• Structural Engineering and Mechanics
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• v.26 no.5
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• pp.569-589
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• 2007

This paper presents an analytical model for RC beam-column connections that takes into account bond deterioration between reinforcing steel and concrete. The model is based on the Lumped Damage Mechanics (LDM) theory which allows for the characterization of cracking, degradation and yielding, and is extended in this paper by the inclusion of the slip effect as observed in those connections. Slip is assumed to be lumped at inelastic hinges. Thus, the concept of "slip hinge", based on the Coulomb friction plasticity theory, is formulated. The influence of cracking on the slip behavior is taken into account by using two concepts of LDM: the effective moment on an inelastic hinge and the strain equivalence hypothesis. The model is particularly suitable for wide beam-column connections for which bond deterioration dominates the hysteretic response. The model was evaluated by the numerical simulation of five tests reported in the literature. It is found that the model reproduces closely the observed behavior.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1094-1102
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• 2008

Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best performance in the presence of disturbances such as step one, sinusoidal one and Coulomb friction for the rigid body. LQR using feedback state variables has the best tracking performance far the flexible body. The performance of PID controller is low compared to other controllers, but the design process is simple. The most advanced controller is LQR. In order to attenuate disturbance, an additional state observer should be used to estimate it, making more complex control system. RIC lies between PID and LQR in view of complexity of design. Even though RIC is not complicated, it has good disturbance rejection ability and less tracking error. By considering these aspects, the RIC is suggested as high precision controller to be used in motion control system.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.36T no.2
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• pp.32-41
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• 1999

The design method that the structure of double actuators of read-only or read-writable DVD optical pick-up of high density can be compact into the structure of one actuator, is proposed. The designed actuator has the structure of the shaft sliding type in which the moving part can be rotated about the shaft accord to a used optical disc and an objective lens can be switched, and is suspended with magnetic spring. In this actuator, Coulomb's friction is used as damping force and the moving part is designed by finite element method so that the second natural vibration mode can not occur within the servo band. The mock-up of the actuator designed in this paper is made, and its dynamic characteristics is measured and estimated.

• Journal of Drive and Control
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• v.12 no.4
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• pp.54-59
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• 2015

Due to the tendency to use high speed pneumatic cylinders to improve productivity, cushioning devices are adopted to decelerate the piston motion of pneumatic cylinders to reduce noise, vibration, and impact. This paper presents a comparison of the cushion characteristics of a high speed pneumatic cylinder with a relief valve type cushioning device. The system parameters selected are the damping coefficient, Coulomb friction, heat transfer coefficient, and cracking pressure of the relief valve in the air cushioning device. The integral of the time multiplied square error (ITSE) is used to quantitative measure the cushioning performance to assess the effect of varying these. The cushioning performance achieved good results when the ITSE is a minimum value. In a comparison of the piston displacement and velocity with the variations in system parameters, the heat transfer coefficients are not as significantly affected as the other. Also, the cracking pressure of the relief valve is mainly affected by the pressure and temperature in the cushion chamber.

• Journal of Drive and Control
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• v.14 no.2
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• pp.45-51
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• 2017

Semi-submersible drilling rigs are offshore plants that perform functions such as ocean exploration for oil and gas acquisition, drilling and production, and storage and unloading of crude oil and gas. Semi-submersible drilling rigs use watertight dampers as emergency buoyancy holders. Since the watertight damper is an emergency shutoff device, it is mainly driven by a pneumatic driving system that can operate without a power supply. The pneumatic driving system has highly non-linear characteristics due to compressibility of air and external disturbance such as static and Coulomb friction. In this paper, a new control algorithm is proposed for a watertight damper driving system based on the sliding mode control with a disturbance observer. To evaluate control performance and robust stability of the designed controller, the control results were compared with the results obtained using the state feedback controller. As a result, it was confirmed that the pneumatic driving system for driving the watertight damper using the sliding mode controller with a disturbance observer can obtain excellent control performance against the parameter changes and the disturbance input.

