• 제어로봇시스템학회논문지
• /
• 제6권12호
• /
• pp.1086-1092
• /
• 2000

To realize a visual servo control of slender manipulators, two problems to be solved are analysed. The stability problem on so-called noncolocation control and the infinite order problem of the real Jacobian matrix caused by the elastic deformation are discussed. By considering the dynamic relations between rigid and elastic modes, a Jacobian operator is derived and the physical meaning is also explained. Then, for practical control, a simple control scheme using an approximate Jacobian is proposed and its stable conditions are proven by means of the $L_$2$ stability theory. The scheme is structurally similar to the conventional PD control laws, but external sensors(e. g. visual sensor) are used for positioning and internal sensors for damping. A good performance is obtained via control experiments of a slender two link manipulator.

• Steel and Composite Structures
• /
• 제25권5호
• /
• pp.545-556
• /
• 2017

The tubed steel reinforced concrete (SRC) column is a composite column in which the outer steel tube is mainly used to provide confinement on the core concrete. This paper presents experimental and analytical studies on the behavior of circular tubed SRC (TSRC) columns subjected to axial compression. Eight circular TSRC columns were tested to investigate the effects of length-to-diameter ratio (L/D) of the specimens, diameter-to-thickness ratio (D/t) of the steel tubes, and use of stud shear connectors on the steel sections. Elastic-plastic analysis on the steel tubes was used to investigate the mechanism of confinement on the core concrete. The test results indicated that the tube confinement increased the strength and deformation capacity for both short and slender columns, and the effects on strength were more pronounced for short columns. A nonlinear finite element (FE) model was developed using ABAQUS, in which the nonlinear material behavior and initial geometric imperfection were included. Good agreement was achieved between the predicted results using the FE model and the test results. The test and FE results were compared with the predicted strengths calculated by Eurocode 4 and the AISC Standard. Based on the analytical results, a new design method for this composite column was proposed.

• 한국지반신소재학회논문집
• /
• 제7권3호
• /
• pp.31-40
• /
• 2008

탄소성구성방정식을 적용한 유한요소법을 이용하여 흙막이벽의 변형형상에 따른 배면지반의 변형거동을 예측하였다. 굴착배면 지반의 변형형상은 흙막이벽 부근에서는 흙막이벽 변형형상과 유사하게 나타나지만 흙막이벽으로부터 멀어질수록 켄틸레버 형상으로 변한다. 그리고 흙막이벽의 상부변형을 억제시키면 배면지반의 변형(침하량, 측방이동량)을 감소시킬 수 있다. 또한, 굴착에 따른 흙막이벽의 변형형상은 굴착배면지반의 소성파괴영역 및 안전율 저하영역에 영향을 미치는 것으로 나타났다.

• 한국소성가공학회:학술대회논문집
• /
• 한국소성가공학회 2001년도 추계학술대회 논문집
• /
• pp.272-276
• /
• 2001

Multicomponent $Zr_{41.2}Ti_{13.8}Cu_{12.5}Ni_{10}Be_{22.5}$ bulk matallic glass alloy shows good bulk glass forming ability due to its high resistance to crystallization in the undercooled liquid state.1) In this study, DSC and X-ray diffractometry have been performed to confirm the amorphous structure of the master $Zr_{41.2}Ti_{13.8}Cu_{12.5}Ni_{10}Be_{22.5}$ alloy. To investigate the mechanical properties and deformation behaviors of the bulk metallic $Zr_{41.2}Ti_{13.8}Cu_{12.5}Ni_{10}Be_{22.5}$ alloy, a series of compression tests has been carried out at the temperatures ranging from $351^{\circ}C$ to $461^{\circ}C$ and at the various initial strain rates from $2{\times}10^{-4}s^{-1}\;to\;2{\times}10^{-2}s^{-1}$. There are two types of nominal stress-strain curves. The one shows linear stress-strain relationship meaning fracture at maximum stress, the other shows plastic deformation including steady-state flow. Also DSC analysis for the compressed specimens has been performed to investigate the change of thermal stability and crystallization behavior for the various test conditions.

• 터널과지하공간
• /
• 제14권5호
• /
• pp.381-390
• /
• 2004

본 연구에서는 터널간 이격거리, 지반종류, 하중조건 등이 서로 다른 11가지 쌍굴터널 모형에 대한 축소모형실험을 통하여 터널 주변지반의 변형거동을 조사하였다. 이를 위해 모래, 석고, 물의 중량비를 달리한 모형재료에 대한 물성 실험을 통해 모형재료의 특성을 연구하였다. 쌍굴터널 사이의 이격거리가 좁은 모형일수록 낮은 압력 수준에서 균열이 개시되었고 필러의 spatting현상도 잘 발달하였으며 터널의 내공변형량도 증가하였다. 경암모형은 연암 모형에 비해 평균 50% 이상 큰 하중에서 균열이 개시되었고 동일 하중하에서 내공변형량도 2배정도 작게 나타났다. 모형터널의 파괴 및 변형양상은 측압 하중조건에 따라 매우 상이하게 나타났으며, FLAC을 사용한 수치해석 결과는 모형실험의 결과와 정성적으로 부합하였다.

