• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.1039-1046
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• 2009

In this work, a bilateral control for a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. The measurable variables are the positions and rates of master/slave motors. In the consideration of the flexibility of the tendon and available measurements for control, we proposed an optimal static output feedback control for possible bilateral control architecture. By using modal analysis, the system model is reduced to guarantee the detectability which is a necessity for the static output feedback control design. Based on the reduced model, the control gains are determined to attenuate vibration in the sense of optimality. The feasibility of the proposed control design was verified along with some simulation results.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2005년도 춘계 학술발표회 논문집
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• pp.677-686
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• 2005

The allowable bearing capacity of a pile, the most important factor in stability estimation, is determined by applying safety factor to the ultimate load or yield load. There are several but contradictory methods available in current design codes to estimate the allowable bearing capacity and the safety factor. This paper analyzes load-settlement curves obtained from 19 static load tests measured from 11 sites. At all tests, the load is applied until apparent failure is observed. The validity of the ultimate and yield load estimation method and load caculated from the settlement criterion is investigated through comparison with the measured data. In addition, a new procedure to estimate allowable load and safety factor is proposed. Additional data from field static load tests, such as those incorporated in this study, are needed to more reliably apply the proposed method in design practice.

• 한국안전학회지
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• 제31권1호
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• pp.41-47
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• 2016

The rolling stock is composed of several cars. In order to operate in combination, it is necessary to connect the device, called coupler, between the rolling stocks. When the collision occurs between cars, couplers should be able to absorb the shock. Urban railway has used only rubber absorbers. But recently, the hydraulic buffer has been considered in general railway. In order to know the performance of the buffer it should be conducted to experiments. But whenever this combination change, we should experiments to know a lot of the dynamic behavior of each coupler. These experiments are generally replaced by the simulation, since a lot of time and cost consuming. The quasi-static map of hydraulic buffer obtained by the experiments is required for the simulation. However, the experiments for obtaining such a quasi-static map is costly and time consuming. In this paper, it proposes a method for deriving the quasi-static map of hydraulic buffer from the theoretical model.

• 한국유체기계학회 논문집
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• 제15권6호
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• pp.51-57
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• 2012

Performance evaluation of a compressor is conducted to develop 500W class ultra-micro gas turbine (UMGT) for power generation. The performance evaluation is essential to check the performance of the components of UMGT, a radial turbine, a centrifugal compressor, an angular combustor and a shaft, which have been already designed in previous researches. The purpose of this study is to introduce the development process of the performance testing equipments of the UMGT and to present the results of compressor performance test. For the performance evaluation of the compressor, two test equipments are developed and the initial test equipment uses commercial static air bearings with long shaft. In the improved test equipment, static air bearing is improved to increase rotating speed and compressed nitrogen gas is used for utility gas of the static air bearing to supply compressed air in a stable and steady way. To increase rotating speed to 320,000 rpm, 80% speed of design speed, compressed air is provided to the turbine. The performance map of the compressor with the 50%, 60%, 70%, 80% speed of design point is presented. The results of the performance test of compressor show a good agreement with the results of 3D CFD.

• 한국자동차공학회논문집
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• 제13권1호
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• pp.90-98
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• 2005

HMT is a type of continuously variable transmission which has split power flow path characteristics with gear train and hydro static unit. The benefit of improved fuel economy and high power capacity enables it to be a promising application fur large vehicles. This paper presents the analysis results including velocity, static torque, transmission efficiency and dynamic model of the HMT that is developed for city buses. The speeds or gear shafts, the static clutch torque and split power ratio for each mode are detailed here. From the analysis of HMT transmission efficiency considering the power loss in meshed gear and hydraulic unit, we can conclude that minimization of hydraulic power is necessary for improved fuel economy design. Also, the dynamic simulation result for mode shift characteristics shows that little shift shock is observed because of the synchronized rotation speed in clutch.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권5호
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• pp.257-263
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• 2000

One of the basic assumptions in the static gait design for a walking robot is that the weight of leg should be negligible compared to that of body, so that the total gravity center is not affected by swing of a leg. Based on the ideal assumption of zero leg-weight, conventional static gait has been simply designed for the gravity center of body to be inside the support polygon, consisting of each support leg's tip position. In case that the weight of leg is relatively heavy, however, while the gravity center of body is kept inside the support polygon, the total gravity center of walking robot can be out of the polygon due to weight of a swinging leg, which causes instability in walking. Thus, it is necessary in the static gait design of a real robot a compensation scheme for the fluctuation in the gravity center. In this paper, a body impedance control is proposed to obtain the total gravity center based on foot forces measured from load cells of a real walking robot and to adjust its position to track the pre-designed trajectory of the corresponding ideal robot's body center. Therefore, the walking stability is secured even in case that the weight of leg has serious influence on the total gravity center of robot.

