• 한국구조물진단유지관리공학회 논문집
• /
• 제9권1호
• /
• pp.189-196
• /
• 2005

임펄스 비와 하중최대치의 비로 작성된 손상곡선을 이용하여 충격하중의 임펄스와 하중의 크기가 구조물의 거동에 미치는 영향을 분석하였다. 단기에 종료하는 충격하중의 경우 관성력의 영향으로 하중의 크기보다는 임펄스가 구조물 손상에 주요변수가 되며, 관성력을 극복할 충분한 시간을 갖는 장기하중이 작용하는 경우에는 임펄스보다는 하중의 크기가 구조물 손상에 주요변수가 된다. 지반충격에 의한 구조물의 손상은 단기인 경우에는 지반의 최대입자속도가 그러나 장기인 경우에는 최대입자가속도가 손상의 주요 변수가 된다.

• Computers and Concrete
• /
• 제13권6호
• /
• pp.799-827
• /
• 2014

In this paper, a theoretical and experimental study of the sectional behaviour of reinforced concrete beams subjected to short-term loads is carried out. The pure bending behaviour is analysed with moment-curvature diagrams. Thus, the experimental results obtained from 24 beams tested by the authors and reported in literature are compared with theoretical results obtained from a layered model, which combines the material parameters defined in Model Code 2010 with some of the most recognized tensions-tiffening models. Although the tests were carried out for short-term loads, the analysis demonstrates that rheological effects can be important and must be accounted to understand the experimental results. Another important conclusion for the beams tested in this work is that the method proposed by EC-2 tends to underestimate the tension-stiffening effects, leading to inaccuracies in the estimations of deflections. Thus, the actual formulation is analysed and a simple modification is proposed. The idea is the separation of the deflection prediction in two parts: one for short-term loads and other for rheological effects (shrinkage). The results obtained are in fairly good agreement with the experimental results, showing the feasibility of the proposed modification.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.1983-1989
• /
• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• 한국해양공학회지
• /
• 제34권2호
• /
• pp.77-88
• /
• 2020

In this study, heading characteristics and heading control performances were evaluated to achieve the wave shield effect. The wave shield effect originating from heading control reduces the relative motions of moored vessels in a floating liquefied natural gas bunkering terminal (FLBT). Therefore, loading and off-loading performances are improved through reduced relative motion. For the objective of this study and efficiency of the analysis, a simplified model was used that assuming no relative motion of the moored vessels in the FLBT. The simplified model involved modeling the environmental loads and inertia of several floating bodies, including FLBT, into the environmental loads and inertia of a single vessel. The simplified model was validated through comparisons with model tests. With the simplified model, heading characteristics and heading control simulations were performed using low-frequency planar motion equations. The heading characteristics and heading control performances of FLBT were analyzed through the results of simulations under the expected environmental conditions. The capacity of the tunnel thrust for the heading control performance was confirmed to be adequate for improvement of the loading and off-loading performances using the wave shielding effects under the operation conditions.

• 드라이브 ㆍ 컨트롤
• /
• 제13권3호
• /
• pp.32-38
• /
• 2016

For this paper, the position-control performances of dual EHA(electro-hydrostatic actuator) systems were investigated according to two cases wherein the double-rod- and single-rod-type hydraulic cylinders were combined. Since the control performance is significantly dependent on the load conditions including external forces such as the inertia load, it is proposed here that the two sub-EHAs are driven by separate position and force controllers, instead of two identical position controllers. According to the simulation results, the best performance was achieved by the position-controlled single-rod-type EHA that was combined with a force-controlled double-rod-type EHA. As the force-controlled double-rod-type EHA compensated for the external loads on the position-controlled single-rod-type EHA, the position-control performance was not influenced by external forces including the inertia load. In addition, the position-controlled single-rod-type EHA contributed to the enhancement of the damping ratio by absorbing the pressure peaks through its internal accumulator. Due to the symmetrical piston areas, the double-rod-type EHA is more suitable for force control than the single-rod- type EHA.

