• 한국정밀공학회지
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• 제34권2호
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• pp.115-123
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• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

• 한국자동차공학회논문집
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• 제16권6호
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• pp.115-120
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• 2008

There are many typesof accelerometer sensor. There was mainly used high-g accelerometer to obtain data for vehicle in crash test. Accelerometer was mounted on test vehicle with mounting blocks. Test result can be influenced by condition of mounting i.e. bonding material and type of block. These influences can be evaluated to variation of sensitivity in calibration test. In this paper, Calibration test were carried out for 3 types of bonding material i.e. stud, beewax and double side tape. Other factor was taken into consideration by 3-types for mounting block. All test was conducted by sinusoidal signal vibrator up to 4500Hz. In order to investigate influence for sensitivity from different input voltage in the calibrator, the same test was repeated. Test results were compared with standard accelerometer data. Relative sensitivities and phases were showed small difference in sensitivity for bonding materials with one block, but significant one for another block and different input voltage below 1000Hz.

• 한국전산구조공학회논문집
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• 제16권4호
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• pp.377-386
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• 2003

본 논문에서는 단순화 다자유도 모델링 방법을 이용하여 유연한 지붕을 갖는 l/2 축소 단층 보강조적조 건물의 지진 거동을 분석하였다. 선형 및 비선형 해석에 의한 결과들은 l/2 축소모형 단층 건물의 진동대 실험결과와 비교ㆍ분석되었다. 정확한 면내 및 면외 강성과 강도를 산정할 적절한 방법이 없기 때문에 구조모델 보정방법을 적용하여 반복적인 비교 ·분석 과정에서 각 부재의 강성과 강도변화에 따른 민감도를 평가하였다. 보정된 구조물의 특성을 사용하여 구조 재해석을 수행하였으며, 지붕구조물의 유연성이 전체 건물의 동적 거동에 미치는 영향을 분석하였다. 유연한 지붕은 전단벽의 면외 강성과 강도에 많은 영향을 미치게 되며, 강체 지붕과는 확연히 구분되는 동적 거동을 보여주었다.

• 한국정밀공학회지
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• 제25권6호
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• pp.134-142
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• 2008

In this paper, we propose a precise linear motion stage supported by magnetically preloaded air bearings. The eight aerostatic bearings with rectangular carbon porous pads were located only one side of vertical direction under the platen where four bearings are in both sides of horizontal direction as wrap-around-design, and this gives simpler configuration than which constrained by air bearings for all direction. Each of the magnetic actuators has a permanent magnet generating static magnetic flux far required preload and a coil to perturb the magnetic farce resulting adjustment of air- bearing clearance. The characteristics of porous aerostatic bearing are analyzed by numerical analysis, and analytic magnetic circuit model is driven for magnetic actuator to calculate preload and variation of force due to current. A 1-axis linear stage motorized with a coreless linear motor and a linear encoder was designed and built to verify this design concept. The load capacity, stiffness and preload force were examined and compared with analysis. With the active magnetic preloading actuators controlled with DSP board and PWM power amplifiers, the active on-line adjusting tests about the vertical, pitching and rolling motion were performed. It was shown that motion control far three DOF motions were linear and independent after calibration of the control gains.

• Steel and Composite Structures
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• 제11권3호
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• pp.251-271
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• 2011

To make direct comparisons regarding the cyclic behavior of thin steel plate shear walls (TSPSWs) with different infill-to-boundary frame connections, two TSPSWs were tested under quasi-static conditions, one having the infill plate attached to the boundary frame members on all edges and the other having the infill plate connected only to the beams. Also, the bare frame that was used in the TSPSW specimens was tested to provide data for the calibration of numerical models. The connection of infill plates to surrounding frames was achieved through the use of self-drilling screws to fish plates that were welded to the frame members. The behavior of TSPSW specimens are compared and discussed with emphasis on the characteristics important in seismic response, including the initial stiffness, ultimate strength and deformation modes observed during the tests. It is shown that TSPSW specimens achieve significant ductility and energy dissipation while the ultimate failure mode resulted from infill plate fracture at the net section of the infill plate-to-boundary frame connection after substantial infill plate yielding. Experimental results are compared to monotonic pushover predictions from computer analysis using strip models and the models are found to be capable of approximating the monotonic behavior of the TSPSW specimens.