• Geomechanics and Engineering
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• v.10 no.3
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• pp.257-267
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• 2016

Charts are used extensively in slope practical application to meet the need of quick assessment of rock slope design. However, Charts for estimating the shear strength of the rock mass of a slope are considerably limited. In this paper, based on the Hoek-Brown (HB) criterion which is widely used in rock slope engineering, we present charts which can be used to estimate the Mohr-Coulomb (MC) parameters angle of friction ${\phi}$ and cohesion c for given slopes. In order to present the proposed charts, we firstly present the derivation of the theoretical relationships between the MC parameters and ${\sigma}_{ci}/({\gamma}H)$ which is termed the strength ratio (SR). It is found that the values of $c/{\sigma}_{ci}$ and ${\phi}$ of a slope depend only on the magnitude of SR, regardless of the magnitude of the individual parameters ${\sigma}_{ci}$(uniaxial compressive strength), ${\gamma}$(unit weight) and H (slope height). Based on the relationships between the MC parameters and SR, charts are plotted to show the relations between the MC parameters and HB parameters. Using the proposed charts can make a rapid estimation of shear strength of rock masses directly from the HB parameters, slope geometry and rock mass properties for a given slope.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.12
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• pp.2353-2363
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• 1994

This paper is concerned with the design of a robust digital controller using reduced-order observer on a robotic manipulator under the disturbance. In most cases of robotic manipulator since all state vectors are not measurable, the unmeasurable state vectors must be estimated or reconstructed. Other problems are caused by the nonlinear element like as nondifferentiable Coulomb friction, disturbance due to the gravitational pull, and the torsional spring effect of a link between the drive motor and the manipulator arm. The controller is based on feeding back the observable variables and the estimated state variables which are generated by the observer, and augmenting the system by additional discrete integrators. The feedback gain parameters are obtained by first applying the optimal control theory and then readjusting the feedback parameters to eliminate the limit cycle by using describing Function for nonlinear hybrid system.

• Computational Structural Engineering
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• v.10 no.2
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• pp.161-169
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• 1997

It is known that tire plays an important role to the dynamic performances of a vehicle such as noise, vibration, ride and handling. Therefore, force and moment measurements have been a part of the traditional tire engineering process. In this paper, a computational analysis technique has been explored. A FE model is made to simulate inflation, vertical load due to the vehicle weight, and the slow rolling of a radial tire. A rigid surface with Coulomb friction is included in the model to simulate the slow rolling contact. The tire slip during the in-plane motion of the rigid surface is calculated. Results are presented for both lateral and vertical loads, as well as straight ahead free rolling. The calculated and measured tire slips are in good correlation. A Study on slow Rolling Tire for perdiction of tire Forces and Moments.

• Proceedings of the Korean Geotechical Society Conference
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• 2002.03a
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• pp.321-328
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• 2002

Various geosynthetics used as liners or the Protection layers are installed in the solid waste landfill. The interface shear strength between geosynthetics installed at the slope of the landfill is a very important variable for the safe design of bottom and cover systems in the solid waste landfill. The interface shear strengths between (1) Geomembrane(GM)/Geotexile(GT) and (2) Geomembrane(GM)/Geosynthetic Clay Liner(GCL) were estimated by a large direct shear test in this study and were evaluated by the Mohr-Coulomb failure criterion. Especially, this research is focused on the effect of water which exists between geosynthetics because interfaces become easily wet or hydrated by rain, leachate and groundwater beneath liners. The strength reduction at large displacement and the effects of the magnitude of normal stresses and GCL hydration methods also investigated. The test results showed that the interface shear strength and shear behavior varied depending upon the magnitude of normal stresses, water at the interface, and hydration methods. Summary of secant friction angles, which could be used as reference values at a site where similar geosynthetics are installed, together with normal stress and hydration condition are presented.

• Geomechanics and Engineering
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• v.30 no.3
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• pp.293-312
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• 2022

Cantilever sheet pile walls having section thinner than masonry walls are generally adopted to retain moderate height of excavation. In practice, a surcharge in the form of strip load of finite width is generally present on the backfill. So, in the present study, influence of strip load on cantilever sheet pile walls is analyzed by varying the width of the strip load and distance from the cantilever sheet pile walls using finite difference based computer program in cohesionless soil modelled as Mohr-Coulomb model. The results of bending moment, earth pressure, deflection and settlement are presented in non-dimensional terms. A parametric study has been conducted for different friction angle of soil, embedded depth of sheet pile walls, different magnitudes and width of the strip load acting on the ground surface and at a depth below ground level. The result of present study is also validated with the available literature. From the results presented in this study, it can be inferred that optimum behavior of cantilever sheet pile walls is observed for strip load having width 2 m to 3 m on the ground surface. Further as the depth of strip load below the ground surface increases below the ground level to 0.75 times excavation height, the bending moment, settlement, net earth pressure and deflection decreases and then remains constant.