• 한국정밀공학회지
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• 제15권1호
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• pp.137-144
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• 1998

For a model system consisted of four pneumatic cylinders with strokes of 10, 20, 40 and 80 mm, investigation was carried out experimentally and numerically about the reliability of system with elastic and viscous load. The elastic load affects the performance of each cylinder in cylinder series, and changes the time lag and the velocity of the piston which makes the positioning control rather difficult. Taking the effects of the elastic load into consideration, positioning can be carried out comparatively smoothly by only adjusting the driving timing. The effect of a viscous load reduces the vibration of each moving body in the cylinder series and also reduces the over-travelled distance which happens when several cylinders move at the same time. For reasons, a positioning with a viscous load can be relatively smoothly carried out even without the timing control.

• 제어로봇시스템학회논문지
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• 제9권3호
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• pp.196-203
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• 2003

Recent increase in accessibility to the internet makes it easy to use the internet-connected devices. The internet could allow any user can reach and command any device that is connected to the network. But these teleoperation systems using the internet connected device have several problems such as the network time delay, data loss and development cost of an application for the communication with each other. One feasible solution is to use local and external network line for the network time delay, transmission control protocol for data loss and Java language to reduce the development period and cost. In this study, web-based remote control system using Java language is newly proposed and implemented to a pneumatic servo control system to solve the time delay, data loss and development cost. We have conducted several experiments using pneumatic rodless cylinder through the internet and verified that the proposed remote control system was very effective.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2005년도 춘계학술발표논문집
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• pp.132-135
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• 2005

본 연구에서는 반도체 제조 공정에 이용되는 가스의 흐름을 감지하고 제어하는 장치를 제안하였다 압력센서를 MFC(Mass Flow Controller)에 의해 제어되는 다음 단의 파이널밸브(Final Valve)와 챔버사이의 가스관에 부착시켜, 이 압력센서의 신호와 공압밸브의 동작 신호를 디지털 회로를 이용하여 실시간으로 제어하도록 하였다. 이로써 반도체 제조 공정 중에 발생할 수 있는 2차 소성물로 인한 가스의 흐름 제어와 관련된 시스템 고장을 LED를 통해 실시간으로 확인 가능하다. 또한 가스누출고장발생 시 반도체 제조 공정의 프로세스를 중단시켜 장비의 손상 및 안전사고를 예방하는 기능도 있다. 본 연구에서 개발된 모듈을 이용함으로써 가스밸브의 오동작에 의한 반도체/디스플레이 제조장비의 신뢰성 향상을 기할 수 있다.

• 한국군사과학기술학회지
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• 제14권6호
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• pp.1067-1072
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• 2011

If the flow of booster gas which is exhausted to the rear part of a canister is properly restricted in the canister of a hot-launch system, the resultant pressure built up in the canister provides additional force to accelerate the missile to a required launch velocity. These thrust augmentation performances can be controlled through the configuration design of baseplate orifices. In this paper, the simple technique to analyze the thrust augmentation performances of baseplate orifices is suggested and the thrust augmentation characteristics by its various configurations are compared. According to the initial displacement of a missile, the inner pressure of a canister is measured from scaled cold flow tests, and the discharge coefficient of baseplate orifices is calculated. Then the thrust augmentation in a canister is simulated by applying these discharge characteristics to the AMESIM software for launch dynamics.

• 소음진동
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• 제9권2호
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• pp.285-294
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• 1999

Transient analysis for compressible fluid flow has been performed experimentally and analytically to study the dynamic characteristics of the end volume transmission lines following a sudden pressure change a its entrance. The numerical method was developed based on the method of characteristics. The sudden pressure at its entrance was generated by rupture of diaphragm in a shock tube. The sudden pressure was used to obtain the response, as input signal for the numerical analysis. The response to the sudden pressure at the end volume was measured using a pressure transducer. The experimental result shows good agreements with the numerical result. The effects of tube length, its diameter and end volume magnitude are evaluated on the responses of the pressure and on the damping factor. It is found that the viscous damping effects on the response through the transmission pipeline becomes larger with increasing pi;eline length and decreasing diameter of the pipe and the fluid-elastic stiffness decreases with increasing the terminal volume. The numerical approach presented in this paper can be very useful in designing the instrument and control system.

