• Journal of Electrical Engineering and Technology
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• 제11권1호
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• 한국정밀공학회지
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• 제11권6호
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• pp.185-199
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• 1994

This study has been performed to present a new automatic tool wear measurement by digital image processing. The purpose of this paper is to develop an automatic tool wear measuring system based on the image processing which can be applied to the quasi-real time measurement of the characteristics of insert tip in turning. Tool wear monitoring is one of the key-problems, for the development of control systems of modern unmanned factory which are not completely solved now. In oredr words at present complete qualitative and quantitative information on tool wear morphology is required, at least on the following aspects : flank wear, its dimensions and distribution on the maximum and mean values on VB pqrqmeter in the various zones of the wearland. crater wear, its main dimensions and values of KT parameters. This research has been performed to this technique made possible by designing a proper lighting system to the worn tool with following features : The flank wear is measured by observing the active cutting part from a proper direction and by lighting the wearland by a diffuser optic system. The crater wear is visualized by lighting the tool by a He-Ne gas laser system developed in this study. By means of this system it is research to evaluate classical parameters of tool wear and to have complete information about tool wear morphology.

• Structural Monitoring and Maintenance
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• 제4권2호
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• pp.115-131
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• 2017

Classical flutter of wind turbine blades indicates a type of aeroelastic instability with fully attached boundary layer where a torsional blade mode couples to a flapwise bending mode, resulting in a mutual rapid growth of the amplitudes. In this paper the monitoring problem of onset of flutter is investigated from a detection point of view. The criterion is stated in terms of the exceeding of a defined envelope process of a specific maximum torsional vibration threshold. At a certain instant of time, a limited part of the previously measured torsional vibration signal at the tip of blade is decomposed through the Empirical Mode Decomposition (EMD) method, and the 1st Intrinsic Mode Function (IMF) is assumed to represent the response in the flutter mode. Next, an envelope time series of the indicated modal response is obtained in terms of a Hilbert transform. Finally, a flutter onset criterion is proposed, based on the indicated envelope process. The proposed online flutter monitoring method provided a practical and direct way to detect onset of flutter during operation. The algorithm has been illustrated by a 907-DOFs aeroelastic model for wind turbines, where the tower and the drive train is modelled by 7 DOFs, and each blade by means of 50 3-D Bernoulli-Euler beam elements.

• Earthquakes and Structures
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• 제12권6호
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• pp.619-628
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• 2017

The intent of this paper is to investigate the propagation of Love waves in a dry sandy medium sandwiched between fiber-reinforced layer and prestressed porous half-space. Separate displacement components have been deduced in order to characterize the dynamics of individual materials. Using suitable boundary conditions, the frequency equation has been derived by means of separation of variables which reveals the significant role of reinforcement parameters, sandiness, thickness of layers, porosity and prestress on the wave propagation. The phase velocity of the Love wave has been discussed in accordance with its typical cases. In both cases when fiber-reinforced and dry sandy media are absent, the derived equation of Love type wave coincides with the classical Love wave equation. Numerical computations have been performed in order to graphically illustrate the dependencies of different parameters on phase velocity of Love waves. It is observed that the phase velocity decreases with the increase of parameters pertaining to reinforcement and prestress. The results have certain potential applications in earthquake seismology and civil engineering.

• Structural Engineering and Mechanics
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• 제65권6호
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• pp.645-656
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• 2018

Importance of procuring adequate knowledge about the mechanical behavior of double-layered graphene sheets (DLGSs) incensed the authors to investigate wave propagation responses of mentioned element while rested on a visco-Pasternak medium under hygro-thermal loading. A nonlocal strain gradient theory (NSGT) is exploited to present a more reliable size-dependent mechanical analysis by capturing both softening and hardening effects of small scale. Furthermore, in the framework of a classical plate theory the kinematic relations are developed. Incorporating kinematic relations with the definition of Hamilton's principle, the Euler-Lagrange equations of each of the layers are derived separately. Afterwards, combining Euler-Lagrange equations with those of the NSGT the nonlocal governing equations are written in terms of displacement fields. Interaction of the each of the graphene sheets with another one is regarded by the means of vdW model. Then, a widespread analytical solution is employed to solve the derived equations and obtain wave frequency values. Subsequently, influence of each participant variable containing nonlocal parameter, length scale parameter, foundation parameters, temperature gradient and moisture concentration is studied by plotting various figures.

