• 대한기계학회논문집A
• /
• 제24권4호
• /
• pp.1007-1015
• /
• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• 한국염색가공학회지
• /
• 제29권4호
• /
• pp.239-246
• /
• 2017

Recently fiber-reinforced thermoplastic composites have attracted great interest from industry and study because they offer unique properties such as high strength, modulus, impact resistance, corrosion resistance, and damping reduction which are difficult to obtain in single-component materials. The demand for plastics is steadily increasing not only in household goods, packaging materials, but also in high-performance engineering plastic and recycling. As a result, the technology of recycling plastic is also attracting attention. In particular, many paper have studied recycling systems based on recycled thermoplastics. In this paper, properties of Glass Fiber Reinforced Thermoplastic(GFRTP) materials were evaluated using recycled PET for injection molding bicycle frame. The effect on thermal and mechanical properties of recycled PET reinforced glass chop fiber according to fiber cross section and fiber content ratio were studied. And it was compared void volume and torque energy by glass fiber cross section, which is round section and flat section. Mechanical characteristics of resulting in GF/rPET has been increased by increasing fiber contents, than above a certain level did not longer increased. And mechanical properties of flat glass fiber reinforced rPET with low void volume were most excellent.

• 한국강구조학회 논문집
• /
• 제24권1호
• /
• pp.91-99
• /
• 2012

최근 인접 건축물의 진동제어와 관련된 연구가 몇몇 연구자에 의하여 수행되고 있으며 그리고 구조물의 지진동 제어를 위하여 준능동 감쇠기의 일종인 MR 감쇠기가 적용되고 있다. 본 논문에서는 MR 감쇠기의 위치에 따른 인접 건축물의 지진동 제어성능을 분석하여 MR 감쇠기의 설치에 대한 최적의 위치를 선정하고자 한다. 본 연구를 위하여 인접한 20층과 15층 건축물을 예제 구조물로 사용하였으며 이 예제 구조물은 서로 다른 고유진동수를 갖게 하였으며 예제 구조물의 지진동 제어를 위하여 Groundhook 제어기법을 적용하였다. 예제 구조물의 수치해석에 의한 지진응답 분석결과, 변위응답 제어를 위하여 인접 건축물의 최상층에 MR 감쇠기를 설치하는 것이 제어성능에 있어서 우수하며 가속도응답을 제어하기 위해서는 인접 건축물의 중간층에 MR 감쇠기를 설치하는 것이 우수한 제어성능을 보이고 있다. MR 감쇠기를 중간층에 설치할 경우에, 변위응답과 가속도응답을 동시에 제어가 가능하다. 따라서 건축물의 제어 목표에 따라서 MR 감쇠기 설치위치를 적절하게 선정해야 할 것이다.

• 대한기계학회논문집A
• /
• 제20권2호
• /
• pp.408-413
• /
• 1996

A self-diagnostic, air-damped, piezoresitive, cantilever-beam microaccelerometer has been designed, fabricated and tested for applications to automotive electronic airbag systems. A skew-symmetric proof-mass has been designed for self-diagnostic capability and zero transverse sensitivity. Two kinds of multi-step anisotropic etching processes are developed for beam thickness control and fillet-rounding formation, UV-curing paste has been used for sillicon-to-glass bounding. The resonant frequency of 2.07kHz has been measured from the fabricated devices. The sensitivity of 195 $\mu{V}$/g is obtained with a nonlinearity of 4% over $\pm$50g ranges. Flat amplitude response and frequency-proportional phase response have been obserbed, It is shown that the design and fabricaiton methods developed in the present study yield a simple, practical and effective mean for improving the performance, reliability as well as the reproducibility of the accelerometers.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2002년도 추계학술대회논문집
• /
• pp.381-387
• /
• 2002

In this work, the dynamic characteristics of an oil-lubricated, short SFD with a central feeding groove are derived based on a theoretical analysis considering the effect of a groove. The validity of the analysis is investigated experimentally using an Active Magnetic Bearing (AMB) system as an exciter. For the theoretical solution, the fluid film forces of a grooved SFD are analytically derived so that the dynamic coefficients of a SFD are expressed in terms of its design parameters. For the experimental validation of the analysis, a test rig using AMB as an exciter is proposed to identify the dynamic characteristics of a short SFD with a central groove. As an exciter, the AMB represents a mechatronic device to levitate and position the test journal without any mechanical contact, to generate relative motions of the journal inside the tested SFD and to measure the generated displacements during experiments with fairly high accuracy. Using this test rig, experiments are extensively conducted with different clearance, which is one of the most important design parameters, in order to investigate its effect on the dynamic characteristics and the performance of SFDs. Damping and inertia coefficients of the SFD that are experimentally identified are compared with the analytical results to demonstrate the effectiveness of the analysis. It is also shown that AMB is an ideal device for tests of SFDs.

• 한국항공우주학회지
• /
• 제36권4호
• /
• pp.346-351
• /
• 2008

본 논문에서는 MR 댐퍼를 헬기 착륙장치 완충기에 적용하여 반능동형 헬기 착륙장치 시스템을 설계하고, 헬기 착륙장치의 반능동제어를 수행하였다. MR 유체는 자기장 내에서는 유체의 물성치가 바뀌게 되는 빙햄거동을 시뮬레이션 하여 MR 댐퍼의 성능을 평가하였다. MR 댐퍼 내에서 자기장을 설계하고, 자기장의 변화에 대해 내부감쇠력의 변화를 고찰하고 자기장에 따른 착륙장치의 거동을 평가하였다. 또한 반능동형 헬기 착륙장치에 제어 알고리즘을 적용하여 착륙특성 성능을 해석하였고, 수동계의 착륙특성과 반능동형의 착륙특성을 비교하였다.

