• Journal of Electrical Engineering and Technology
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• 제12권2호
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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.

• 한국산학기술학회논문지
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• 제7권3호
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• pp.314-318
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• 2006

본 연구에서는 점 용접된 박판이 파괴되어 가는 동적 과정을 시뮬레이션 함으로서 그 점용접부의 강도를 해석하는데 있다. 위판이 아래의 판에 대하여 늘어난 후 0.64 ms가 경과된 시점에서 서로 점 용접된 위판 및 아래 판이 떨어져 나감을 알 수 있다. 비교적 위판 및 아래 판 가운데의 용접 부위에서 최대의 von Mises 응력을 나타내고 있다. 용접이 깨어지는 시점인 0.64 ms 부근에서는 그 내부에너지가 상당히 감소되고 운동에너지는 급격히 증가됨을 알 수 있다. 미끄럼 에너지는 시간이 경과됨에 따라 계단형으로 감소되어 경과 시간이 0.2 ms 부근에서 0이 되다가 그 후로는 미끄럼 에너지가 음수의 값이 되어 두 판들은 오히려 고착이 되는 것을 알 수 있다.

• 한국기계가공학회지
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• 제10권4호
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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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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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.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2002년도 추계학술발표대회 논문집
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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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• 제19권5호
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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.

• 한국소음진동공학회논문집
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• 제14권5호
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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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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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.

• 한국지능시스템학회논문지
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• 제9권6호
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• pp.605-614
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• 1999

본 논문에서는 단일 입력 단일 출력을 갖는 복잡한 비선형 시스템을 위한 퍼지 제어 시스템의 설계 및 분석을 제시한다. 제안된 방법은 주어진 비선형 시스템의 지역적인 동특성을 표현하기 위해 퍼지 모델을 구성하여 이를 바탕으로 제어기를 구성한다. 전체 시스템을 총괄하는 제어기는 각 지역 퍼지 모델에 대한 보상기와 슬라이딩 모드 제어 이론을 사용한 전역 피드포워드 제어기를 사용하여 구성한다. 따라서 제안된 제어기는 퍼지 모델 기반 제어방법과 슬라이딩 모드 제어 방법의 장점을 동시에 취하여 기존의 퍼지 모델 기반 제어기와 달리 공통 리아프노프 행렬을 구하지 않고서 안정성을 증명할 수 있으며 향상된 성능 및 추종 성능을 보인다. 또한 제안된 제어방법은 기존의 퍼지 모델기반 제어 방법과는 달리 원 비선형 시스템에 대한 안정도의 해석이 가능하다. 제안된 방법의 우수성과 유효성을 보이기 위해 두가지 수치 예제를 제공한다.

• Korea-Australia Rheology Journal
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• 제18권4호
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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.