• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1993.04a
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• pp.86-92
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• 1993

자동차의 현가장치에 대한 능동제어연구는 국내외적으로 활발히 진행되어 왔다. 수동식현가장치는 단순히 스프링과 감쇠기로 차체의 진동을 수동 제어 하므로 성능 향상에 한계가 존재하게 된다. 수동식 현가장치가 강성계수와 감쇠계수를 조절함으로써 차체로 들어오는 진동을 억제하는 반면, 능동식제 어는 보통 유압을 이용하여 효율적으로 차체에 들어오는 진동을 억제시키게 된다. 일반적으로 자동차가 능동현가장치 설계시 요구되는 사항은 탑승자의 승차감, 조종성, 현가장치의 공간확보 문제, 경제성(제어력), 실제적으로 자동 차에 적용할 수 있는 능동제어기법인가 하는 문제이다. 자동차 능동식 현가 장치는 보통 1/4 car (2자유도계), Full-car 모델 (7자유도계) 등으로 모델링 을 하여 능동제어기를 설계한다. 1/4 car 모델의 특징은 해석이 비교적 단순 하고 현가장치의 동적거동을 이해하는데 유용하고 실험을 하거나 실제 자동 차에 적용하기 쉬운 반면에 Full-car 모델에 비해 제어력의 효율이 떨어진다 는 단점이 있다. 그 이유는 1/4 car 모델은 차체의 동역학적 특성을 고려하 여 설계하지 않았기 때문에 4개의 독립현가차축에서는 오직 그 현가축방향 으로 발생하는 수직방향의 진동만을 제어하기 때문이다. 따라서 동역학적 역 성에 기인하는 운동을 제어하는 비효율적인 제어력이 공급된다는 단점을 갖 는다. 이에 비해 full-car 모델은 주행모드(수직, 롤링, 피칭운동)간의 연성을 고려하여 제어기를 설계할 수 있기 때문에 1/4 car 모델에 비해 제어력의 효 율이 높다는 장점이 있는 반면에 모델이 수학적으로 복잡하므로 제어력을 구하는데 계산량이 많고, 실제 자동차에 적용하기에 복잡하다는 단점을 갖고 있다. 따라서 본 논문에서는 쉽게 실험할 수 있고, 실용화할 수 있는 1/4 car 모델에 대하여 능동제어기를 설계하여 실제자동차에 능동제어기를 적용할 때 참고가 될 수 있도록 하였다. 자동차는 저주파영역의 밴드통과필터 역할 을 하므로 저주파에서의 성능, 특히 탑승자가 민감하게 느끼는 0.5Hz - 10Hz 부근의 주파수성능은 승차감, 조종성에 상당히 중요하다. 이에 본 논문 에서는 0.5Hz - 10Hz 부근의 승차감, 조종성의 향상에 초점을 두고 차체의 속도를 출력변수로 한 LQG/LTR 제어기를 설계하였다. LQG/LTR 설계기법 은 안정도-강인성이 좋은 체계적인 설계기법으로서 전 상태를 측정할 필요 가 없으므로 실제 적용시 효과적이다. 또한 자동차의 제원의 변화에 대한 고 유치의 민감도해석과 새로운 개념으로 안정도-강인성(Robustness)해석을 하 여 수동시스템과 능동시스템의 강인성을 비교하였다.

• Journal of the Earthquake Engineering Society of Korea
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• v.8 no.3
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• pp.1-12
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• 2004

