• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.2
• /
• pp.190-196
• /
• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• Journal of Welding and Joining
• /
• v.34 no.4
• /
• pp.48-54
• /
• 2016

The use of Zn coated steel has increased in the automotive industry due to its excellent corrosion resistance. Conventionally the BIW(body-in-white) structure and the hang-on parts have been made of Zn coated steel and more recently Zn coated steel began to be applied in the chassis parts. During gas metal arc (GMA) welding of the chassis part, lap fillet joint used to be adopted but spatter generation and porosities are most important concerns. In the industrial applications, an intentional joint gap was made to avoid the weld defects but it is not easy to control the size of joint gap. In this research, gas tungsten arc (GTA) is combined with GMA welding where GTA precedes GMA. As pulsed arc was adopted as GMA, GTA was oscillated along the longitudinal direction by pulsing GMA, but the arc oscillation did not disturb the molten droplet transfer of GMA welding. By increasing the distance between GTA and GMA, the length of weld pool increased and porosity could be reduced. Moreover porosity in the welds was fully removed when the distance between two arcs was 15 mm.

• Steel and Composite Structures
• /
• v.43 no.1
• /
• pp.19-30
• /
• 2022

The static strength and fatigue crack resistance of the aircraft skin structures depend on the materials used and joint type. Most of the commercial aircraft's skin panel structures are made from aluminium alloy and carbon fibre reinforced epoxy. In this study, the fatigue resistance of four joint configurations (metal/metal, metal/composite, composite/composite and composite/metal) with riveted, adhesive bonded, and hybrid joining techniques are investigated with experiments and finite element analysis. The fatigue tests were tension-tension because of the typical nature of the loads on aircraft skin panels susceptible of experimenting fatigue. Experiment results suggest that the fatigue life of hybrid joints is superior to adhesive bonded joints, and these in turn much better than conventional riveted joints. Thanks to the fact that, for hybrid joints, the adhesive bond provides better load distribution and ensures load-carrying capacity in the event of premature adhesive failure while rivets induce compressive residual stresses in the joint. Results from FE tool ABAQUS analysis for adhesive bonded and hybrid joints agrees with the experiments. From the analysis, the energy release rate for adhesive bonded joints is higher than that of hybrid joints in both opening (mode I) and shear direction (mode II). Most joints show higher energy release rate in mode II. This indicates that the joints experience fatigue crack in the shear direction, which is responsible for crack opening.

• The Journal of the Acoustical Society of Korea
• /
• v.21 no.4E
• /
• pp.164-169
• /
• 2002

This paper proposes a hybrid method for vibration analysis in the medium to high frequency ranges using Power Flow Analysis (PFA) algorithm and Statistical Energy Analysis (SEA) coupling concepts. The main part of the developed method is the application of coupling loss factor (CLF) suggested in SEA to the power transmission, reflection coefficients in PI' A boundary conditions. The developed hybrid method shows very promising results with regard to the applications for the various damping loss factors in wide frequency ranges. And also this paper presents the applied results of Power Flow Finite Element Method (PFFEM) by forming the new joint element matrix with CLF to analyze the various plate structures in shape. The analytical results of automobile, complex plate structures show good agreement with those of PFFEM using the PFA coefficients.

• Proceedings of the KWS Conference
• /
• 2002.10a
• /
• pp.169-175
• /
• 2002

World demand for natural gas has generated the need for many new land transmission pipelines to be installed in the next decade or so. Although mechanized gas metal arc welding is well developed, there are opportunities for cost savings by using alternative welding processes. Hybrid Nd:YAG laser - gas metal arc welding enables fibre optic delivery of the laser energy to a robotic welding head to be combined with the addition of extra energy and a consumable to produce good quality, deep penetration welds in a single pass. The present paper describes initial procedure development to optimize the laser and gas metal arc welding parameters for making joints in pipeline steel. Satisfactory joint quality was obtained and it is intended to develop the process to prototype field trials.

• The Journal of the Acoustical Society of Korea
• /
• v.21 no.4
• /
• pp.164-164
• /
• 2002

This paper proposes a hybrid method for vibration analysis in the medium to high frequency ranges using Power Flow Analysis (PFA) algorithm and Statistical Energy Analysis (SEA) coupling concepts. The main part of the developed method is the application of coupling loss factor (CLF) suggested in SEA to the power transmission, reflection coefficients in PI' A boundary conditions. The developed hybrid method shows very promising results with regard to the applications for the various damping loss factors in wide frequency ranges. And also this paper presents the applied results of Power Flow Finite Element Method (PFFEM) by forming the new joint element matrix with CLF to analyze the various plate structures in shape. The analytical results of automobile, complex plate structures show good agreement with those of PFFEM using the PFA coefficients.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.6 no.4
• /
• pp.1041-1062
• /
• 2012

In this paper, we propose a hybrid cooperative scheme to improve the secrecy rate for a cooperative network in presence of multiple relays. Each relay node transmits the mixed signal consisting of weighted source signal and intentional noise. The problem of power allocation, the joint design of beamforming and jamming weights are investigated, and an iterative scheme is proposed. It is demonstrated by the numerical results that the proposed hybrid scheme further improves secrecy rate, as compared to traditional cooperative schemes.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.19 no.2
• /
• pp.160-169
• /
• 2015

In this study, experimental research was carried out to improve the seismic performance of reinforced concrete exterior beam-column joint regions using replacing recycled coarse aggregate with hybrid fiber (steel fiber+PVA fiber) in existing reinforced concrete building. Therefore it was constructed and tested seven specimens retrofitting the beam-column joint regions using such retrofitting materials. Specimens, designed by retrofitting the beam-column joint regions of reinforced concrete building, were showed the stable failure mode and increase of load-carrying capacity due to the effect of crack control at the times of initial loading and bridge of retrofitting hybrid fiber during testing. Specimens BCJGPSR series, designed by the retrofitting of replacing recycled coarse aggregate with hybrid fiber in reinforecd beam-column joint regions were increased its maximum load carrying capacity by 1.01~1.04 times and its energy dissipation capacity by 1.06~1.29 times in comparison with standard specimen BCJS. Also, specimen $BCJGPSR_1$ were increased its energy dissipation capacity by 1.33~1.65 times in comparison with specimens BCJS, BCJP and BCJGPR series for a displacement ductility of 9.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2009.04a
• /
• pp.174-175
• /
• 2009

• Journal of the Earthquake Engineering Society of Korea
• /
• v.26 no.2
• /
• pp.83-93
• /
• 2022

In this study, to verify the structural performance of the Composite Joint System (CJS) hybrid structural model, a cyclic load test was performed and evaluated and verified through the test. To verify the structural performance of the CJS hybrid structural systems' joint and evaluate the seismic performance, four three-dimensional real-size specimens were developed with three internal beam-column specimens and one external beam-column specimen. The three interior column specimens were classified by different methods of joining the upper column and lower column, and the same bonding method as the primary specimen was used for the exterior column. The structural performances in terms of drift, strength, and energy dissipation capacity were analyzed and compared based on the experimental results. From the displacement-based loading experiment, all specimens showed a lateral drift of 4.0% without any significant strength drop and stable energy dissipation capacity.