• Geomechanics and Engineering
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• v.23 no.5
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• pp.419-429
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• 2020

To investigate the effect of spatial variability on hydraulic properties of unsaturated soils, a numerical model is set up which can simulate seepage process in an unsaturated heterogeneous soil. The unsaturated heterogeneous soil is composed of matrix sand embedded with a small proportion of clay for simulating the heterogeneity. Soil-water characteristic curve and unsaturated hydraulic conductivity curve of the unsaturated soil are expressed by Van Genuchten model. Hydraulic parameters of the matrix sand are considered as random fields. Different autocorrelation lengths (ACLs) of hydraulic parameter of the matrix sand and different proportions of clay are assumed to investigate the influence of spatial variability on the equivalent hydraulic properties of the heterogeneous soil. Four model sizes are used in the numerical experiments to investigate the influence of scale effects and to determine the sizes of representative volume element (RVE) in the numerical simulations. Through a number of Monte Carlo simulations of unsaturated seepage analysis, the means and the coefficients of variations (COVs) of the equivalent hydraulic parameters of the heterogeneous soil are calculated. Simulations show that the ACL and model size has little influence on the means of the equivalent hydraulic parameters, but they have a large influence on the COVs of the equivalent hydraulic parameters. The size of an RVE is mainly affected by the ACL and the proportion of heterogeneity. The influence of spatial variability on the hydraulic parameters of the heterogeneous unsaturated soil can be used as a guidance for geotechnical reliability analysis and design related to unsaturated soils.

• Tribology and Lubricants
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• v.2 no.2
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• pp.20-26
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• 1986

The paper presents an analytical investigation of the unbalance vibrations of a pump rotor. The analysis applies to rotor-bearing-seal-impeller systems which consist of rigid disks, distributed parameter rotor elements and discreate bearings, seals, and impellers. The dynamic hydraulic force of bearing, seal and impeller elements are represented by four stiffness coefficients arid four damping coefficients. Numerical results are presented for unbalance response associated with various kinds bearing, and with effects of seal and impeller forces.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1133-1138
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• 1991

A control of nonlinear system is motivated by the fact that all real plants are nonlinear systems and model identification introduces parameter errors. The purpose of this study is to design a Discrete Variable Structure Controller(DVSC) for single-rod hydraulic cylinder system. The model contains uncertain parameters which we known to lie upper and lower bounds. In the design of DVSC, the boundary layer concept was adopted to reduce cattering. The DVSC was evaluated through digital computer simulation and compared with a VSC (analog controller).

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.299-304
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• 1988

This paper describes the application of the variable structure control(VSC) concept for the position control of electro-hydraulic servomtor system. The basic philosopy of VSC is that the structure of the feedback control is altered as the state crosses discontinuity surfaces in the state surface with the result that certain desirable properties are achieved. The switching of the control function yields total(or selective) invariance to system parameter variations and disturbances, and closed loop eigen value placement in time-varing and uncertain systems.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.77-78
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• 2011

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.18 no.2
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• pp.147-153
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• 2006

In this study, the run-up of water waves on slopes of s-berm breakwaters was investigated by performing a series of hydraulic experiments. The run-up height was analyzed in detail by using the effects of wave steepness and surf similarity parameter. In general, the run-up heights were decreased as the height and the width of berm were increased. However, the variation of run-up height was small for change of wave steepness and surf similarity parameter.

• Journal of Environmental Science International
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• v.17 no.7
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• pp.783-793
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• 2008

The purpose of this study is to analyze the sensitivity of the RMA2 model parameters reflecting the flow characteristics of stream junction and thus understand the hydraulic characteristics of the channel confluence flow. This study dealt with the input parameters of the RMA-2 model, a two-dimensional numerical analysis model widely used for researches both at home and abroad. The parameters of the RMA-2 model are roughness coefficient, turbulent diffusion coefficient, Coriolis forces latitude, Density, and mesh size. This study those parameters estimated from actual heavy rainfall, and varied the parameter size by (-)30%${\sim}$+30% to review the characteristics of the flow characteristics of the channel section. Weobserved that when the ratio of the channel width was relatively small, the smaller the approaching angle was, the farther from the junctions became the generating place of the maximum flow velocity, however, when the ratio of the channel width was relatively large, the larger the approaching angle was, the farther the generating place of the maximum flow velocity from the junctions became. In particular, the distance between junctions and the place where the maximum flow velocity generated showed an absolute correlationover 90% of the relative channel width, but an inverse relationwas found when the distance to the place where the flow velocity generated was shortened as relative the channel width between the main channel and tributary increased.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.8
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• pp.886-892
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• 2013

Hydraulic hose assemblies are used as piping components for construction machinery, automobile, aircraft, industrial machinery, machine tools, and machinery for ships. Then the reliability of hose assemblies is important because total hydraulic system, which used to deliver the fluid power ($P^*Q$) needed to flexibility in the piping system, is not operated if the hose assembly failed in the system. The data of the accelerated life test estimated through the shape parameter(${\beta}$) resulting of the Weibull distribution analysis. This study has tried to reduce the test time resulting from varying impulse pressure range and the flexing diameter. Accelerated life test model for the test results was adopted the GLL(generalized log linear) and the accelerated indexes are identified as 6.64 for the pressure and 4.46 for flexing radius. Also, it found that shape parameter is 6.19, scale parameter(${\eta}$) is $1.035{\times}108$, which were adopted the pressure 35 MPa and the flexing diameter R100 mm in the used condition.

• Journal of Mechanical Science and Technology
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• v.17 no.7
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• pp.999-1010
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• 2003

Uninterrupted power supply has become indispensable during the maintenance task of active electric power lines as a result of today's highly information-oriented society and increasing demand of electric utilities. This maintenance task has the risk of electric shock and the danger of falling from high place. Therefore it is necessary to realize an autonomous robot system using electro-hydraulic manipulators because hydraulic manipulators have the advantage of electric insulation and power/mass density. Meanwhile an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this paper, the robust force control of a 6-link electro-hydraulic manipulator system used in the real maintenance task of active electric lines is examined in detail. A nominal model for the system is obtained from experimental frequency responses of the system, and the deviation of the manipulator system from the nominal model is derived by a multiplicative uncertainty. Robust disturbance observers for force control are designed using this information in an H$\_$$\infty$/ framework, and implemented on the two different setups. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved even if the stiffness of environment and the shape of wall change.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.1
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.