• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.921-927
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• 1996

The purpose of this study is to compute the stress intensity factors of various conditions in the cracked p! ate. The stress intensity factor of pin-loaded cracked plate is investigated using the finite element method. This paper is divided into the two parts. The first part is the contact analysis, and the second is to compute the stress intensity factors. In the contact analysis, the iterative method is used, and convergence of this method is presented. In the computation of the stress intensity factors of plate, the length of crack, clearance, and angle are considered

• 로봇학회논문지
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• 제8권2호
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• Journal of Welding and Joining
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• 제16권2호
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• pp.100-110
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• 1998

In this paper, the laser weldability of thin gage steels for automobile application is discussed. Welding was carried out with a high power carbon dioxide laser system, and the laser energy was concentrated through a plano-convex lens. Test results showed that the joint gap in the butt welding proved to be one of the critical conditions for an acceptable weld. In the case where the ratio of the gap clearance to the material thickness was slightly bigger than optimal value, the weld strength was reduced showing weld metal fracture. It was possible to obtained a weld penetration ratio of 0.91 when the vertical offset ratio was controlled to be 0.4 or smaller. Results also demonstrated that the weld strength of the lap joint was influenced by travel speed. At the travel speeds lower than 37 mm/s, the weld strength indicated higher value than that of class A recommendation strength of a resistance spot weld based on the KS code. It was clear that the complicated effect of specimen alignment should be considered so as to make a sound weld with high integrity when the laser process was applied to the long weld line.

• International Journal of Korean Welding Society
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• 제2권2호
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• pp.51-56
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• 2002

The weld seam tracking system for arc welding process uses various kinds of sensors such as arc sensor, vision sensor, laser displacement sensor and so on. Among the variety of sensors available, electro-magnetic sensor is one of the most useful methods especially in sheet metal butt-joint arc welding, primarily because it is hardly affected by the intense arc light and fume generated during the welding process, and also by the surface condition of weldments. In this study, a dual-electromagnetic sensor, which utilizes the induced current variation in the sensing coil due to the eddy current variation of the metal near the sensor, was developed for arc welding of sheet metal I-butt joints. The dual-electromagnetic sensor thus detects the offset displacement of weld line from the center of sensor head even though there's no clearance in the joint. A set of design variables of the sensor was determined far the maximum sensing capability through the repeated experiments. Seam tracking is performed by correcting the position of sensor to the amount of offset displacement every sampling period. From the experimental results, the developed sensor showed the excellent capability of weld seam detection when the sensor to workpiece distance is near less than 5 ㎜, and it was revealed that the system has excellent seam tracking ability for the I-butt joint of sheet metal.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.193-195
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• 2006

In this study, we developed an active controlled ankle-foot orthosis(AAFO) which can control the dorsiflexion/plantarflexion of the ankle joint during gait to prevent foot drop and toe drag for paralysis patients. To prevent dropping foot after heel strike, ankle joint was actively controlled to minimize forefoot collision with the ground. It was also controlled to provide toe clearance and to help push-off during late stance. The 3D gait analysis was performed on two healthy subjects equipped with the developed AAFO to compare with the normal gait and the conventional AFO gait. In the developed AAFO gait, differently from the conventional AFO gait, significant push-off was observed during pre-swing and the maximum flexion moment during pre-swing phase was similar to that of normal gait. A remarkable dorsiflexion also occurred during initial swing. These results indicated that the developed AAFO could have certain clinical benefits to prevent foot drop for paralysis patients, compared to conventional AFOs.

• Journal of Welding and Joining
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• 제22권6호
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• pp.30-35
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• 2004

Laser welding is obviously an attractive method to join small, thin parts such as small stainless steel tubes, but it is very sensitive to the joint clearance and tolerance, and this makes laser welding difficult to obtain consistent welding qualities over time. Recently, Plasma Augmented Laser Welding(PALW) is being developed to solve these problems. In this study, plasma arc welding(PAW) was introduced to join conventional V-grooved butt joint of thin stainless steel strips using single laser heat source in manufacturing small stainless steel tubes. The effect of the welding speed enhancement is investigated by the experiments. Effects of welding directions, distance between the heat sources and intensity of arc heat source on the optimal welding speed was investigated. Through this research, it was confirmed that PALW process has higher welding speed and robustness than laser welding process.

