• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.139-149
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• 2015

In this paper, we describe a new approach to perform real-time implementation of an robust controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator consisting of dual arm with eight degrees of freedom at the joint space and cartesian space.

• Progress in Superconductivity and Cryogenics
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• v.20 no.3
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• pp.15-20
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• 2018

No-insulation (NI) pancake magnets are fabricated using Rare earth-Barium-Copper Oxide (REBCO) coated conductor (CC) tapes, which enabled a very compact magnet in the aspects of high critical current density ($J_c$) and high mechanical strength by removing insulation and allowing thinner stabilizer. They have also advantages such as self-quench protection. Therefore, it does not need quench detection and protection that can be very challenging in a high critical temperature ($T_c$) superconducting magnet technology. Recently, it was reported that the NI REBCO CC magnets have some drawbacks of long charging time and high field ramp loss which will be a concern in the operation of cryocooled magnets. These issues are related to the turn-to-turn contact resistivity and can be released by managing it. This is also closely related to the activity of reducing the contact joint resistance in the case of CC joints for long length CC fabrication. Therefore, in this study, the turn-to-turn contact resistance ($R_c$) at the CC contact part of differently stabilized CC tapes was measured. The behaviors of $R_c$ at CC contact parts according to the applied contact pressure were investigated. The range of $R_c$ measured for CC tapes adopted will provide fundamental data for design and fabrication of the CC NI coils.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.19 no.9
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• pp.868-872
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• 2006

In this work, the effects of the corona treatment on surface properties of semiconducting silicone rubber were investigated in terms of contact angles, ATR-FTIR(Attenuated total reflection fourier transform infrared spectroscopy) and XPS(X-ray photoelectron spectroscopy). And the adhesive characteristics were studied by measuring the T-peel strengths. Based on chemical analysis, the surface modification can be mainly ascribed to the creation of chemically active functional groups such as C-O, C=O and C-OH on semiconducting silicone surface. This oxidized rubber layer is inorganic silica-like structure of Si bound with three to four oxygen atoms ($SiOx,\;x=3{\sim}4$. The Corona treatment produces an increase in joint strength that is maximum for 10 min treatment. However, due to brittle property of this oxidized layer, the highly oxidized layer from too much extended treatment could be act as a weak point, decreasing the adhesion strength.

• Structural Engineering and Mechanics
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• v.74 no.1
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• pp.69-82
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• 2020

A significant defect of space structures is the progressive collapse issue which may restrict their applicability. Force limiting devices (FLDs) have been designed to overcome this deficiency, though they don't operate efficiently in controlling the force displacement characteristics. To overcome this flaw, a new type of FLD is introduced in the present study. The "all steel accordion force limiting device" (AFLD) which consists of three main parts including cylindrical accordion solid core, tubular encasing and joint system is constructed and its behavior has been studied experimentally. To improve AFLD's behavior, Finite element analysis has been carried out by developing models in ABAQUS software. A comprehensive parametric study is done by considering the effective design parameters such as core material, accordion wave length and accordion inner diameter. From the results, it is found that AFLD can obtain a perfect control on the force-displacement characteristics as well as attaining the elastic-perfect plastic behavior. Obtaining higher levels of ultimate load carrying capacity, dissipated energy and ductility ratio can be encountered as the main privileges of this device. Ease of construction and erection are found to be further advantages of AFLD. Based on the obtained results, a procedure for predicting AFLD's behavior is offered.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.94-104
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manpulators to achieve accurate trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed contorl scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Morever, this scheme does not require an accurate dynamic modeling nor values of manpipulator parameters and payload. Performance of the adaptive controller is illustated by simulation and experimental results for a SCARA robot.

• Journal of the Korean Recycled Construction Resources Institute
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• v.9 no.4
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• pp.537-544
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• 2021

In order to describe the fill-up stages of a near-surface disposal facility vault, a mock-up test is performed, and its behavior during the fil l -up stages is investigated. On an in-site concrete foundation with a l ength of 6600mm, a width of 6600mm and a thickness of 400mm, a reinforced concrete disposal vaul t is manufactured with 4 precast (PC) corner wal l s and 8 PC side wal l s. 36 wasted drums are pl aced on the 1st fl oor in 6 by 6, and then the empty space is fil l ed with grout fil l er. These processes are repeated up to the 5th floor, and the verticality and the joint gaps are measured for each fill-up stage. The verticality is measured using a level at 6 positions on each side wall (3 positions on the left and right sides, respectivel y), i.e. a total of 24 positions on the 4 side wal l s. The joint gaps are measured at 9 positions on each side wal l (3 positions on the left, center and right sides, respectively), I.e. a total 36 positions on the 4 side walls. To measure the joint gaps, crack tips are installed on the left and right sides of every joint gap, and vernier calipers are used. The measured verticality obtained through the mock-up test was found to be ±0.1° based on the initial stage (ST0), and the result of the joint gap was up to 0.38mm. This appears to have a negligible effect on the structure.