• 한국정밀공학회지
• /
• 제14권12호
• /
• pp.160-165
• /
• 1997

The instrumented Charpy impact test is generally used to evaluate the dynamic fracture toughnesses for varying engineering materials. However, the test is known to be difficult to evaluate the dynamic fracturetoughnesses for very brittle materials because of the small crack initiation load which may be engulfed by the inertia load of the instrumented tup. To evaluate the dynamic fracture toughnesses of very brittle materials, such as chalk or plaster,it is thus, necessary to develop a load sensitive instrumented tup. In this study, a polymer tup, which has very small Young's modulus comparing to one of the conventional steel tup, is used for the instrumented Charpy impact test, and a proper testing method to evaluate the dynamic fracture behavior of very brittle materials is developed. The results show that the developed method can measure rapidly changing loads from the moment of contact between the tup and the specimen to dynamic crack initiation of the very brittle materials.

• Geomechanics and Engineering
• /
• 제28권2호
• /
• pp.197-207
• /
• 2022

The seismic holding behaviors of plate anchor embedded into submerged coarse-grained soils were investigated considering different anchor inclinations. The limit equilibrium method and the Pseudo-Dynamic Approach (PDA) were employed to calculate the inertia force of the soils within the failure rupture. In addition, assuming the permeability of coarse-grained soils was sufficiently large, the coefficient of hydrodynamic force applied on the inclined plate anchor is obtained through adopting the exact potential flow theory. Therefore, the seismic holding resistance was calculated as the combination of the inertia force and the hydrodynamic force within the failure rupture. The failure rupture can be developed due to the uplift loads, which was assumed to be an arc of a circle perpendicular to the anchor and inclines at (π/4 - φ/2). Then, the derived analytical solutions were evaluated by comparing the static breakout factor N_γ to the published experimental and analytical results. The influences of soil and wave properties on the plate anchor holding behavior are reported. Finally, the dynamic anchor holding coefficients N_γd, were reported to illustrate the anchor holding behaviors. Results show that the soil accelerations in x and z directions were both nonlinear. The amplifications of soil accelerations were more severe at lower normalized frequencies (ωH/V) compared to higher normalized frequencies. The coefficient of hydrodynamic force, C, of the plate anchor was found to be almost constant with anchor inclinations. Finally, the seismic anchor holding coefficient oscillated with the oscillation of the inertia force on the plate anchor.

• 한국산학기술학회논문지
• /
• 제17권10호
• /
• pp.300-309
• /
• 2016

빌딩, 자동차, 선박, 항공기 등에서의 곡선보 사용 증가가 이러한 구조물의 동적거동해석에 필요한 정확한 해법 발전에 괄목할 만한 기여를 해왔다. 탄성곡선보의 안정성거동은 많은 연구자들의 한 과제분야였다. 전통적으로 미분방정식의 해법은 유한치분법이나 유한요소법으로 해결해왔다. 이러한 방법들은 복잡한 기하학적 구조 및 하중에 따른 격자점의 증가로 많은 컴퓨팅시간을 요구한다. 편미분방정식의 해를 구하기 위한 효율적인 방법 중의 하나는 미분구적법이다. 복잡한 기하학적 구조 및 하중은 컴퓨터 용량을 과도하게 사용할 뿐만 아니라, 복합알고리즘 프로그램을 어렵게 해 이를 극복하기 위하여 미분구적법(DQM)이 많은 분야에 적용되어왔다. DQM을 이용하여 곡선 보의 회전관성을 고려한 외 평면 좌굴을 등분포하중 하에서 해석하였다. 다양한 매개변수 비, 경계조건, 그리고 열림 각에 따른 임계하중을 계산하였다. DQM 결과는 활용 가능한 다른 엄밀해와 비교하였다. DQM은 적은 격자점을 사용하고도 엄밀해 결과와 일치함을 보여주었다 (0.3% 미만). 다양한 변경에 따른 새로운 결과가 또한 제시 되였고, 그 결과는 곡선 보의 좌굴거동에 중요한 역할을 보여주었고, 다른 수치해석결과 혹은 실험결과비교에 사용될 수 있다.

