• Proceedings of the Korean Geotechical Society Conference
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• 2010.03a
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• pp.360-368
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• 2010

Noise and vibration triggered by pile driving in a construction site not only give hard time to the surrounding areas but could also cause residents nearby to file civil complaints to the extent of bringing construction to a halt. To deal with this issue, construction engineers have worked strenuously to develop low noise & low vibration pile methods. A noise & vibration-free screw concrete pile method proposed in this study is one of the successful outputs. It penetrates pile underground by rotating and pressing in body of the pile to avert noise and vibration while maximizing bearing capacity. A prototype of noise and vibration-free precast screw pile method was manufactured, which is not seen anywhere in Korea and elsewhere, and have undergone pilot tests twice to determine construction method.

• Journal of Drive and Control
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• v.16 no.4
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• pp.87-92
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• 2019

Rotary dampers are damping devices which provide high resistance to shaft rotation. Rotary dampers are being used in various areas to enable the gentle opening and closing of the rotation motion relative to home furniture, industry machinery and automotive parts. Rotary dampers can be installed directly at the rotating point of a various part and can achieve uniform, gentle movement which increases quality and value of products. And generally, the silicone fluid is used as the damping medium because of its stable viscous properties. The movement of these little decelerators can be achieved with a high viscosity of working fluid and throttles installed in the body of the rotary damper. The damping force can be achieved clockwise, anti-clockwise or in both directions according to the structure of the orifices or throttles. In this paper, the torque performances of the rotary damper containing air in the working fluid were studied. For this purpose, the torque characteristic of the rotary damper according to the variation of various operating conditions such as clearance of leakage, dimensions of groove orifice, content ratio of air, etc., were simulated with AMEsim software.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.3
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• pp.259-265
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• 2009

In the traditional percussion locks of small arms, a firing pin is struck by a hammer rotating on a single center of rotation, which makes the percussion mechanism simple and reliable. In order to strike the firing pin by the hammer, however, the firing pin should be located within the radius of rotation of the hammer. As the distance between the striking point of the firing pin and the center of rotation of the hammer becomes longer, the radius of rotation of the hammer should also be increased, which results in the increase of the volume and weight of the small arms because the hammer needs the more space for its operation inside of the small arms. In this paper, a link type percussion lock was newly proposed in order to overcome the limitation of designing small arms when using traditional percussion locks, as mentioned above. The link type percussion lock was modeled by using multi-body dynamics software and designed to satisfy the requirements such as striking force level of the hammer exerting on the firing pin enough to detonate the percussion cap of ammunitions and the safety on the accidental drop. It was applied to the newly developed dual-barrel weapon system, in which the weight and overall length are important design factors, and verified by durability test and drop test on the ground.

• Journal of Ocean Engineering and Technology
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• v.7 no.2
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• pp.19-29
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• 1993

The static tensile tests of GFRP, ID300, CFRID300 and CFRPEEK were made on the plain and notched specimens at room temperature. The results were discussed based on linear notch mechanics which was proposed by H.Nistani. The fracture of notched GFRP, ID300, CFRID300 and CFRPEEK specimens is controlled by the elastic maximum stress, $({\sigma}_max)$, and the notch root racius,$\rho$, alone, independently of the other geometrical conditions. The relation between fracture nominal stress,$({\sigma}_max)$, and stress concentration factor, $K_t$ and a part where $({\sigma}_c)$ is nearly constant independent of $K_t$. A similar phenomenon can be seen in the fatigue tests of notched specimes under rotating bending or push-pull. The almost constant $({\sigma}_c)$ values correspond to the nearly constant apparent stress intensity factor, $K_{1pc}$ values, obtained by assuming ,$\rho$=0. This can be attributed to the existence of the stable crack. Linear notch mechanics is very useful for analyzing the static tensile fracture behavior of notched GFRP, ID300, CFRPEEK specimens.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.217-222
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• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.10
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.13 no.2
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• pp.109-121
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• 2001

This paper describes results of an experimental study to examine the effect of a submerged horizontal breakwater to sea water exchange. Flow measurements were taken by using a PIV(Particie Image Velocimetry) system, and mean currents and wave ellipses extracted through the harmonic analysis are presented. As results, the rates of circulating flow were closely connected with the volume flux of incident waves and the counter-rotating vortex pair was observed at the onshore side of a plate. The dye study showed that incoming sea water and polluted water body mixed up significantly due to turbulent motions induced by a jet-like flow.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.430-437
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• 2000

Fertilizer impaction mechanism was simulated using a commercial program RecurDyn$^{(R)}$ a dynamic program that could handle contact problems. Even if there had been numerous papers on modeling of fertilizer applicator, the performance predictions were not satisfactory due to simplification in modeling. The most significant simplification was assumption of fertilizer particles as a solid particle. The assumption would eliminate rotation of fertilizer particles during the impaction mechanism. However, impaction of rotating body would be different from that of a solid particle. This paper introduced how the impaction was modeled using RecurDyn$^{(R)}$. In order to simulate, restitution coefficient and contact time was measured. A stiffness coefficient and a damping coefficient of a fertilizer was theoretically estimated using the measured data. Validity of the simulation result was not proved yet, but judged to be promising.ged to be promising.ing.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.399-399
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• 2000

In this paper, path generation using the sensor platform is proposed. The sensor platform is composed two electric motors which make panning and tilting motions. An algorithm fur a real path form and an obstacle length is realized using a scanning algorithm to rotating the sensors on the sensor platform. An ARV (Autonomous Robot Vehicle) is able to recognize the given path by adapting this algorithm. In order for the ARV to navigate the path flexibly, a kinematic model needed to be constructed. The kinematic model of the ARV was reformed around its body center through a relative velocity relationship to controllability, which derives from the nonholonomic characteristics. The optimal controller that is based on tile kinematic model is operated purposefully to track a reference vehicle's path. The path generation algorithm is composed of two parks. On e part is the generating path pattern, and the other is used to avoid an obstacle. The optimal controller is used for tracking the reference path which is generated by recognizing the path pattern. Results of simulation show that this algorithm for an ARV is sufficient for path generation by small number of sensors and for low cost controller.