• Journal of Power Electronics
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• 제15권2호
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• pp.378-388
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• 2015

This paper proposes a pulse width modulation (PWM)-based sliding mode controller (SMC) for a full-bridge DC-DC converter that can eliminate static output voltage error. Hysteretic SMC in DC-DC converter does not have a fixed switching frequency, and applying hysteretic SMC to full-bridge converters is difficult. Fixed-frequency SMC, which is also called PWM-based SMC, based on equivalent control overcomes these shortcomings. However, the controller order reduction in equivalent control in PWM-based SMC causes static output voltage error. To resolve this issue, an integral item is added to the PWM-based SMC. Sliding mode coefficients are designed by applying a standard second-order system to the sliding mode surface. The effect of adding an integral item on the controller is analyzed, and an integral coefficient design method is proposed. Experiment results on a three-level full-bridge DC-DC converter verify the control scheme and design method proposed in this paper.

• 대한물리치료과학회지
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• 제30권1호
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• pp.23-30
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• 2023

Background: While agility is a critical factor in the performance of sport in the court field, due to the diversity of agility occurrences, it is generally difficult to develop by strength and conditioning training. Previous study reported the correlation with the static balance and agility. However, the correlation between dynamic balance and agility is insufficient. It is necessary to study how static and dynamic balance affect agility respectively, for agility development. Design: Cross sectional correlational study design Methods: Twenty young women participated in the study. Three tests were used : one leg stance(static balance),Y-balance(dynamic balance), side-step(agility). One leg stance measured time, Y-balance measured distance, and side-step measured number of times. Correlation between balance and agility was used by Pearson Correlation. Results: One leg stance and side steps were shown to be not correlated. The Y balance and the side step showed with a moderate positive correlation. Conclusion: Agility is a decisive factor in fast-moving sports performance, which is generally difficult to improve with muscle strength and conditioning training. Since the correlation between dynamic balance and agility was found in this study, the importance of dynamic balance was found to improve agility to promote coordination.

• 대한기계학회논문집A
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• 제38권6호
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• pp.619-627
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• 2014

본 논문은 등가정하중을 이용하여 제어시스템을 포함한 구조물의 설계를 위한 최적화 방법을 제안한다. 지난 연구는 구조물과 제어시스템 최적설계를 독립적으로 분리하여 수행하였고, 구조물과 제어시스템을 동시에 최적화하여도 제어시스템의 제어변수는 정상상태에서만 최적화하여 성능을 향상시켰다. 하지만 제어변수는 모든 시간영역에서 최적화해야 한다. 즉, 제어시스템의 해석은 과도상태에서 수행해야 한다. 본 연구에서는 새로운 등가정하중을 이용하여 제어변수를 포함하는 제어시스템 구조물의 최적설계를 위한 방법을 제시하였다. 등가정하중은 동적하중이 구조물에 작용할 때 발생하는 임의 시간에서의 변위장과 동일한 변위장을 만들어내는 정하중을 의미한다. 이렇게 계산된 등가정하중을 이용하여 설계영역에서 선형정적응답 최적설계를 진행한다. 몇 가지 예제를 통해 새로운 등가정하중을 적용한 동적응답 최적설계방법의 유용성을 확인하였다.

• 한국공간구조학회논문집
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• 제9권4호
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• pp.49-59
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• 2009

학교체육관과 같은 소규모 공간구조물의 지진응답은 본래 지진동에 대한 동적응답을 시각이력해석에 의해 검증해야 하지만 통상은 정적해석에 의해 평가하고 있다. 본 연구에서는 학교 체육관의 내진성능평가를 가능하게 하는 정적해석의 진행수순을 나타내기로 한다. 지진하중은 2개의 성능 레벨 즉, 일본의 건축기준법에 정의되어 있는 레벨 1과 2에 대응하는 등가인 정적하중으로 근사한다. 또한, 재하 패턴으로서 고유모드형을 사용하는 것에 대한 중요성을 논의하고, 정적해석의 간단한 순서에 의해 최대연직방향가속도를 평가할수 있는 것을 나타낸다. 아울러, 레벨 2의 입력에 의한 정적해석은 동적해석으로 얻어진 응답치를 과소평가하지만, 일본의 중층구조에 사용되는 "극한내력계산법"에 근사한 등가선형차 기법에 의해 레벨 2의 입력에 대한 탄소성응답이 가능하다는 것을 나타내고자 한다.