• 제어로봇시스템학회논문지
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• 제4권2호
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• pp.226-234
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• 1998

The concept of dynamic tracking line is proposed as the feasible tracking region for a robot in a robot-conveyor system, which takes the conveyor speed into consideration. This paper presents an effective method to identify the dynamic tracking line in a robotic workcell. The maximum line speed of a robot is derived in an analytic form using the parameterized dynamics and kinematics of the manipulator, and some of its properties are established mathematically. The identification problem of the dynamic tracking line is then formulated as a root-solving problem for a single-variable equation, and solved by using a simple numerical technique. Finally, numerical examples are presented to demonstrate the methodology and its applications in workspace specification.

• 한국정밀공학회지
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• 제27권12호
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• pp.48-58
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• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

• Smart Structures and Systems
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• 제26권4호
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• pp.419-433
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• 2020

Investigation of structural integrity has been a critical issue in the field of civil engineering for years. Visual inspection is one of the most available methods to explore deteriorative components in structures. Still, this method is not applicable to invisible damage of structures. Alternatively, system identification methods are capable of tracking modal properties of structures over time. The deviation of these dynamic properties can serve as indicators to access structural integrity. In this study, a modal tracking technique using frequency-domain system identification from seismic responses of structures is proposed. The method first segments the measured signals into overlapped sequential portions and then establishes multiple Hankel matrices. Each Hankel matrix is then converted to the frequency domain, and a temporal-average frequency-domain Hankel matrix can be calculated. This study also proposes the frequency band selection that can divide the frequency-domain Hankel matrix into several portions in accordance with referenced natural frequencies. Once these referenced natural frequencies are unavailable, the first few right singular vectors by the singular value decomposition can offer these references. Finally, the frequency-domain stochastic subspace identification tracks the natural frequencies and mode shapes of structures through quick stabilization diagrams. To evaluate performance of the proposed method, a numerical study is carried out. Moreover, the long-term monitoring strong motion records at a specific site are exploited to assess the tracking performance. As seen in results, the proposed method is capable of tracking modal properties through seismic responses of structures.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제15권8호
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• pp.591-595
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• 2009

센서 네트워크에서 개체 검출과 추적에 관한 기존 라우팅 프로토콜들은 사람, 동물, 차량 등과 같은 하나 또는 그 이상의 단일(individual) 개체들에 대한 검출과 추적을 하기 위한 방법에만 관심을 가질 뿐, 독가스, 생화학물질 등과 같은 연속적인 개체들을 검출하고 추적하는 프로토콜들은 많지 않다. 이러한 연속적인 개체들은 어느 지역에 계속적으로 분산되어 있고, 광범위한 지역을 차지한다는 점에서 단일 개체들과 차이가 있다. 따라서 많은 센서 노드들에 의해 검출되고 센싱되는 데이터들은 중복적이고 서로 깊이 관련되어 있다. 그러므로 지역적으로 센싱 데이터를 수집하고 통합하여 데이터를 보고하기 위한 효율적인 방안이 필요하다. 본 논문에서 우리는 연속적인 개체들을 검출, 추적하고 모니터링(monitoring)하기 위한 동적인 직사각형 영역에 기반한 연속적인 개체 추적 방안을 제안한다. 제안된 방안은 하나의 연속된 개체가 차지한 지역이 포함된 동적인 직사각형 영역을 구성하고, 영역에서 하나의 대표 노드가 연속된 개체를 검출하는 센서 노드들로부터 센싱 데이터를 수집하고 통합한다.

• 한국도로학회논문집
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• 제20권4호
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• pp.27-34
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• 2018

PURPOSES : The objective of this study is to evaluate the physical properties of recycled asphalt mixtures reinforced with glass fiber. METHODS : Firstly, mixing design was conducted on recycled asphalt mixture for use of 50% recycled aggregate. Various laboratory tests were performed on four types of recycled asphalt mixtures with different glass fiber content to evaluate the physical properties. The laboratory tests include indirect tensile strength test, dynamic modulus test, Hamburg wheel tracking test and tensile-strength ratio to evaluate cracks, rutting and moisture resistance of mixtures. RESULTS : The indirect tensile strength of fiber reinforced glass increased about 139.4%. As a result of comparing the master curves obtained by the dynamic modulus test, the elasticity was low in the low temperature region and high in the high temperature region when the glass fiber was reinforced. The glass fiber contents of PEGS 0.3%, Micro PPGF 0.1% and Macro PPGF 0.3% showed the highest moisture resistance and rutting resistance. CONCLUSIONS : The test results show that use of glass fiber reinforcement can increase the resistance to cracking, rutting, and moisture damage of asphalt mixtures. It is also necessary to validate the long-term performance of recycled asphalt mixtures with glass fiber using full scale pavement testing and field trial construction.