• 한국해양공학회지
• /
• 제9권1호
• /
• pp.101-110
• /
• 1995

In SMA(Shape Memory Alloy), the degradation by fatigue is one of the most important problems to be overcome, when SMA is used for robot-actuator materials. The actuator is operated repetitively for long time and its repeating operation develops the fatigue degradation of SMA. The fatigue degradation changes the transformation temperature and deformation behavior and results in inaccurate operation and deformation which results form repeating operation is to be investigated in advance and the scheme to resolve those problems have to be made for the design of actuator. In this paper, for the improvement of the fatigue degradation by repetive movement and better control of the correct movement by the stability of martensite transformation in the development of Robots actuator, Pre-strain(0, 1.5, 5, 8%) are loaded in the specimens and fatigue testing were carried out by the method of heating and cooling in direct condition. From the results of these experiments, the effect on pre-strain which affect the transformation characteristic and fatigue degradation phenomena were correctly investigated.

• Structural Engineering and Mechanics
• /
• 제70권3호
• /
• pp.325-337
• /
• 2019

In the present article, cross ply laminated composite plates are considered and a simple sinusoidal shear deformation model is tested for analyzing their flexural, stability and dynamic behaviors. The model contains only four unknown variables that are five in the first order shear deformation theory (FSDT) or other higher order models. The in-plane kinematic utilizes undetermined integral terms to quantitatively express the shear deformation influence. In the proposed theory, the conditions of zero shear stress are respected at bottom and top faces of plates without considering the shear correction coefficient. Equations of motion according to the proposed formulation are deduced by employing the virtual work principle in its dynamic version. The analytical solution is determined via double trigonometric series proposed by Navier. The stresses, displacements, natural frequencies and critical buckling forces computed using present method are compared with other published data where a good agreement between results is demonstrated.

• 오토저널
• /
• 제9권4호
• /
• pp.61-68
• /
• 1987

The Bellows Joint which was used as a absorber or safety equipment to prevent the deformation or fracture of a structure, have been analyzed by the F.E.M using axi-symmetric conical frustum element. Using the F.E.M the general behavior of Bellows Joint corrugation can be investigated easily, and the stability of the analysis be guaranteed. In annular type corrugation, the F.E.M results were agreed with those of other theoretical analyses, but in the U type corrugation, the F.E.M results were more acceptable than those of others.

• 터널과지하공간
• /
• 제5권1호
• /
• pp.1-10
• /
• 1995

The behavior of a jointed rock mass depends mainly on the geometrical and mechanical properties of joints. The failure mode of a rock mass and kinematics of rock blocks are governed by the orientation, spacing, and persistence of joints. The mechanical properties such as dilation angle, shear strength, maximum closure, strength of asperities and friction coeffiient play important roles on the stability and deformation of the rock mass. The normal and shear behaviour of a joint are coupled due to dilation, and the joint deformation depends also on the boundary conditions such as stiffness conditons. In this paper, the joint constitutive law including the dilatant behaviour of a joint is numerically modelled using the edge-to-edge contact logic in distinct element method. Also, presented is the method to quantify the input parameters used in the joint law. The results from uniaxial compression and direct shear tests using the numeical model of the single joint were compared to the analytic results from them. The boundary effect on the behaviour of a joint is verified by comparing the results of direct shear test under constant stress boundary condition with those under constant stiffness boundary condition. The numerical model developed is applied to a complex jointed rock mass to examine its performance and to evaluate the effect of joint dilation on tunnel stability.

• 한국지반환경공학회 논문집
• /
• 제8권6호
• /
• pp.77-83
• /
• 2007

본 논문에서는 이미 사용 중인 콘크리트표면차수벽형석괴댐(이하 CFRD)에 대하여 저수용량 확대 또는 수리 수문학적 안정성을 증대할 목적 등으로 하류측에 추가 축조하여 댐의 높이를 높이는 경우에 대하여 추가 축조과정에 기존 댐체 및 추가 축조 부분의 변형거동을 유한요소해석법으로 검토하였다. 해석결과 기존 댐체의 하류측에 덧붙여 추가 축조할 경우 기존 댐체 전반에 걸쳐 추가 변형이 발생하는 것으로 나타났다. 특히, 상류사면은 침하(댐마루측)와 융기(댐체 하부측)가 동시에 발생하며, 이 경우CFRD의 특성상 상류사면에 시공되어 있는 콘크리트 차수벽에는 휨모멘트에 의한 인장균열이 발생할 수 있는 것으로 나타났다. 따라서 기존 CFRD에 증고를 하는 경우에는 시공전에 반드시 기존 차수벽의 변형량과 휨모멘트 발생량 등을 검토하고 경우에 따라서는 적절한 보완대책의 수립이 필요한 것으로 나타났다.