ICT 융합기술을 활용한 암반특성 예측기능을 가진 유압 브레이커 개발에 관한 연구 (Research of Hydraulic Breaker with Rock Properties Predictability Using the ICT)
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- 대한기계학회논문집A
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- 제41권7호
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- pp.683-689
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- 2017
고유가, 환경규제 등의 국제무역환경 변화에 따라 수출주력상품인 유압 브레이커의 고부가가치화를 위하여 지능형 전자제어유압시스템 분야인 ICT 융합기술을 활용하여 암반특성을 예측하고 최적모드(다단형)로 구동하는 지능형 파쇄기술 및 에너지 효율을 극대화할 수 있는 유압 브레이커 개발에 관한 연구를 수행하였다. 본 연구에서는 암반의 강도에 따라 최적의 타격력을 제공하기 위해 근접센서를 이용해 암반 타격 시 피스톤의 하강 깊이를 측정하고 이를 통해 암반의 특성을 판별하여 타격력을 결정하는 피스톤 스트로크의 길이를 솔레노이드 밸브를 이용해 제어하였다. 다단 타격시스템을 위해 컨트롤러와 디스플레이/조작장치를 개발하였고, 무선통신을 이용하여 상호 정보교환이 가능하도록 하였다. 최종적으로 암반 강도에 따라 3단으로 타격할 수 있는 제어시스템을 개발하였고, 실차실험을 통해 이를 검증하였다.
시스템의 자세 제어는 사용되는 모터의 위치 제어로 대응되며, 이러한 시스템은 운용환경 시에 충격 진동이 발생하게 된다. 이러한 충격 진동 외란을 제거해야 요구하는 위치 제어를 수행할 수 있다. 로봇 제어 분야에서 불확실한 외란에 의한 로봇의 자세 제어는 가장 기본적이면서 중요한 분야중의 하나이다. 이러한 문제를 다루기 위하여 계산 토크 방식에 기초한 선형 제어기법이나 적응 제어 기법, 강인 제어 기법 등을 이용한 연구 결과들이 발표되고 있다. 그러나 그러한 기법은 일반적으로 로봇의 정확한 동력학적 특성을 알아야 하며, 구현하기가 복잡하다. 따라서 본 논문에서는 적응 규칙에 의하여 모델의 불확실성, 시스템의 변화, 외란으로 인해 발생하는 공칭 플랜트와의 오차를 보상하도록 제어 입력을 생성하는 내부 루프 부분과 공칭 플랜트 모델의 명령을 추종하도록 하여 제어 입력을 생성하는 외부 루프 부분으로 구성되는 방법인 외란관측기(Disturbance OBserver : DOB) 제어 알고리즘을 제안한다. 또한 프로세서의 신뢰성과 수치 연산 및 알고리즘의 빠른 처리를 위해 현재 사용 빈도가 높은 TI사의 DSP시리즈 중에서 부동 소수점 연산 기능을 가지면서 모터 제어에 적합한 TMS320C2000계열의 TMS320F2812을 사용하여, 운용 시 발생되는 진동 등에 대한 외란 제거를 목적으로 한다. 본 논문은 규명된 시스템 모델식을 바탕으로 DOB 제어 시뮬레이션을 수행하고 시뮬레이션으로 검증된 DOB 모터 자세 제어 알고리즘을 DSP에 적용하기 위해 코드변환하고 PMSM 모터 모델 시뮬링크 블록을 구성하여 외란 관측기 제어 알고리즘을 모터 실험 시스템에 적용함으로써 타당성을 검증하고 상용 제어기로 실제 현장에 적용 가능함을 입증한다.
I본 논문에서는 ISDN(Integrated Services Digital Network)환경에서 PC(Personal Computer)를 상호 연결하여 컴퓨터 간에 정보를 교환하여 패킷 통신망을 구현하기 위하여 ISDN 패킷 단말기용 PC 접속기를 설계하고 구현하였다. ISDN 패킷 단말기용 PC 접속기는 ISDN 계층 1기능과 ISDN 계층 2기능을 수행하는 S 인터페이스 처리부와 X.25에 서비스를 제공하며, X.25는 패킷 모드에서 수행하는 터미널을 위해 DTE(Data Terminal Equipment)와 DCE(Data Circuit Terminating Equipment)간의 접속을 규정하고 있다. S 인터페이스 처리부는 AMD사의 Am79C30칩을 사용하였으며, ISDN 패킷 처리부는 D 채널에 AMD 사의 AmZ8038의 FIFO(First Out)칩을 사용하였으며, D채널의 전반적인 신호절차 제어를 위해 인텔사의 8086 마이크로세서를 사용하였다. S 인터페이스 처리부는 ISDN 계층 1,2로 구성되어 있으며, 계층 간 통신을 위해 메일박스(mail box)를 사용하였다. ISDN 패킷 처리부는 X.25 레벨에서 모듈별로 구성되어 있으며, S 인터페이스 처리부와 ISDN 패킷 처리부 간 통신을 위하여 인터페이스 제어기를 사용하였다.