• 대한기계학회논문집A
• /
• 제33권12호
• /
• pp.1401-1409
• /
• 2009

All the forces in the real world act dynamically on structures. Design and analysis should be performed based on the dynamic loads for the safety of structures. Dynamic (transient or vibrational) responses have many peaks in the time domain. Topology optimization, which gives an excellent conceptual design, mainly has been performed with static loads. In topology optimization, the number of design variables is quite large and considering the peaks is fairly costly. Topology optimization in the frequency domain has been performed to consider the dynamic effects; however, it is not sufficient to fully include the dynamic characteristics. In this research, linear dynamic response topology optimization is performed in the time domain. First, the necessity of topology optimization to directly consider the dynamic loads is verified by identifying the relationship between the natural frequency of a structure and the excitation frequency. When the natural frequency of a structure is low, the dynamic characteristics (inertia effect) should be considered. The equivalent static loads (ESLs) method is proposed for linear dynamic response topology optimization. ESLs are made to generate the same response field as that from dynamic loads at each time step of dynamic response analysis. The method was originally developed for size and shape optimizations. The original method is expanded to topology optimization under dynamic loads. At each time step of dynamic analysis, ESLs are calculated and ESLs are used as the external loads in static response topology optimization. The results of topology optimization are used to update the design variables (density of finite elements) and the updated design variables are used in dynamic analysis in a cyclic manner until the convergence criteria are satisfied. The updating rules and convergence criteria in the ESLs method are newly proposed for linear dynamic response topology optimization. The proposed updating rules are the artificial material method and the element elimination method. The artificial material method updates the material property for dynamic analysis at the next cycle using the results of topology optimization. The element elimination method is proposed to remove the element which has low density when static topology optimization is finished. These proposed methods are applied to some examples. The results are discussed in comparison with conventional linear static response topology optimization.

• 콘크리트학회논문집
• /
• 제21권1호
• /
• pp.93-103
• /
• 2009

철근콘크리트 휨 부재의 처짐 산정에는 일반적으로 유효 단면2차모멘트의 개념이 적용되고 있으며, 콘크리트 구조설계기준에서는 처짐의 간편한 계산을 위하여 Branson이 제안한 유효 단면2차모멘트를 부재의 전 경간에 동일하게 대표값으로 사용하고 있다. 그러나, 기준에서 제시된 유효 단면2차모멘트는 등분포하중을 전제로 제안되었으므로 다른 하중상태에서도 기준식의 정확성에 대해 검증할 필요가 있다. 따라서, 이 연구에서는 모멘트 분포 형상이 처짐 계산에 필요한 유효 단면2차모멘트에 미치는 영향을 실험적으로 검증하기 위해 콘크리트 강도와 지점에서부터 가력점까지의 거리를 주요변수로 하여 총 6개의 철근콘크리트 보 실험체를 제작하여 구조실험을 수행하고, 실험결과를 기준식 및 다른 연구자들이 제안한 식과 비교 분석하였다. 또한, 모멘트 분포형상을 고려할 수 있는 변분해석에 의한 처짐 산정 방법을 제안하였다. 실험 결과, 보의 유효 단면2차모멘트는 모멘트 분포 형상에 따라 다소 차이가 있었으나 기준식은 이를 반영하지 못한 것으로 나타났다. 이 연구에서 제안한 변분해석에 의한 처짐값과 실험값의 비율이 기준식에 비해 변동폭이 작게 나타났으며, 따라서, 모멘트 분포 형상의 영향을 고려한 부재의 처짐 산정에 유용한 방법이라고 판단된다. 그러나, 실험값과는 다소 차이가 있어 처짐 형상 함수의 개선을 통하여 이를 보완할 수 있는 추후 연구가 필요한 것으로 판단된다.