• Journal of the Korea institute for structural maintenance and inspection
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• v.22 no.1
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• pp.176-182
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• 2018

The purpose of this study was to investigate the safety and rationality of buckling strength and length coefficient by comparing with the design standards of domestic and foreign compression materials based on the buckling test results of circular steel pipe with ball joints. The types of round steel pipes selected for buckling performance evaluation were ø$48.6{\times}2.8t$, ø$60.5{\times}3.2t$ and ø$76.3{\times}3.2t$. For the design of domestic and foreign compression materials, Korea 's Load Resistance and Factor Design, Japan' s Limit State Design, and British Standard BS5950 standard were applied. In this study, we compared and analyzed the buckling performance between the experimental results of the previous research and the domestic and foreign design standards. The results were summarized as follows. As a result of applying the full length of the member to the buckling length in the compression materials design standards of each country, it was 64-89% of the buckling strength by the experiment. Therefore, it is deemed desirable to perform the member design according to the current design standard formula for safety. Experimental results show that the measured buckling strength was 1.02-1.43 times higher than the buckling strength of pure cylindrical steel tubes in the design standards of Korea, Japan and the United Kingdom compression materials. Consequently, it seemed that the buckling strength of individual member in the design of space frame structure should be considered buckling coefficient as the length of pure round steel pipe rather than the length of inter-node.

• Journal of the Korean Institute of Gas
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• v.17 no.1
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• pp.19-25
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• 2013

The joining methods of steel structures of gas facilities, bridges, ships etc. by welding are composed mostly of T-type or cruciform fillet welding and full penetration or partial penetration according to the uses and the shape of the structures. In this study, it was examined the characteristics of fatigue crack according to penetration depth in relation to material thickness in the cruciform fillet welded joints. From the results, it was investigated the safe design stresses within the range of infinite life. When the LOP length is long the range of infinite life is small with root failure and when the LOP length is short the range of infinite life is large with teo failure. For the specimen of material thickness, 20mm welded by 3 pass compared with 10mm, 15mm welded by 2 pass, the fatigue strength and the range of infinite life was more improved by increasing of notch toughness from formation of micro-ferrite acicular structure.

• Journal of Korean Society of Steel Construction
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• v.18 no.3
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• pp.385-393
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• 2006

In Korea, the effective utilization of wod structure is encour aged to preserve natural resources and the global environment.ote demand for wod. The efective combination of structural la minated timber and other materials is expected to extend the potential of building structures. This research examines the moment resis tance-type jointing method using structural laminated timber and H-section stel aiming at development of the two-direction frame for lar ge 9 mm and 12 mm) of the H section. Therefore, we conducted the experiment with bending test of the joints to investigate the s tifnes, strength, strain distributions of laminated timber an d of the flange of the H section, and failure paterns. As shown in the results, t he joints with a flange thicknes of 9 mm and 12 m have superi or strength with a flange thicknes of 9 mm and 12 mm were very large, whic h confirmed the high level of energy absorption of such structure s.

• Journal of the Korea institute for structural maintenance and inspection
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• v.22 no.1
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• pp.123-128
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• 2018

Girder bridges and slab bridges are equipped with a system consisting of a flexible joint unit, support, inverted T shaped abutment, and a separate connecting slab structure. These systems have problems such as an increase in cost due to frequent breakage of the expansion joints and a decrease in durability due to a structure with low moment redistribution. To improve these problems, propose Inegral and Semi-Integral Hybrid Slab Bridge and examine the safety through structural analysis. As a result of the review, Inegral and Semi-Integral Hybrid Slab Bridge was the section stiffness is small. but it is confirmed that the structural safety, ductility and flexibility are higher than existing bridges because the moment redistribution and the force transmission are surely performed.