본 논문에서는 C 대역, X 대역, Ku 대역을 포함하는 다채널 영상레이다를 위한 송수신기를 설계, 제작하고, 전기적인 성능을 검증하기 위한 연구를 수행하였다. 송수신기는 대역별 송신기, 대역별 수신기, 대역별 신호선택기, 고안정발진기, 주파수합성기, 제어기, 전원분배기로 구성된다. 송수신기는 운용모드에 따라 경로 선택 및 수신 대역폭 선택 기능을 가진다. 송수신기는 C, X, Ku 대역 3가지 대역을 모두 송신 및 수신할 수 있으며, 각 대역에서 최대 300 MHz의 대역폭을 가지고, T/R 모듈을 구동시키기에 적합하도록 각 대역별 송수신기 최종 송신 출력은 20 dBm 이상이다. 수신 대역폭은 필요 요구 기능에 따라 모드 선택이 가능하며, 수신 이득은 대역별 C 대역 52 dB, X 대역 50 dB, Ku 대역 60 dB 정도를 가지고 있으며, 잡음 지수는 대역별 H, V 편파에서 Ku 대역 V 편파 최대 4.28 dB의 성능을 보였다. 전기적 성능 시험 결과, 다중대역 송수신기는 다채널 영상레이다에서 요구되는 성능을 만족하였다.
본 연구에서는 PIC(마이크로 컨트롤러)를 이용하여 전정계 기능 검사를 할 수 있도록 앙극 (bipolar) 자극이 가능한 정전류 자극기를 제작하였다. 정전류원이 구동할 수 있는 최대 부하와 최대 전류는 각각 3
상용계통과 연계한 PV 시스템은 인버터의 특성과 더불어 소형, 고 역률, 낮은 고조파 출력, 고 신뢰성, 최대출력 운전, 저비용 등의 장점이 요구된다. 태양광발전시스템의 PV 에너지를 계통과 부하로 전달하기 위해 양방향의 PCS가 요구되어 진다. 본 논문에서는 태양광 발전의 ESS를 고려한 PCS를 제안하여 부하평준화를 통한 전력의 안정적인 공급을 확인하고자 한다. 이를 위해 일사량과 부하량에 따른 5단계의 동작 모드 알고리즘을 제안하고, 충/방전 제어를 위한 제어기를 설계 하였다. 양방향의 효율적인 에너지 전달을 위해 DC-link단에 양방향 컨버터 및 배터리를 연결하고, 연계형 인버터를 통해 DC-link 전압 및 인버터 출력전압을 제어하였다. 제안된 시스템의 타당성을 입증하기 위해 PSIM을 사용한 시뮬레이션을 수행하여 타당성과 안정성을 검토하였으며, 이를 확인하기 위해 3[kW] PCS를 제작하여 실험하였다. 실험결과를 통해 제안된 시스템에 요구되어지는 특성을 검증하였으며 기존 시스템에 비해 강인한 시스템을 구성하였다.
A Macroscopic combination of two or more distinct materials is commonly referred to as a "Composite Material", having been designed mechanically and chemically superior in function and characteristic than its individual constituent materials. Composite materials are used not only for aerospace and military, but also heavily used in boat/ship building and general composite industries which we are seeing increasingly more. Regardless of the various applications for composite materials, the industry is still limited and requires better fabrication technology and methodology in order to expand and grow. An example of this is that the majority of fabrication facilities nearby still use an antiquated wet lay-up process where fabrication still requires manual hand labor in a 3D environment impeding productivity of composite product design advancement. As an expert in the advanced composites field, I have developed fabrication skills with the use of machinery based on my past composite experience. In autumn 2011, the Korea government confirmed to fund my project. It is the development of a composite sanding machine. I began development of this semi-robotic prototype beginning in 2009. It has possibilities of replacing or augmenting the exhaustive and difficult jobs performed by human hands, such as sanding, grinding, blasting, and polishing in most often, very awkward conditions, and is also will boost productivity, improve surface quality, cut abrasive costs, eliminate vibration injuries, and protect workers from exposure to dust and airborne contamination. Ease of control and operation of the equipment in or outside of the sanding room is a key benefit to end-users. It will prove to be much more economical than normal robotics and minimize errors that commonly occur in factories. The key components and their technologies are a 360 degree rotational shoulder and a wrist that is controlled under PLC controller and joystick manual mode. Development on both of the key modules is complete and are now operational. The Korean government fund boosted my development and I expect to complete full scale development no later than 3rd quarter 2012. Even with the advantages of composite materials, there is still the need to repair or to maintain composite products with a higher level of technology. I have learned many composite repair skills on composite airframe since many composite fabrication skills including repair, requires training for non aerospace applications. The wind energy market is now requiring much larger blades in order to generate more electrical energy for wind farms. One single blade is commonly 50 meters or longer now. When a wind blade becomes damaged from external forces, on-site repair is required on the columns even under strong wind and freezing temperature conditions. In order to correctly obtain polymerization, the repair must be performed on the damaged area within a very limited time. The use of pre-impregnated glass fabric and heating silicone pad and a hot bonder acting precise heating control are surely required.