• Steel and Composite Structures
• /
• 제36권2호
• /
• pp.163-177
• /
• 2020

Concentrically Braced Frames (CBFs) are commonly used in the construction of steel structures because of their ease of implementation, rigidity, low lateral displacement, and cost-effectiveness. However, the principal disadvantage of this kind of braced frame is the inability to provide deformation capacity (ductility) and buckling of bracing elements before yielding. This paper aims to present a novel Composite Buckling Restrained Fuse (CBRF) to be utilized as a bracing segment in concentrically braced frames that allows higher ductility and removes premature buckling. The proposed CBRF with relatively small dimensions is an enhancement on the Reduced Length Buckling Restrained Braces (RL-BRBs), consists of steel core and additional tensile elements embedded in a concrete encasement. Employing tensile elements in this composite fuse with a new configuration enhances the energy dissipation efficiency and removes the tensile strength limitations that exist in bracing elements that contain RL-BRBs. Here, the optimal length of the CBRF is computed by considering the anticipated strain demand and the low-cyclic fatigue life of the core under standard loading protocol. An experimental program is conducted to explore the seismic behavior of the suggested CBRF compare with an RL-BRB specimen under gradually increased cyclic loading. Moreover, Hysteretic responses of the specimens are evaluated to calculate the design parameters such as energy dissipation potential, strength adjustment factors, and equivalent viscous damping. The findings show that the suggested fuse possess a ductile behavior with high energy absorption and sufficient resistance and a reasonably stable hysteresis response under compression and tension.

• Earthquakes and Structures
• /
• 제15권3호
• /
• pp.227-241
• /
• 2018

The present paper deals with the optimum performance of the passive hybrid control system for the benchmark highway bridge under the six earthquakes ground motion. The investigation is carried out on a simplified finite element model of the 91/5 highway overcrossing located in Southern California. A viscous fluid damper (known as VFD) or non-linear fluid viscous spring damper has been used as a passive supplement device associated with polynomial friction pendulum isolator (known as PFPI) to form a passive hybrid control system. A parametric study is considered to find out the optimum parameters of the PFPI system for the optimal response of the bridge. The effect of the velocity exponent of the VFD and non-linear FV spring damper on the response of the bridge is carried out by considering different values of velocity exponent. Further, the influences of damping coefficient and vibration period of the dampers are also examined on the response of the bridge. To study the effectiveness of the passive hybrid system on the response of the isolated bridge, it is compared with the corresponding PFPI isolated bridges. The investigation showed that passive supplement damper such as VFD or non-linear FV spring damper associated with PFPI system is significantly reducing the seismic response of the benchmark highway bridge. Further, it is also observed that non-linear FV spring damper hybrid system is a more promising strategy in reducing the response of the bridge compared to the VFD associated hybrid system.

• 한국음향학회지
• /
• 제34권3호
• /
• pp.210-218
• /
• 2015

초음파 영상 품질의 향상을 위해 트랜스듀서의 구동전압을 높이게 되면 트랜스듀서에서 열이 발생하여 환자의 피부 화상 및 트랜스듀서의 성능 저하를 초래할 수 있다. 따라서, 이렇게 온도가 상승하지 않도록 트랜스듀서 내의 열을 효율적으로 분산할 수 있는 방안에 대해 연구하였다. 이때 열 분산 해석 대상으로 중심주파수가 3 MHz이고 32채널을 가진 위상배열 트랜스듀서를 선정하였다. 먼저 트랜스듀서의 동작에 따른 발열 구조를 이론적으로 분석하였고, 그 결과로서 재료의 감쇠와 음압의 크기가 발열에 영향을 미치는 것을 확인하였다. 나아가 유한요소 해석을 통해 트랜스듀서 구성소자의 물성이 열 분산에 미치는 영향을 분석하였다. 분석된 결과를 바탕으로 트랜스듀서 내 열이 잘 분산되기 위한 구성소자의 열물성을 정하였다. 도출된 열 물성을 유한요소 해석 모델에 적용한 결과 환자와 접촉되는 부분인 음향렌즈의 최고온도가 원래 값의 51 %로 저하되었다.

• 한국산학기술학회논문지
• /
• 제15권6호
• /
• pp.3416-3422
• /
• 2014

쇼크 업쇼바의 로드는 피스톤부 중심에 위치하여 왕복운동을 담당하는 부분으로 표면의 불량(찍힘)이 있을 경우 감쇠력에 대한 차이로 제품 성능을 제대로 발휘하는데 문제 발생의 요인이 되고 있다. 로드표면은 열처리 상태로 표면 광택으로 인하여 쉽게 불량이 표시되지 않으며, 작업자가 육안으로 로드의 이물질 및 찍힘, 기포 검사를 진행함으로써 눈의 피로도가 높아지고, 작업자 육안에 의존하기 때문에 제품의 검사 품질이 일정하지 않다. 본 연구에서는 제품의 원통 형상을 고려하여 라인스캔카메라를 이용한 머신비전 영상처리 기법으로 0.3mm이상의 표면의 불량을 검출하고, 검사단계에서 발생할 수 있는 표면 불량을 최소화하기 위한 전 공정 자동이송 및 양불 제품의 혼입을 방지하는 자동검사 시스템 개발에 대한 연구를 수행하였다. 표면검사 시스템 개발로 작업자의 육안 검사에 의존하고 있던 쇼크업쇼버 로드의 표면에 대한 정밀 검사시스템 구축으로 품질검사 기준을 확보하고 표준화된 검사로 신뢰도가 향상되었다.