• 제어로봇시스템학회논문지
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• 제8권1호
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• pp.15-20
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• 2002

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 automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.

• 한국소음진동공학회논문집
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• 제13권12호
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• pp.923-929
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• 2003

As for the marine propulsion shafting system using 4 stroke diesel engine, it is common to apply a reduction gear box between diesel engine and shafting to increase propulsion efficiency, which requires inevitably a certain elastic coupling to avoid chattering and hammering inside of gear box. In this study, the optimum method of rectifying propulsion shafting system in case of 750 ton fishing vessel is theoretically studied in a view of dynamic characteristics of torsion. After the replacement of diesel engine and gear box, the torsional vibration get worse and so some countermeasures are needed. The elastic coupling is modified from a present rubber coupling of block type having relatively high torsional stiffness to a rubber coupling haying two serially connected elements. Torsional vibration damper was installed at crankshaft free end additionally and moment of inertia of flywheel was adjusted. The dynamic characteristics of shafting system was improved by these modification. The theoretical analysis of torsional vibration are compared to measurement results using two laser torsion meters during the sea trial.

• 소성∙가공
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• 제24권2호
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• pp.130-137
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• 2015

This paper presents the development process of automotive side door impact beam for passenger cars. Weight reduction while maintaining functional requirements is one of the major goals in the automotive industry. In this study, thin-walled side door beam using quenchable boron steel was designed to reduce the weight of conventional side door tubular one. In order to estimate design for the proposed side door beams, the static side impact protection tests(FMVSS 214) were conducted using the finite element method. Based on the simulation results, geometry modification of the side door beam has been performed via creating new reinforcing ribs. Furthermore, the manufactured frontal impact beam was mounted on the real side door of a passenger car, and then static impact protection test carried out. It is concluded that the presented test results can provide significant contribution to the stiffness of side door impact beams and light-weighting door research.

• Steel and Composite Structures
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• 제37권5호
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• pp.571-587
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• 2020

In this article the seismic demand and performance of two recent braced steel frames named steel moment frames with the elliptic bracing (ELBRFs) are assessed through a laboratory program and numerical analyses of FEM. Here, one of the specimens is without connecting bracket from the corner of the frame to the elliptic brace (ELBRF-E), while the other is with the connecting brackets (ELBRF-B). In both the elliptic braced moment resisting frames (ELBRFs), in addition to not having any opening space problem in the bracing systems when installed in the surrounding frames, they improve structure's behavior. The experimental test is run on ½ scale single-story single-bay ELBRF specimens under cyclic quasi-static loading and compared with X-bracing and SMRF systems in one story base model. This system is of appropriate stiffness and a high ductility, with an increased response modification factor. Moreover, its energy dissipation is high. In the ELBRF bracing systems, there exists a great interval between relative deformation at the yield point and maximum relative deformation after entering the plastic region. In other words, the distance from the first plastic hinge to the collapse of the structure is fairly large. The experimental outcomes here, are in good agreement with the theoretical predictions.

• 한국염색가공학회지
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• 제6권3호
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• pp.15-26
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• 1994

Cotton fabrics were treated with the cellulase which is an enzyme to decompose cellulose and its actional mechanism is known. The optimum condition of the cellulase to the cotton fabrics and the weight losses, tensile strengths of the treated cotton fabrics were also obtained. The cellulase performs a specific catalytic action on the ${\beta}-1$, 4-glucosidic bonds of the cellulose molecules and hydrolyzes them. For that reason, the negative surface charges of the cotton fabrics were increased by additional generation. of hyrdoxyl groups. The increased surface charges cause the decrease of dye adsorption by inhibiting the approach of the anions of direct dyes. But, it was overcome by the use of enough amount of salt, it means that sodium ions of the salt neutralize the almost all of negative charges of the cotton fabrics. The improvement of the water absorbency is also due to the increased hydroxyl groups In addition, their handles including the mechanical properties were measured and caculated by KES system which is a measuring apparatus that numerizes and objectificates human's feeling, especially touch. As the results, we knew that KOSH(stiffness) and FUKURAMI(fulness & softness) were decreased and that NUMERI(smoothness) was increased.

