• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.926-936
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• 2017

The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, real-time execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot's dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.7 no.3
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• pp.314-318
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• 2006

This study is to analyze the intensity of welding part by simulating the dynamic procedure during the fracture of plates with spot welding. The upper and tower plates attached with spot welding can be seen to fall apart at the elapsed time of 0.64 ms after the upper plate is stretched from the lower plate. The maximum von Mises stress is shown at the welding part in the mid of upper and lower plates. The internal energy decreases largely and the kinetic energy increases suddenly near the elapsed time of 0.64 ms when welding part breaks down. The sliding energy decreases with step-by-step style as the time elapses. The value of this energy becomes 0 at the elapsed time of 0.2 ms and on the contrary, two plates stick each other as this value becomes a minus after this time.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.4
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• pp.16-21
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• 2011

This paper described an analysis of dynamic mechanism for the industrial two-step folding automatic door using commercial software packages. Two modeling types of operating on the guide rail, the sliding one and the rolling, were adopted to investigate effects of impact force when the door ascends the guide rail. The magnitude of impact force was found very peaklike large over an initial duration of the door's moving up. The amount of damping coefficient for alleviating this shock was controlled to such a moderate degree that the operating conditions can be obtained for the purpose of design. Moreover the behavior of both dynamic stress and deformation were observed for acquirement of structural reliabilities of the combined guide rail and rolling mechanism. This research will be a very useful tool in the near future for the dynamic analysis of the multi-step folding automatic door.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1859-1863
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• 2007

A new type of a fretting wear tester has been designed and developed in order to simulate the actual vibration behavior of a nuclear fuel rod for springs/dimples in room temperature. When considering the actual contact condition between fuel rod and spring/dimple, if fretting wear progress due to the flow-induced vibration (FIV) under a specific normal load exerted on the fuel rod by the elastic deformation of the spring, the contacting force between the fuel rod and dimple that were located in the opposite side should be decreased. Consequently, the evaluation of developed spacer grids against fretting wear damage should be performed with the results of a cell unit experiments because the contacting force is one of the most important variables that influence to the fretting wear mechanism. Therefore, it is necessary to develop a new type of fretting test rig in order to simulate the actual contact condition. In this paper, the development procedure of a new fretting wear tester and its performance were discussed in detail.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2002.10a
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• pp.135-138
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• 2002

The purpose of this study is to investigate the lubricated wear properties of Saffil/Al, Saffil/$Al_2O_3/Al$ and Saffil/SiC/Al hybrid metal matrix composites fabricated by squeeze casting method. Wear tests were done on a pin-on-disk friction & wear tester with long sliding distance. The wear properties of the three composites were evaluated in many respects. The effects of Saffil, $Al_2O_3$ particles and SiC particles on the wear behavior of the composites under lubricated conditions were elucidated. Wear mechanisms were analyzed by observing the worn surfaces of the composites. The variation of coefficient of friction (COF) during the wear process was recorded by using a computer. Comparing with the dry sliding condition, all three composites showed excellent wear resistance when lubricated by liquid paraffin. Under intermediate load, Saffil/Al showed best wear resistance among them, and its COF value is the smallest. The dominant wear mechanism of the composites was microploughing, but microcracking also occurred for them to different extent.

• Geomechanics and Engineering
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• v.19 no.5
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• pp.407-420
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• 2019

This paper illustrates the results of a series of seismic geotechnical centrifuge experiments to explore dynamic structure-soil-structure interaction (SSSI) of two structures (named S1 and S2) installed on ground surface. A dense homogeneous ground is prepared in an equivalent shear beam (ESB) container. Two structural models are designed to elicit soil-foundation-structure interaction (SFSI) with different masses, heights, and dynamic characteristics. Five experimental tests are carried out for: (1) two reference responses of the two structures and (2) the response of two structures closely located at three ranges of distance. It is found that differential settlements of both structures increase and the smaller structure (S2) inversely rotates out of the other (S1) when they interact with each other. S2 structure experiences less settlement and uplift when at a close distance to the S1 structure. Furthermore, the S1 structure, which is larger one, shows a larger rocking and a smaller sliding response due to the SSSI effects, while S2 structure tends to slide more than that in the reference test, which is illustrated by an increase in sliding response and rocking stiffness as well as a decrease in moment-to-shear ratio (M/H·L) of the S2 structure.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.5
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• pp.385-393
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• 2004

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(voice coil motor) for coarse motion, for an SFF ODD(small form factor optical disk drive), in order to achieve fast access speed and precise track-following control. Over the past few decades there have been a lot of researches related to the VCM and dual-stage actuator. In this paper, we focus our attention on the design and control of the PZT actuator. Due to the dual cantilever structure. the PZT actuator can generate precise translational tracking motion at its tip to which an optical pickup is attached. and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing it with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.246-250
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• 2000

A distinctive feature in vibration control of a large civil infrastructure is the existence of large disturbances, such as wind, earthquake, and sea wave forces. Those disturbances govern the behavior of the structure, however, they cannot be precisely measured, especially for the case of wind-induced vibration control. The sliding mode fuzzy control (SMFC), which is of interest in this study, may use not only the structural response measurement but also the wind force measurement. Hence, an adaptive disturbance estimation filter is introduced to generate a wind force vector at each time instance based on the measured structural response and the stochastic information of the wind force. The structure of the filter is constructed based on an auto-regressive with auxiliary input model. A numerical simulation is carried out on a benchmark problem of a wind-excited building. The results indicate that the overall performance of the proposed SMFC is as good as the other methods and that most of the performance indices improve as the adaptive disturbance estimation filter is introduced.

• Journal of the Korean Institute of Intelligent Systems
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• v.9 no.6
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• pp.605-614
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• 1999

This paper addresses analysis and design of a class of complex single-input single-output fuzzy control systems. In the proposed method, the fuzzy model, which represents the local dynamic behavior of the given nonlinear system, is utilized to construct the controller. The overall controller consists of the local compensators which compensate the local dynamic linear model and the feed-forward controller which is designed via sliding mode control theory. Therefore, the globally stable fuzzy controller is designed without finding a common Lyapunov matrix. and shows improved perfonnance and tracking results by taking the advantages of fuzzy-model-based control theory and sliding mode control theory. Furthennore, stability analysis is conducted not Ibr the fuzzy model but for the real underlying nonlinear system. Two numerical examples are included to show the effcctiveness and feasibility of the proposed fuzzy control method.

• Korea-Australia Rheology Journal
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• v.18 no.4
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• pp.171-181
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• 2006

We present a short review for authors' previous work on direct numerical simulations for inertialess hard particle suspensions formulated either with a Newtonian fluid or with viscoelastic polymeric fluids to understand the microstructural evolution and the bulk material behavior. We employ two well-defined bi-periodic domain concepts such that a single cell problem with a small number of particles may represent a large number of repeated structures: one is the sliding bi-periodic frame for simple shear flow and the other is the extensional bi-periodic frame for planar elongational flow. For implicit treatment of hydrodynamic interaction between particle and fluid, we use the finite-element/fictitious-domain method similar to the distributed Lagrangian multiplier (DLM) method together with the rigid ring description. The bi-periodic boundary conditions can be effectively incorportated as constraint equations and implemented by Lagrangian multipliers. The bulk stress can be evaluated by simple boundary integrals of stresslets on the particle boundary in such formulations. Some 2-D example results are presented to show effects of the solid fraction and the particle configuration on the shear and elongational viscosity along with the micro-structural evolution for both particles and fluid. Effects of the fluid elasticity has been also presented.