Due to the 1989 Loma Prieta, 1995 Hyogoken Nambu earthquakes, etc, a number of bridge columns  were collapsed in flexure-shear failures as a consequence of the premature termination of the column longitudinal reinforcement. Nevertheless, previous researches for the performance of bridge columns were concentrated on the flexural failure mode. It is well understood that the seismic behaviour of RC bridge piers was dependent on the performance of the plastic hinge of RC bridge piers, the ductility of which was desirable to be computed on the basis of the curvature. Experimental investigation was made to evaluate the variation of the curvature of the plastic hinge  region for the seismic performance of earthquake-damaged RC columns in flexure-shear failure mode. Seven test specimens in the aspect ratio of 2.5 were made with test parameters: confinement ratios, lap splices, and retrofitting FRP materials. They were damaged under series of artificial earthquakes that could be compatible in Korean peninsula. Directly after the pseudo-dynamic test, damaged columns were retested under inelastic reversal cyclic loading under a constant axial load, $P=0.1f_{ck}A_g$. Residual seismic capacity of damaged specimens was evaluated by analzying the moment-curvature hysteresis and the curvature ductility. Test results show that the biggest curvature was developed around 15cm above the footing, which induced the column failure. It was observed that RC bridge specimens with lap-spliced longitudinal steels appeared to fail at low curvature ductility but significant improvement was made in the curvature ductility of RC specimens with FRP straps wrapped around the plastic hinge region. Based on the experimental variation of the curvature of RC specimens, new equivalent length of the plastic hinge region was proposed by considering the lateral confinement in this study. The analytical and experimental relationship between the displacement and the curvature ductility were compared based on this proposal, which gave excellent result.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.63-70
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• 2008

In this paper, we propose a bearing redundant coordinates and decoupled PD controller for 5-axes active magnetic bearing system, which consists of two bearing parts such as three-pole hybrid active magnetic bearing for stabilize the radial direction and ring-type permanent magnetic bearing stabilizing in axial and tilting motion. Based on derived system equation with decoupled control scheme, we conduct the modal analysis and measure of modal controllability and observability.

• Proceedings of the Korea Concrete Institute Conference
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• 2008.11a
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• pp.349-352
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• 2008

The research conducts a four-point loading test by making two reinforced concrete beams(HSCC test specimen and conventional concrete test specimen) in order to apply an HSCC with a normal strength(30MPa) to a structure. Also, it compares and analyzes the characteristics of the flexural behavior of HSCC and conventional concrete. The stiffness and ductility of the test specimens of HSCC and conventional concrete show similar behavior, but HSCC is more effective in crack control than conventional concrete. The result of the research demonstrates that HSCC can be applied in the construction site.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.5
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• pp.35-41
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• 1998

This paper presents a decoupling controller of the missile seeker scan loop with a spin-stabilized platform. A precise seeker motion with respect to the scan command is essential for the higher acquisition probability of the target. As the seeker scan loop is a deeply cross-coupled two input two output system, an accurate pointing or scanning for each axis to the target is very difficult, even though provided with the help of a high performance controller. When a decoupling control is applied to the seeker scan loop, the cross-coupling between two axes can be reduced to a remarkable amount. As a low order of controller is required for the real time operation, a PI controller with decoupling filter is suggested and compared with other controllers. A linearized dynamic model of seeker scan loop is used and validated through the comparison of experimental results of step responses.

• Proceedings of the Korean Vacuum Society Conference
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• 2016.02a
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• pp.223-223
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• 2016

산업 및 기술의 발전에 의해 많은 신소재들이 개발되고 있다. 그 중에서 금속 나노 분말의 경우, 자성소재, 차세대 MLCC, 전도성 페이스트, 살균 등 여러 산업분야에서 관심을 보이면서, 다양한 재료들이 개발되고 있는 추세이다. 그 중에서 금속 나노 분말은 입자 미세화에 따른 경도, 인성, 연성들의 기계적 특성 향상, 전자기적 기능의 향상 등 기존재료에 비해 우수한 물성, 새로운 기능의 발현이 입증되면서 차세대 소재로서 많은 연구가 진행되고 있다. 또한 최근에는 단순한 나노입자의 제조단계를 뛰어넘어 입경 및 입도의 제어 형상제어를 통한 입자 균일성이 요구되고 있다 DC 열 플라즈마를 이용한 나노입자 합성 방법은 초고온의 온도의 달성이 가능하여, 모든 금속원소에 대한 나노화 및 고순도화가 용이할 뿐만 아니라, 제조공정이 단순한 친환경 공법으로 저비용으로 나노입자를 제조할 수 있는 장점을 갖고 있다. 본 연구에서는 이송식 DC 열 플라즈마를 이용한 Cu 나노분말 제조, 비이송식 DC 열 플라즈마를 이용한 Fe 나노분말 합성 연구를 통해 반응기의 압력과 플라즈마 파워, Gas 유량등의 공정 변수가 나노입자 생성 특성에 미치는 영향을 확인 하였다. 또한 DC 열플라즈마 나노입자 합성 시스템에 대한 장비와 기술도 소개한다.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.1
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• pp.50-58
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• 2009