• 한국정밀공학회지
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• 제12권12호
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• pp.109-119
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• 1995

A driveline incorporating universal joints when driving through an angle can excite various components in a vehicle with second order excitation of torsional and bending vibrations, being transmitted either audibly(noise), or physically(vibration). For a certain range of vehicle dpeed noises can be radiated from the cab wall, in which resonances occur by the excitations transmitted from the driveline as a vibration source. In this paper, the excitation mechanism of cab noises is studied especially for the vehicle speed range of 65 .approx. 75 km/h through the simulation for torsional vibrations of the driveline and for bending vibrations of the cab of an 11 Ton grade Cargo Truck, and verified additionally by vibration and noise measurements. As a result, it is found that the uncomfortable noises in the cab are caused mainly by the abrupt increase of the joint angle of driveline near the axle differential resulted from the excessive clearance alignment of the leaf spring gate.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2021년도 봄 학술논문 발표대회
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• pp.12-13
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• 2021

Methods for the manufacture, erection, and assembly of heavy frame modules were proposed. Interferences among precast members were prevented by using bolted metal plates for dry precast beam-to-column joints during assembly with a clearance for tolerance implementing grouted concrete filler plates instead of metal filler plates. Clearances for tolerances were provided to avoid conflictions among components during erection phases. These gaps were, then, grouted by high-strength mortar. The constructability of new connections of a beam-to-column joint using bolted metal plates for precast structures was examined using a full-scale assembly test in which practical observations indicated that members could be aligned and placed accurately in both horizontal and vertical directions, leading to a fast and convenient assembling. Bolt holes of the endplate were properly aligned using couplers with 30 mm fastened length embedded in the columns. The assembly test demonstrated the erection safety and structural stability of the proposed joints that were without filler plates when they were subjected to heavy loads at the time of their erection. The facile and rapid assembly of precast beam-to-column connections with a 30 mm tolerance was observed. The proposed assembly method is rapid, sustainable, and resilient, replacing the conventional methods of concrete frame construction, offering a connection that can be used in constructing infrastructure, such as buildings and pipe-rack frames.

• Journal of Welding and Joining
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• 제18권4호
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• pp.70-75
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• 2000

The weld seam tracking system for arc welding process uses various kinds of sensors such as arc sensor, vision sensor, laser displacement and so on. Among the variety of sensors available, electro-magnetic sensor is one of the most useful methods especially in sheet metal butt-joint arc welding, primarily because it is hardly affected by the intense arc light and fume generated during the welding process, and also by the surface condition of weldments. In this study, a dual-electromagnetic sensor, which utilizes the induced current variation in the sensing coil due to the eddy current variation of the metal near the sensor, was developed for arc welding of sheet metal butt-joints. The dual-electromagnetic sensor thus detects the offset displacement of weld line from the center of sensor head even though there's no clearance in the joint. A set of design variables of the sensor were determined for the maximum sensing capability through the repeated experiments. Seam tracking is performed by correcting the position of sensor to the amount of offset displacement every sampling period. From the experimental results, the developed sensor showed the excellent capability of weld seam detection when the sensor to workpiece distance is near less than 5 mm, and it was revealed that the system has excellent seam tracking ability for the butt-joint of sheet metal.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2009년도 춘계학술대회 논문집
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• pp.401-404
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• 2009

The purpose of this study is investigating the joint characteristics of advanced high strength steel DP780 and Al5052 alloy sheet in the clinching process. It is difficult to join the advanced high strength steel with light-weight materials like aluminum alloy, because of low formability of DP780. The defects of clinching joint such as necking of the upper sheet, cracks of the lower sheet and no interlocking were occurred by different ductility between advanced high strength steel and aluminum alloy. The clinching conditions should be optimized to interlock without any defects. In this study, the effect of process parameters of clinching process on joinability of advanced high strength steel with Al5052 alloy was investigated by using FE-analysis. From the result of FE-analysis, the clearance between clinching punch and die, die depth and the shape of die cavity mainly affected the joinability of advanced high strength steel with Al5052 alloy.