• Steel and Composite Structures
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• 제21권4호
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• pp.863-882
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• 2016

This study aims to introduce a new bracing system by which even super-wide frames with large openings can be braced. The proposed system, hereafter called Cable-Pulley Brace (CPB), is a tension-only bracing system with a rectilinear configuration. In CPB, a wire rope passes through a rectilinear path around the opening(s) and connects the lower corner of the frame to its opposite upper one. CPB is a secondary load resisting system with a nonlinear-elastic hysteretic behavior due to its initial pre-tension load. As a result, the required energy dissipation would be provided by the MRF itself, and the main intention of using CPB is to contribute to the initial and post-yield stiffness of the whole system. Using a stiffness calibration technique, optimum placement of the CPBs is discussed to yield a uniform displacement demand along the height of the structure. A displacement-based design procedure is proposed by which the MRF with CPB can be designed to achieve a uniform distribution of inter-story drifts with predefined values. Obtained results indicated that CPB leads to significant reductions in maximum and residual deformations of the MRF at the expense of minor increase in the maximum base shear and developed axial force demands in the columns. In the case of a typical 5-story residential building, compared to SMRF system, CPB system reduces maximum amounts of inter-story and residual drifts by 35% and 70%, respectively. Moreover, openings of the frame are not interrupted by the CPB. This is the most appealing feature of the proposed bracing system from architectural point of view.

• Steel and Composite Structures
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• 제20권1호
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• pp.127-145
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• 2016

Composite column design is strongly influenced by the computation of the critical buckling load, which is very sensitive to the effective flexural stiffness (EI) of the column. Because of this, the behaviour of a composite column under lateral loading and its response to deflection is largely determined by the EI of the member. Thus, prediction models used for composite member design should accurately mirror this behaviour. However, EI varies due to several design parameters, and the implementation of high-strength materials, which are not considered by the current composite design codes of practice. The reliability of the design methods from six codes of practice (i.e., AS 5100, AS/NZS 2327, Eurocode 4, AISC 2010, ACI 318, and AIJ) for composite columns is studied in this paper. Also, the reliability of these codes of practice against a serviceability limit state criterion are estimated based on the combined use of the test-based statistical procedure proposed by Johnson and Huang (1997) and Monte Carlo simulations. The composite columns database includes 100 tests of circular concrete-filled tubes, rectangular concrete-filled tubes, and concrete-encased steel composite columns. A summary of the reliability analysis procedure and the evaluated reliability indices are provided. The reasons for the reliability analysis results are discussed to provide useful insight and supporting information for a possible revision of available codes of practice.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2502-2507
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• 2003

In this paper, a crack sealing robot is developed. The crack sealing robot is built to detect, track, and seal the crack on the pavement. The sealing robot is required to brush all dirt in the crack out for preparing a better sealing job. Camera calibration has been done to get accurate crack position. In order to perform a cleaning job, the explicit force control method is used to regulate a specified desired force in order to maintain constant contact with the ground. Experimental studies of force tracking control are conducted under unknown environment stiffness and location. Crack tracking control is performed. Force tracking results are excellent and the robot finds and tracks the crack very well.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2000년도 봄 학술발표회 논문집
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• pp.215-222
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• 2000

The reinforced roadbed should have the ability to spread out the load intensity lower than the bearing capacity of the subgrade of track structure as well as to prevent the softening of roadbed by providing appropriate stiffness in the roadbed, thus fully supports the track structures. Full scale reinforced roadbeds with several different types of monotoring sensors was also constructed to evaluate the performance of each reinforced roadbed through the continuous monitoring while the train operation. In this study, Field tests such as PLT, SASW were also carried out at each reinforced roadbed. The results of the field and lab tests, installation and calibration of sensors, as well as construction condition of the reinforced roadbed are presented.

• 대한기계학회논문집
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• 제18권9호
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• pp.2272-2283
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• 1994

In scanning tunneling microscopy, the piezoelectric actuator is popuilarly used in stacked type as it can provide remarkable positioning resolution and stiffness. The actuator, however, exhibits a considerable amount of hystereic nonlinearity, resulting in losses of overall measuring accuracy when a linear model is used for its control and calibration, In this study, a nonlinear model is proposed for predicting the precise relationship between the input connand voltage and the output displacement of the actuator itself, cross-coupled electrical behaviours of the driving circuit with the actuator, and mechanical characteristics of the driven components of the actuator. Finally experimental results prove that the nonlinear model enhances the measuring of scanning tunneling microscopy by an order ten in comparison with a conventional linear model.