• 제어로봇시스템학회논문지
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• 제11권2호
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• pp.103-108
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• 2005

Loading/Unloading task in the real industry is performed by crane, but most of the loading/unloading task with the weight of 5kg∼30kg is done by human workers and this kind of work causes industrial disaster of workers. Therefore it is necessary to develop low cost loading/unloading manipulator system to prevent this kind of industrial accidents. This paper is concerned with the design and fabrication of 2 axis pneumatic manipulators using on/off solenoid valves and accurate position control without respect to the external load and low damping in the pneumatic rotary actuator. To overcome the change of external load, switching of control parameter using LVQNN (Learning Vector Quantization Neural Network) is newly applied, which estimates the external loads in the pneumatic cylinder. As an underlying controller, a state feedback controller using position, velocity and acceleration is applied to the switching control system. The effectiveness of the proposed control algorithms are demonstrated through experiments of pneumatic cylinder with various loads.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.572-575
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. In order to realize satisfactory control performance, a variable damper Magneto Rheological Brake (MRB), Is equipped to the Joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.357-360
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• 1997

Abstract: In teleoperation field robotic system such as hydraulically actuated robotic excavator, the maneuverability and convenience is the most important part in the operation of robotic excavator. Particularly the force information is important in dealing with digging and leveling operation in the teleoperated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper presents a new force reflecting joystick in a velocity-force type bilateral teleoperation system. The master system is electrical joystick and the slave system IS hydraulically actuated cylinder with linear position sensor. Particularly Pneumatic motor is used newly in the master joystick for force reflection and the information of the pressure of salve cylinder is measured and utilized as the force feedback signal. Also force-reflection gain greatly affects the excavation performance of a hydraulically actuated robotic system and it is very difficult to determine it appropriately since slave excavator contacts with various environments such as from soft soil to rock. To overcome this, this paper proposes a force-reflection gain selecting algorithm based on artificial neural network and fuzzy logic.

• 한국산학기술학회논문지
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• 제21권9호
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• pp.32-38
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• 2020

화차 제동은 공기 제동관의 압력변화를 이용해 제동 체결과 완해를 반복적으로 작동하여 수행한다. 화차 공기 제동 완해 불량은 기관사의 제동완해 취급 후에 제동 제어밸브의 오작동으로 인해 부분적인 제동체결상태를 의미한다. 이 현상은 화차 주행 동안 차륜 찰상과 열손상을 발생시킴으로서, 차륜파손 또는 열차 탈선사고를 일으킨다. 따라서 화차의 운행 지연 및 사고방지를 위해서는 공기제동 완해불량을 방지하는 체계적인 연구가 중요하다. 이를 해결하기 위하여 본 연구에서는 철도운영기관의 제작과 기능요구사항을 고려하여 완해불량 방지밸브를 개발하였다. 또한 본 밸브의 내구성 시험은 화차제동성능 시뮬레이터 성능시험기를 이용하였으며, 이의 작동성능은 반복적인 제동과 완해불량 조건하에 공압이력으로부터 평가하였다. 본 밸브의 보증수명은 화차 주행동안 제동횟수를 고려하여 무고장 시험기법에 준하여 12개 시제품에 대하여 총 16만회 성능시험을 수행하였다. 내구성 시험동안 본 밸브의 공압 입력 시간과 출력시간 및 출력속도의 차이는 거의 일정하였다. 본 밸브의 보증수명은 신뢰수준 95%에서 59,860회이며, 화차 대차에 본 밸브를 설치할 경우에 요구조건인 4년간 고장없이 운용될 수 있음을 의미한다.

• 한국터널지하공간학회 논문집
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• 제20권6호
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• pp.1177-1192
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• 2018

본 연구의 목적은 한랭지역에서 운영 중인 터널구조물의 누수를 유도배수하기 위하여 기존 유도배수시스템을 향상시키는 것이다. 유도배수시스템은 유도배수판, 방수재료인 Hotty-gel, Hotty-gel 돌출 방지판, 공압타카, 고정핀, 집수관, 유도배수관, 철망 및 뿜어 붙임 모르타르로 구성되어 있다. 유도배수시스템은 현장 적용성 및 시공성을 평가하기 위하여 재래식 콘크리트 라이닝 터널에서 시험 시공되었다. 재령 7일, 14일, 21일, 28일, 2개월, 3개월, 4개월, 5개월, 6개월, 7개월 및 8개월에 약 1,000 ml의 붉은색 물을 유도배수시스템 배면에 주입하여 유도배수시스템의 방수과 유도배수 성능을 평가하였다. 현장 성능 평가 실험이 진행된 8개월 동안 터널이 위치한 지역의 일일 평균 온도는 $-16.0~25.6^{\circ}C$로 측정되었고, 일일 최저 온도는 $-21.3^{\circ}C$, 일일 최고 온도는 $30.8^{\circ}C$였다. 유도배수시스템의 유도배수판에서는 누수가 발생하지 않았지만 재령 14일부터 유도배수관에서 누수가 발생하였다. 유도배수관 누수는 고압의 공압타카와 고정핀 사용으로 두께 0.2 cm인 연성플라스틱 재질의 유도배수관이 변형되었고, 누수 방지를 위한 Hotty-gel의 두께와 폭이 충분하지 않아서 발생한 것으로 판단된다.