• Structural Engineering and Mechanics
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• 제28권5호
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• pp.525-548
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• 2008

This article deals the theory for solving an inverse problem of plate structures using the frequency-domain information instead of classical time-domain delays or free vibration eigenmodes or eigenvalues. A reduced set of output parameters characterizing the defect is used as a regularization technique to drastically overcome noise problems that appear in imaging techniques. A deconvolution scheme from an undamaged specimen overrides uncertainties about the input signal and other coherent noises. This approach provides the advantage that it is not necessary to visually identify the portion of the signal that contains the information about the defect. The theoretical model for Quantitative nondestructive evaluation, the relationship between the real and ideal models, the finite element method (FEM) for the forward problem, and inverse procedure for detecting the defects are developed. The theoretical formulation is experimentally verified using dynamic responses of a steel plate under impact loading at several points. The signal synthesized by FEM, the residual, and its components are analyzed for different choices of time window. The noise effects are taken into account in the inversion strategy by designing a filter for the cost functional to be minimized. The technique is focused toward a exible and rapid inspection of large areas, by recovering the position of the defect by means of a single accelerometer, overriding experimental calibration, and using a reduced number of impact events.

• 접착 및 계면
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• 제7권4호
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• pp.60-64
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• 2006

In modern vehicle construction the search for means of weight reduction, improving durability, increasing comfort and raising body stiffness are issues of priority to the design engineer. The intelligent usage of many materials such as high strength steel, light-alloys and plastics enables a significant vehicle weight reduction to be achieved. The classical joining techniques used in the automobile industry need to be newly-evaluated since they often do not present workable solutions for such mixed-material connections, for example aluminium/steel. Calculation/simulation methods have made progress as a key factor for broader and more cost-effective implementation of structural bonding. This will lead to reduction of spotwelds and accelerate the car development. A special focus of the paper is the use of high strength steel grades. It will be shown that adhesive bonding is a key tool for yielding the potential of advanced high strength steel for low gauging without compromising the stiffness. The latest status of adhesive development has been described. Improvements with physical strength and glass temperature as well as of process relevant properties are shown. Also the situation regarding occupational hygiene is treated, showing that by further spotweld point reduction the emission around the working area can be even lowered against the current praxis. High performing lightweight design cannot longer do without high performing crash durable adhesives.

• Computers and Concrete
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• 제8권1호
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• pp.23-41
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• 2011

The behaviour of concrete confined by transverse reinforcement is a classical topic. Numerous studies have been conducted to establish the stress-strain relationships for concrete under various confining reinforcement arrangements. Many empirical and semi-empirical formulas exist. Simplified analytical models have also been proposed to evaluate the increase in the strength and ductility of confined concrete. However, relatively few studies have been conducted to utilise advanced computational models for a realistic simulation of the behaviour of concrete confined by transverse reinforcement. As a matter of fact, high fidelity simulations using the latest numerical solvers in conjunction with advanced material constitutive models can be a powerful means to investigating the mechanisms underlying the confining effects of different reinforcement schemes. This paper presents a study on the use of high fidelity finite element models for the investigation of the behaviour of concrete confined by stirrups, as well as the interpretation of the numerical results. The development of the models is described in detail, and the essential modelling considerations are discussed. The models are then validated by simulating representative experimental studies on short columns with different confining reinforcement schemes. The development and distribution of the confining stress and the subsequent increase in the axial strength are examined. The models are shown to be capable of reproducing the behaviour of the confined concrete realistically, paving a way for systematic parametric studies and investigation into complicated confinement, load combination, and dynamic loading situations.

• 한국환경과학회지
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• 제20권12호
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• pp.1541-1551
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• 2011

This study applied the Bayesian method for the quantification of the parameter uncertainty of spatial linear mixed model in the estimation of the spatial distribution of probability rainfall. In the application of Bayesian method, the prior sensitivity analysis was implemented by using the priors normally selected in the existing studies which applied the Bayesian method for the puppose of assessing the influence which the selection of the priors of model parameters had on posteriors. As a result, the posteriors of parameters were differently estimated which priors were selected, and then in the case of the prior combination, F-S-E, the sizes of uncertainty intervals were minimum and the modes, means and medians of the posteriors were similar to the estimates using the existing classical methods. From the comparitive analysis between Bayesian and plug-in spatial predictions, we could find that the uncertainty of plug-in prediction could be slightly underestimated than that of Bayesian prediction.

• 대한치과보철학회지
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• 제42권4호
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• pp.443-457
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• 2004

Purpose: The purpose of this study was to analyze and estimate whether each company may produce the color of artificial teeth as it stands, in the standard of vita classical shade guide using ShadeScan$^{TM}$ System. Material and methods: we chose the products of 6 companies -EFUCERA, IVOCLAR, ENDURA, TRUBYTE, DURADENT, and DURACROSS- estimated the shade value of each fixed point(cervical, body, and incisal area) of artificial tooth, and verified the equality among the samples from the same company. Results: First, the variation appeared significant at cervical and incisal area. It means that there were significant differences between cervical and incisal area although the most similar artificial teeth to the patients’natural teeth were provided. Second, the results in the body area showed that the variation between artificial and natural teeth was finite(p<0.05) in that area. Conclusion: it shows that the reproduction of colors of artificial teeth might be successful regarding the body is the most important part for a determination of the color of artificial teeth. However, more complements are necessary for the better reproduction of the color of artificial teeth between cervical and incisal area.