• 한국기계가공학회지
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• 제9권1호
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• pp.49-54
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• 2010

An integrated machining center is developed for high precision and productivity manufacturing. The developed machine is composed of the high precision spindle using ball bearings, the high stiffness bed and the three axis CNC controller with the high resolution AC servo motor. In this paper, structural and modal analysis for the developed machine are carried out to check the design criteria of machine. The analysis is carried out by FEM simulation with using the commercial software, CATIA V5, ANSYS and ARMD. The simulation model of machine is made by shell and solid finite elements. This study also presents the measurement system on the modal analysis of an integrated machining center. The weak part of the machine is found by the analytical evaluation. The results provide with the structural modification data for good dynamic behaviors. And the safety of machine is confirmed by the modal analysis of modified machine design. As this study results can be trustworthy with the analysis of ANSYS and CATIA, integrated machining center can be successfully developed.

• 한국자동차공학회논문집
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• 제13권6호
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• pp.142-153
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• 2005

The brake judder is a phenomenon that the steering wheel is abnormally vibrating when the car is braked at a high speed. It is classified by the cold and the hot judder. The former is generated due to the initial uneven disk surface and the latter is resulted from the uneven heat spots on disc surface by repeatedly braking. There are two ways to reduce the judder. One is to control vibration by modification of the disk shapes and pad ingredients. The other is to improve modal characteristics of the suspension system. The latter approach is used in this research. In this paper, the real vehicle test and computer simulation are considered to systematically understand the judder phenomenon of the vehicle. The Macpherson strut suspension is employed. Especially, the judder sensitivity is calculated based on design sensitivity analysis. A bush stiffness was reworked and braking test was done to verify the sensitivity result. The judder reduction by the mode control was verified.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.1005-1011
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• 2004

Squeeze film dampers (SFDs) have been commonly used to effectively enhance the dynamic behavior of the rotating shaft supported by rolling element bearings. However, due to the recent trends of high operating speed, high load capacity and light weight in rotating machinery, it is becoming increasingly important to change the dynamic characteristics of rotating machines in operation so that the excessive vibrations, which may occur particularly when passing through critical speeds or unstable regions, can be avoided. Semi-active type SFDs using magneto-rheological fluid (MR fluid), which responds to an applied magnetic field with a change in rheoloaical behavior, are introduced in order to find its applications to rotating machinery as an effective device attenuating unbalance responses. In this paper, a semi-active SFD using MR fluid is designed, tested and identified by means of linear analysis to investigate the capability of changing its dynamic properties such as damping and stiffness. Furthermore, the proposed device is applied to a rotor system to investigate its potential capability for vibration attenuation: an efficient method for selecting the optimal location of the proposed damper is introduced and control algorithm that could improve the unbalance response properties of a flexible rotor is also proposed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.431-434
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• 2005

Generally, noise in a reciprocating compressor is attributed to the driving force of a pump. However, close examination shows that the noise heard by customers finally results from radiation of a shell in a compressor, the noise caused by both transmission through a shell and resonance with the natural frequency of a shell. Therefore, the peak frequencies contributing to the overall level of a compressor' noise are closely concerned with vibration of a shell. That's why radiated noise by vibration can be reduced by changing the mode of a shell and by shifting the peak frequencies to other ranges, which are not globally related with the overall noise level. In this paper, the main peak frequencies are analyzed to reduce the radiated noise of a shell, and the vibration characteristics of a shell are examined through Frequency Response Function and Finite Element Analysis. Moreover, the Operational Deflection Shape for a shell is measured with consideration of real driving force of a pump. Finally, the optimum position on a shell, closely related to the main peak frequencies, is found, and the overall noise level caused by radiated noise of a shell is noticeably reduced by mass or stiffness modification of the position.

• Earthquakes and Structures
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• 제16권1호
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• pp.41-54
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• 2019

Reinforced Concrete (RC) shear walls are widely used in Nuclear power plants as effective lateral force resisting elements of the structure and these may experience nonlinear behavior for higher earthquake demand. Short shear walls of aspect ratio less than 1.5 generally experience combined shear flexure interaction. This paper presents the results of the displacement-controlled experiments performed on six RC short shear walls with varying aspect ratios (1, 1.25 and 1.5) for monotonic and reversed quasi-static cyclic loading. Simulation of the shear walls is then carried out by Finite element modeling and also by macro modeling considering the coupled shear and flexure behaviour. The shear response is estimated by softened truss theory using the concrete model given by Vecchio and Collins (1994) with a modification in softening part of the model and flexure response is estimated using moment curvature relationship. The accuracy of modeling is validated by comparing the simulated response with experimental one. Moreover, based on the experimental work a multi-linear hysteretic model is proposed for short shear walls. Finally ultimate load, drift, ductility, stiffness reduction and failure pattern of the shear walls are studied in details and hysteretic energy dissipation along with damage index are evaluated.