• 한국도로학회논문집
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• 제19권5호
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• pp.131-141
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• 2017

PURPOSES : The main distress of asphalt pavements in monsoon climate regions are caused by water damage and plastic deformation due to repeated rain season and increased heavy vehicle traffic volume. In this study, the mechanical properties of polymer-modified warm mix asphalt (PWMA) materials are evaluated to use in monsoon climate regions such as Indonesia. METHODS : Comprehensive laboratory tests are conducted to evaluate moisture resistance and permanent deformation resistance for three different asphalt mixtures such as the Indonesian conventional hot-mix asphalt (HMA) mixture, the polymer-modified asphalt mixture, and the polymer-modified warm mix asphalt (PWMA) mixture. Dynamic immersion test and indirect tensile strength ratio test are performed to evaluate moisture resistance. The wheel tracking test is performed to evaluate rutting resistance. Additionally, the Hamburg wheel tracking test is performed to evaluate rutting and moisture resistances simultaneously. RESULTS :The dynamic immersion test results indicate that the PWMA mixture shows the highest resistance to moisture. The indirect tensile strength ratio test indicates that TSR values of PWMA mixture, Indonesian PMA mixture, and Indonesian HMA mixture show 87.2%, 84.1%, and 67.9%, respectively. The wheel tracking test results indicate that the PWMA mixture is found to be more resistant to plastic deformation than the Indonesian PMA. The dynamic stability values are 2,739 times/mm and 3,150 times/mm, respectively. Moreover, the Hamburg wheel tracking test results indicate that PWMA mixture is more resistant to plastic deformation than Indonesian PMA and HMA mixtures. CONCLUSIONS :Based on limited laboratory test results, it is concluded that rutting resistance and moisture susceptibility of the PWMA mixture is superior to Indonesian HMA and Indonesian PMA mixtures. It is postulated that PWMA mixture would be suitable for climate and traffic conditions in Indonesia.

• 한국도로학회논문집
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• 제18권4호
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• pp.29-35
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• 2016

PURPOSES : The new waste management policy of South Korea encourages the recycling of waste materials. One material being recycled currently is tire-derived fuel (TDF) ash. TDF is composed of shredded scrap tires and is used as fuel in power plants and industrials plants, resulting in TDF ash, which has a chemical composition similar to that of the fly ash produced from coal. The purpose of this study was to evaluate the properties of an asphalt concrete mix that used TDF ash as the mineral filler. METHODS : The properties of the asphalt concrete were evaluated for different mineral filler types and contents using various measurement techniques. The fundamental physical properties of the asphalt concrete specimens such as their gradation and antistripping characteristics were measured in accordance with the KS F 3501 standard. The Marshall stability test was performed to measure the maximum load that could be supported by the specimens. The wheel tracking test was used to evaluate the rutting resistance. To investigate the moisture susceptibility of the specimens, dynamic immersion and tensile strength ratio (TSR) measurements were performed. RESULTS : The test results showed that the asphalt concrete containing TDF ash satisfied all the criteria listed in the Guide for Production and Construction of Asphalt Mixtures (Ministry of Land, Infrastructure and Transport, South Korea). In addition, TDF ash exhibited better performance than that of portland cement. The Marshall stability of the asphalt concrete with TDF ash was higher than 7500 N. Further, its dynamic stability was also higher than that listed in the guide. The results of the dynamic water immersion and the TSR showed that TDF ash shows better moisture resistance than does portland cement. CONCLUSIONS : TDF ash can be effectively recycled by being used as a mineral filler in asphalt, as it exhibits desirable physical properties. The optimal TDF ash content in asphalt concrete based on this study was determined to be 5%. In future works, the research team will compare the characteristics of asphalt concrete as function of the mineral filler types.

• 한국정밀공학회지
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• 제20권9호
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• pp.77-83
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• 2003

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.435-438
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• 2002

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of serial link robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• 한국자동차공학회논문집
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• 제22권7호
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• pp.16-22
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• 2014

Automotive NVH on brake operation is mainly caused by a coupling action of vehicle speed and inter parts friction and its frequency occurs over a broad band of 0.1 kHz~10 kHz. Especially, squeal noise, being a self-excited vibration generated by friction force between drum and lining, occurs over 1 kHz and consequently dynamic instability is induced when friction energy is applied to a brake vibration system. The squeal strongly depends on nonlinear properties influenced by the material of lining, velocity of vehicle, and the dynamic properties of a brake system. The dynamic properties are considered as a main influential design factor to squeal noise, however the analysis of the properties are rarely facilitated due to arbitrariness of shape by wearing down. In this paper, we research generating tendency of squeal noise through complex eigenvalue analysis, tracking drum brake's unstable modes in accordance with the wear shape of drum and lining such as tapered and bellmouth shape, and analyze computed unstable modes by variable shapes.