For precise tracking control of a servo system with nonlinear friction, a robust friction compensation scheme is presented in this paper. The nonlinear friction is difficult to identify the friction parameters exactly through experiments. Friction parameters can be also varied according to contact conditions such as the variation of temperature and lubrication. Thus, in order to overcome these problems and obtain the desired position tracking performance, a robust adaptive back-stepping control scheme with a dual friction observer is developed. In addition, to estimate lumped friction uncertainty due to modeling errors, a DEKF recurrent neural network and adaptive reconstructed error estimator are also developed. The feasibility of the proposed control scheme is verified through the experiment fur a ball-screw system.

• Journal of the Korea institute for structural maintenance and inspection
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• v.18 no.1
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• pp.75-83
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• 2014

In order to prevent brittle failure of concrete, steel fiber reinforcement is effective composite material. However ductility of steel fiber reinforced concrete may be limited due to shrinkage caused by large content of cement binder. Chemical prestressing for steel fiber reinforcement in cement matrix can be induced through expansive admixture and this can increase reinforcing effect of steel fiber. In this study, mechanical performances in concrete with CSA (Calcium sulfoaluminate) expansive admixture and steel fiber reinforcement are evaluated. For this work, steel fiber reinforcement of 1 and 2% of volume ratio and CSA expansive admixture of 10% weight ratio of cement are added in concrete. Mechanical and fracture properties are evaluated in concrete with steel fiber reinforcement and CSA expansive admixture. CSA concrete with steel fiber reinforcement shows increase in tensile strength, initial cracking load, and ductility performance like enlarged fracture energy after cracking. With appropriate using expansive admixture and optimum ratio of steel fiber reinforcement, their interactive action can effectively improve brittle behavior in concrete.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.5
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• pp.483-491
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• 2008

The effectiveness of a new fiber-steel composite plate designed specifically to be used for strengthening of reinforced concrete members has been investigated. Twelve reinforced concrete beams were tested. Seven of the beams were strengthened with carbon fiber-steel composite plate(CSP), four of the beams were strengthened with glass fiber-steel composite plate(GSP), and one beam was used as a control specimen. The experimental results showed that new strengthening system controls the premature debonding and provides a more ductile failure mode than other conventional strengthening systems. The observed ductility ratios were $3.01\sim3.81$ and $3.55\sim4.95$ for strengthened beam with CSP and GSP, respectively. The maximum load was increased by 115% and 107% for strengthened beam with CSP and GSP, respectively, comparing with control beam. In addition, experimental and analytical results were well agreed.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.463-477
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• 1991

This study proposed a new method to design a robot manipulator control system capable of tracking the trajectories of joint angles in a reasonable accuracy to cover with actual situation of varying payload, uncertain parameters, and time delay. The direct adaptive model following control method has been used to improve existing industrial robot manipulator control system design. The proposed robot manipulator controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories predefined by the designer. The manipulator control system studied has two loops: they are an inner loop on adaptive model following controller to compensate nonlinearity in the manipulator dynamic equation and to decouple the coupling terms and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstability approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in various cases, load variation, parameter uncertainties. and time delay. Since the proposed adaptive control method requires only a small number of parameters to be estimated, the controller has a relatively simple structure compared to the other adaptive manipulator controllers. Therefore, the method used is expected to be well suited for a high performance robot controller under practical operation environments.