• 2005

Gravity characteristics and Moho undulations are investigated in the Korean peninsula by using satellite gravity data. According to the development of satellite geodesy, gravity potential models which have high accuracy and resolution were released. Using the EIGEN-CGOIC model based on low orbit satellite data such as CHAMP and GRACE, geoid and gravity anomaly were calculated by spherical harmonic analysis. The study area is located at $123^{\circ}\sim132^{\circ}E, 33^{\circ}\sim43^{\circ}$N including Korea. Free-air anomalies, which show the effect of terrain, have the values between $-37\sim724 mgal. After Bouguer correction, the range of simple Bouguer anomalies is $-221\sim246$ mgal. Complete Bouguer anomalies after terrain correction increase from continent to marine. This phenomenon is related rise of Moho discontinuity. The cut-frequency for extraction of Moho undulation was determined by power spectrum analysis, and then 3D inversion modeling was implemented. The mean, maximum, minimum, and standard deviation of Moho depth undulation are -26, -36, -8, and 4.9 krn, respectively.

• 항공우주산업기술동향
• /
• 제8권1호
• /
• pp.96-103
• /
• 2010

발사체의 상단, 궤도선, 우주비행선 등의 추진기관은 불가피하게 무중력 환경에서 작동해야 한다. 이러한 비행체들이 겪는 비행 환경은 일반적인 중력장과 다르기 때문에 이에 대한 많은 연구들이 진행되어 왔다. 무중력 상태에서의 유체의 거동은 부착력, 응집력, 표면장력 등의 비중이 커지기 때문에 중력이 있는 상태에서와 다르게 나타난다. 본 논문에서는 무중력 환경에서 유체의 거동 특성에 대하여 알아보고 이런 유체의 거동 특성이 액체추진기관에 미치는 영향과 문제점에 대해 기술한다. 또한 이 문제점을 해결하기 위해 어떤 연구들이 진행되고 있는지 알아본다.

• 한국추진공학회:학술대회논문집
• /
• 한국추진공학회 2010년도 제35회 추계학술대회논문집
• /
• pp.573-576
• /
• 2010

발사체의 상단, 궤도선, 우주비행선 등의 추진기관은 불가피하게 무중력 환경에서 작동해야 한다. 이러한 비행체들이 겪는 비행 환경은 일반적인 중력장과 다르기 때문에 이에 대한 많은 연구들이 진행되어 왔다. 무중력 상태에서의 유체의 거동은 부착력, 응집력, 표면장력 등의 비중이 커지기 때문에 중력이 있는 상태에서와 다르게 나타난다. 본 논문에서는 무중력 환경에서 유체의 거동 특성에 대하여 알아보고 이런 유체의 거동 특성이 액체추진기관에 미치는 영향과 문제점에 대해 기술한다. 또한 이 문제점을 해결하기 위해 어떤 연구들이 진행되고 있는지 알아본다.

• 한국안전학회지
• /
• 제28권5호
• /
• pp.49-53
• /
• 2013

This paper describes the assessment of seismic performance of the concrete gravity dam seismically reinforced by post-tensioned anchors. In order to evaluate the seismic performance, the response spectrum analyses have been carried out for 7 different configurations of the post-tensioned anchors, and then their performance improvement in the maximum tensile and compressive stresses is compared to each other. The comparative results demonstrate that the layout of the post-tensioned anchors strongly influences the seismic performance of the concrete gravity dam. In this study, the slightly-inclined vertical anchorage system shows the largest improvement on the overall performance of the seismically-excited concrete gravity dam.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.64.1-64
• /
• 2001

Errors in inertial navigation system(INS) can be divided into two major groups which are system related errors and modeling errors due to approximation and linearization. Measurement noise, calibration, and alignment errors make up the first group, whereas the uncertainties in the gravity vector fall in the second category and are important error source for high quality INS, especially during high altitude and and/or long time missions, when the gravity errors tent to build up. The quality of a medium to high accuracy INS depends on the knowledge of the local gravity field. In this paper, the feasibility of improving airborns INS by use of more accurate gravity model is studied. To make consistent comparisons, WGS-84 parameters are used and ...

• Animal cells and systems
• /
• 제4권3호
• /
• pp.201-214
• /
• 2000

Two quite different types of plant cells are analysed with regard to transduction of the gravity stimulus: (i) Unicellular rhizoids and protonemata of characean green algae; these are tube-like, tip-growing cells which respond to the direction of gravity. (ii) Columella cells located in the center of the root cap of higher plants; these cells (statocytes) perceive gravity. The two cell types contain heavy particles or organelles (sataoliths) which sediment in the field of gravity, thereby inducing the graviresponse. Both cell types were studied under microgravity conditions ($10^{-4}$/ g) in sounding rockets or spacelabs. From video microscopy of living Chara cells and different experiments with both cell types it was concluded that the position of statoliths depends on the balance of two forces, i.e. the gravitational force and the counteracting force mediated by actin microfilaments. The actomyosin system may be the missing link between the gravity-dependent movement of statoliths and the gravity receptor(s); it may also function as an amplifier.

• 제어로봇시스템학회논문지
• /
• 제22권9호
• /
• pp.733-737
• /
• 2016

In this paper, we propose a mechanism that can compensate for gravity in a robot manipulator. Industry robots generate torque due to carrying heavy weight. For this reason, the robots need high specification motors, which increases the prices of the robots and their production costs. In order to resolve these problems, a mechanism for gravity compensation has been developed using a spring and wire system. But this system has problems related to wire stretching. A winding mechanism is therefore used to supplement this drawback of the wire. The robot used was developed by the 1-DOF system. Analysis was performed for the performance of the mechanism. Experiments were conducted to compare simulation results and experimental results.