Many researchers are interested in the synthesis and characterization of carbon nitride and diamond-like carbon (DLq because they show excellent mechanical properties such as low friction and high wear resistance and excellent electrical properties such as controllable electical resistivity and good field electron emission. We have deposited amorphous carbon nitride (a-C:N) thin films and DLC thin films by shielded arc ion plating (SAIP) and evaluated the structural and tribological properties. The application of appropriate negative bias on substrates is effective to increase the film hardness and wear resistance. This paper reports on the deposition and tribological OLC films in relation to the substrate bias voltage (Vs). films are compared with those of the OLC films. A high purity sintered graphite target was mounted on a cathode as a carbon source. Nitrogen or argon was introduced into a deposition chamber through each mass flow controller. After the initiation of an arc plasma at 60 A and 1 Pa, the target surface was heated and evaporated by the plasma. Carbon atoms and clusters evaporated from the target were ionized partially and reacted with activated nitrogen species, and a carbon nitride film was deposited onto a Si (100) substrate when we used nitrogen as a reactant gas. The surface of the growing film also reacted with activated nitrogen species. Carbon macropartic1es (0.1 -100 maicro-m) evaporated from the target at the same time were not ionized and did not react fully with nitrogen species. These macroparticles interfered with the formation of the carbon nitride film. Therefore we set a shielding plate made of stainless steel between the target and the substrate to trap the macropartic1es. This shielding method is very effective to prepare smooth a-CN films. We, therefore, call this method "shielded arc ion plating (SAIP)". For the deposition of DLC films we used argon instead of nitrogen. Films of about 150 nm in thickness were deposited onto Si substrates. Their structures, chemical compositions and chemical bonding states were analyzed by using X-ray diffraction, Raman spectroscopy, X-ray photoelectron spectroscopy and infrared spectroscopy. Hardness of the films was measured with a nanointender interfaced with an atomic force microscope (AFM). A Berkovich-type diamond tip whose radius was less than 100 nm was used for the measurement. A force-displacement curve of each film was measured at a peak load force of 250 maicro-N. Load, hold and unload times for each indentation were 2.5, 0 and 2.5 s, respectively. Hardness of each film was determined from five force-displacement curves. Wear resistance of the films was analyzed as follows. First, each film surface was scanned with the diamond tip at a constant load force of 20 maicro-N. The tip scanning was repeated 30 times in a 1 urn-square region with 512 lines at a scanning rate of 2 um/ s. After this tip-scanning, the film surface was observed in the AFM mode at a constant force of 5 maicro-N with the same Berkovich-type tip. The hardness of a-CN films was less dependent on Vs. The hardness of the film deposited at Vs=O V in a nitrogen plasma was about 10 GPa and almost similar to that of Si. It slightly increased to 12 - 15 GPa when a bias voltage of -100 - -500 V was applied to the substrate with showing its maximum at Vs=-300 V. The film deposited at Vs=O V was least wear resistant which was consistent with its lowest hardness. The biased films became more wear resistant. Particularly the film deposited at Vs=-300 V showed remarkable wear resistance. Its wear depth was too shallow to be measured with AFM. On the other hand, the DLC film, deposited at Vs=-l00 V in an argon plasma, whose hardness was 35 GPa was obviously worn under the same wear test conditions. The a-C:N films show higher wear resistance than DLC films and are useful for wear resistant coatings on various mechanical and electronic parts.nic parts.
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70
The wall shear stress in the vicinity of end-to end anastomoses under steady flow conditions was measured using a flush-mounted hot-film anemometer(FMHFA) probe. The experimental measurements were in good agreement with numerical results except in flow with low Reynolds numbers. The wall shear stress increased proximal to the anastomosis in flow from the Penrose tubing (simulating an artery) to the PTFE: graft. In flow from the PTFE graft to the Penrose tubing, low wall shear stress was observed distal to the anastomosis. Abnormal distributions of wall shear stress in the vicinity of the anastomosis, resulting from the compliance mismatch between the graft and the host artery, might be an important factor of ANFH formation and the graft failure. The present study suggests a correlation between regions of the low wall shear stress and the development of anastomotic neointimal fibrous hyperplasia(ANPH) in end-to-end anastomoses. 30523 T00401030523 ^x Air pressure decay(APD) rate and ultrafiltration rate(UFR) tests were performed on new and saline rinsed dialyzers as well as those roused in patients several times. C-DAK 4000 (Cordis Dow) and CF IS-11 (Baxter Travenol) reused dialyzers obtained from the dialysis clinic were used in the present study. The new dialyzers exhibited a relatively flat APD, whereas saline rinsed and reused dialyzers showed considerable amount of decay. C-DAH dialyzers had a larger APD(11.70