• Journal of KSNVE
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• v.7 no.3
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• pp.387-392
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• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.820-823
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• 2003

Recently, the linear motors have been widely used in the industry, owing to various advantages in comparison with conventional feed mechanism; high speed, high acceleration and high stiffness. In addition, the linear motors have the merits of a good velocity control, reversible movement and long lifetime. For the application of the linear motors to vibrating conveyor, the study of vibrating characteristics is required. In this paper, we developed the linear vibrating conveyor using the linear motor that has the 410N thrust and the 7.2m/min maximum moving velocity. To accomplish this system, we had some experiments that included the influence of deceleration time, vibrating amplitude and additional weight.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.6
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• pp.879-889
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• 2003

This research deals with the nonlinearities of rocking vibration associated with impact and sliding on the rocking behavior of rigid block under two dimensional sinusoidal excitation which has different frequencies in two excitation direction. The varied excitation direction influences not only the rocking response but also the sliding motion and the rocking response shape. Chaotic responses are observed in wider excitation amplitude region, when the frequencies in each excitation direction are different. The complex behavior of chaotic response, in the phase space, is related with the trajectory of base excitation and sliding motion.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.395.1-395
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• 2002

The ordinary differential equations governing free vibrations of elastic horizontally curved beams are derived, in which the effect of shear deformation as well as the effects of vertical deflection, rotatory and torsional inertias are included. Frequencies and mode shapes are computed numerically fer parabolic curved beams with hinged-hinged, hinged-clamped and clamped-clamped ends. Comparisons of natural frequencies between this study and ADINA are made to validate the theories and numerical methods developed herein. (omitted)

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.706-711
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• 2000

This paper deals with the free vibrations of horizontally curved beams on an elastic foundation. Taking into account the effects of rotatory inertia and shear deformation, the differential equations governing free vibrations of noncircular curved beams resting on Pasternak-type foundations are derived and solved numerically. The lowest three natural frequencies for parabolic curved beams with hinged-hinged and clamped-clamped end restraints are calculated. Numerical results are presented to show the effects on the natural frequencies of the non-dimensional system parameters: the horizontal rise to span length ratio, the Winkler foundation parameter, the shear foundation parameter, and the width ratio of contact area between the beam and foundation.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.1404-1408
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• 2006

In this paper, a hybrid-type vibration isolator which has air chamber(spring) and viscous damper in series is developed. The developed vibration isolator is designed to perform 3 following functions : spring function for normal operating conditions, damping function to reduce an impact for sudden move of upper beam, and finally leveling function. Based on the given natural frequency and damping factor, the design procedure is proposed. The performance of the developed isolator is tested by measuring stiffness and damping.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.870-875
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• 2003

This paper deals with the free vibrations of horizontally curved beams with the general boundary condition, which consists of translational and rotational springs. The equations of general boundary condition of such beams are derived, while the ordinary differential equations governing free vibrations are adopted from the literature. The parabola as the curved beam's curvilinear shape is considered in numerical examples. For calculating the natural frequencies, the governing equations are solved by numerical methods. The Runge-Kutta and Determinant Search Methods are used for integrating the differential equations and for calculating the natural frequencies, respectively. for validation purpose, the numerical results obtained herein are compared to those obtained from the SAP 2000. With regard to numerical results, the relationships between frequency parameters and various beam parameters are presented in the forms of Table and figures.

• Journal of the Korean Geotechnical Society
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• v.17 no.4
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• pp.39-48
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• 2001

액상화 발생후 과잉간극수압 소산 특성을 파악하기 위하여 포화된 수평 모래지반에 대하여 1-g 진동대시험을 수행하였다. 진동대시험에는 주문진 표준사와 영종도 세사를 사용하였으며 상대밀도를 dir 20~30% 사이가 되도록 조성하였다. 간극수압계, 가속도계 그리고 LVDT 등으로 시험중의 지반거동을 계측하였으며, 4Hz의 sine 파를 0.15g에서 5초간 5회 반복하여 작용시켰다. 진동대시험을 분석한 결과 액상화 발생후 과잉간극수압의 소산속도는 그 지반의 투수성뿐 아니라 과잉간극수압 소산시 입자의 침강거리와 직접 관련이 있는 지반의 침하량에도 크게 영향을 받는 것으로 나타났으며, 이 과정을 침강모래 이론으로 모델링하였을 때 입자의 침강속도와 투수계수 사이의 비례 관계는 침강모래 이론에서의 가정한 것과는 달리 모래의 종류에 따라 차이를 나타내었다. 또한 Terzaghi의 압밀이론으로는 액상화 후 과잉간극수압의 소산과정을 적절히 모사할 수 없었다.

• Computational Structural Engineering
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• v.10 no.1
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• pp.37-45
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• 1997

대규모의 쉘 구조물 설계에서는 고정하중이 지배적이므로 구조물을 구성하는 부재단면은 거의 고정하중에 의해 결정되는 경우가 많다. 이미 보고된 정적하중에 대한 쉘의 좌굴에 관한 연구결과들이 말해주고 있듯이 구조물의 안전율이 어느정도 확보되어 있는가를 평가하는 일이 우선적으로 중요하다. 그러나 고정하중에 대한 안전율을 확보하여 설계된 쉘이 지진동을 받았을 경우 어떻게 거동할까, 어느정도의 지진동에 견딜 수 있는지를 조사하여 그 구조물의 내진성능을 파악하는 일은 설계상 반드시 필요한 일이라 생각된다. 지진응답에 관한 많은 연구들이 주로 수평지진동을 받는 구조물을 대상으로 하고 있다. 그러나 지진동은 원래가 3차원적인 것이고 따라서 직하형의 지진동을 받을 가능성도 있다. 특히 장span구조물은 상하지진동의 영향이 클 것으로 생각된다. 본 고에서는 상하지진동을 받는 단순지지된 편평쉘의 응답해석례를 소개하고자 한다.

• Journal of the Korean Geotechnical Society
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• v.16 no.5
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• pp.45-54
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• 2000

경험적으로 방법에 의존해온 대형 진동햄머다짐의 영향심도를 평가하고자 수치해석적인 기법을 사용하였다. 수치해석적인 기법을 사용하였다. 수치해석에 사용한 프로그램은 범용 유한요소 해석프로그램인 ABAQUS이며, 인천 신공항 매립지에서 시험 시공한 대형 진동햄머다짐의 자료와 수치해석한 결과의 비교를 통해 검증하였다. 수치해성에 사용한 물성은 현장시험과 실내시험을통해 구하였으며 영향깊이는 지반이 동적 하중에 변형할 때 소산하는 소성변형율에너지량의 분포를 판정하였다. 수치해석결과 소성변형율에너지 소산량의 시간에 따른 변화로부터 다짐의 영향깊이 및 수평영향거리를 추정할 수 있었다. 소성변형율에너지 수렴시의 외부에너지를 Menard의 경험식에 적용할 경우 영향깊이를 판정할 수 있음을 알았다. 따라서 Menardtlr으로부터 영향깊이를 다짐하는데 필요한 최소한의 에너지를 구할수 있을 것으로 판단된다.