• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.3
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• pp.315-321
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• 2014

This paper presents an integrated chassis control system with fail safety using optimum yaw moment distribution for a vehicle with steer-by-wire and brake-by-wire devices. The proposed system has two-level structure: upper- and lower-level controllers. In the upper-level controller, the control yaw moment is computed with sliding mode control theory. In the lower-level controller, the control yaw moment is distributed into the tire forces of active front steering(AFS) and electronic stability control(ESC) with the weighted pseudo-inverse based control allocation(WPCA) method. By setting the variable weights in WPCA, it is possible to take the sensor/actuator failure into account. In this framework, it is necessary to optimize the variables weights in order to enhance the yaw moment distribution. For this purpose, simulation-based tuning is proposed. To show the effectiveness of the proposed method, simulations are conducted on a vehicle simulation package, CarSim.

• The korean journal of orthodontics
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• v.27 no.5 s.64
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• pp.697-709
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• 1997

This study was designed to investigate the stress intensity and distribution produced by 1mm activation of retraction archwire with $0^{\circ},\;7^{\circ},\;14^{\circ}$ torque and application of high polk J-hook headgear during retraction of four maxillary incisors using the photoelastic stress analysis. The photoelastic model was made with a PL-3 type epoxy resin which was substituted by alveolar bone portion. Each retraction archwire was fabricated from .020' X .025' stainless steel wire which had vertical loops in 7mm height and hooks for high pull J-hook headgear between central and lateral incisors. The high pull J-hook headgear was applied 35 degree backward and upward to occlusal plane with 200gm pet each side The findings of this study were as follows: 1. In case of $0^{\circ}$ torque, the stress was distributed from cervical 1/8 to apex of roots of central and lateral incisors which were the forms of arc mode. When the high pull J-hook headgear was applied, the stress distributed by arc mode was presented from cervical 1/2 to apex of roots of central and lateral incisors. And the stress distributed by following the root surface was presented from alveolar crest to cervical 1/2 of roots of central and lateral incisors. The stress between apecies of central and Lateral incisors was presented also. 2. In case of $7^{\circ}$ torque, the stress distributed by arc mode was presented from cervical 1/2 to apex of roots of central and lateral incisors. And the stress distributed by following the root surface was presented from alveolar crest to cervical 1/2 of roots of central and lateral incisors. When the high pull J-hook headgear was applied, the stress distributed by following the root surface was presented mote apically than without headgear. The stress between apecies of central and lateral incisors was presented also. 3. In case of $14^{\circ}$ torque, the stress distributed by following the root surface was Presented from alveolar crest to apex of roots of central and lateral incisors. When the high pull J-hook headgear was applied, the stress distributed by following the root surface was presented stronger than without headgear The stress between apecies of central and lateral incisors was presented also.

• 한국방재학회:학술대회논문집
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• 2011.02a
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• pp.153-153
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• 2011

현대 건축은 기능적이고 합리적이었지만 획일적이었던 박스형 건축에서 탈피해 형태와 공간에 있어서 다양한 변화를 시도하고 있다. 특별한 건축물의 실현을 위해 각 나라의 기술력은 급속한 발전을 이루었고, 보다 더 독특한 건축물에 대한 관심은 비정형 건축물에 대한 관심의 증대로 이어지고 있다. 이러한 비정형 건축물에 적합한 구조로써 프리폼(Free-Form) 구조가 있다. 프리폼 구조로 입체골조(Double Layered Structure)를 많이 사용하였으나, 최근 유리로 되어 투명하고 기하학적 모양의 건축물을 추구함에 따라 평면골조(Single Layered Structure)가 증가하고 있는 추세이다. 평면골조는 축력 지배형과 모멘트 지배형으로 분류할 수 있고 프리폼 구조의 구성 요소 중 가장 취약하고 중요한 부분은 노드이다. 본 연구에서는 프리폼 구조 중 가장 큰 관심이 고조되고 있는 평면골조 모멘트 지배형의 노드에 대한 국내외 기술 분석을 통해 향후 연구 방향성을 제시하고자 한다. 입체골조는 하나의 노드에 여러개의 부재가 3차원으로 결합되어야 하기 때문에 다른 골조 시스템에 비해 노드부가 복잡하지만, 건축물의 외관을 유리로 하여 투명하게 하고 비틀리고 구부러진 구조물에 대한 건축적 요구가 많아짐에 따라 평면골조의 인기가 높아지고 있다. 이러한 시대의 흐름에 발맞추어 건물의 구조적, 기하학적 요구를 충족시키기 위해 다양한 노드 시스템이 개발 중이며, 가해지는 하중의 특성에 따라 축력 지배형과 모멘트 지배형으로 구분하여 노드의 양상을 분류할 수 있다. 축력 지배형의 대표적인 시스템은 다이아그리드(Diagrid)이다. 축력 지배형 프리폼 구조의 노드는 전체 구조물의 하중을 축력으로 받아 모두 전달해야 하기 때문에 크기가 크고 가새가 2~4개층에 걸쳐서 설치되기 때문에 중량이다. 모멘트 지배형 노드를 갖는 프리폼 구조의 형태는 대부분 지붕 구조로써 지붕 자체의 하중만을 견디도록 설계된다. 따라서 노드부와 노드에 붙는 부재들이 가볍기 때문에 사람이 들 수 있고 노드의 크기가 작아 시공성이 좋으며 대량 생산이 가능하다는 장점이 있다. 노드의 형태는 힘의 흐름과 쓰임에 따라 다양하다. 평면골조 모멘트 지배형의 노드는 접합방식에 따라 Splice node connection과 End-Face node connection 두 가지로 분류할 수 있다. Splice node connection은 각 부재의 종축으로 노드와 구조부재 사이에 이음재를 두어 연결하고, 연결 형태에 따라 전단력을 전달할 수 있는 1~2개의 접촉면이 생긴다. 전단응력을 받는 볼트로 이음재를 이어 조립하거나 용접으로 접합할 수 있다. 대표 노드로, SBP-1, SBP-2와 POLO-1 등이 있다. End-Face node connection은 각 연결된 부재의 단부와 노드 사이의 연결면은 종축방향의 수직이고, 인장응력을 받는 볼트를 사용하거나 용접에 의해 접합할 수 있다. 대표 노드로 SBP-4, WABI-1, MERO-1(Cylinder), MERO-2(Block), MERO-4(Double Dish) 등이 있다. 본 기술 현황 분석을 통해 현재 개발된 노드를 분류하고 가장 관심이 높은 Single Layer 모멘트 지배형 노드를 비교, 분석하였다. 최근 건물의 경향을 반영한 프리폼 구조를 실현하기 위해서 필수적인 노드의 개발은 국외에서 활발히 연구되고 있지만 그 기술이 개방되어 있지 않다. 국내에서는 동대문 디자인 플라자에 새로운 노드를 적용하고 고려대학교에서 모멘트 지배형 노드를 개발하는 등 발전 가능성을 보이고 있지만 국외 사례들에 비하면 아직 초기 단계라 할 수 있다. 따라서 현장 용접을 지양하고 공장 제작하여 현장에서 조립하며, 프로젝트 별로 상이한 노드를 사용하는 것이 아닌 다양한 요구를 효과적으로 수용하는 구조 효율성을 향상시킨 노드 상세의 개발이 이루어져야 할 것이다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.10
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• pp.753-763
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• 2020

A wind tunnel test of 29.7% scaled model of NASA Common Research Model with belly model support was performed in small low speed wind tunnel. The static aerodynamic forces and moments of CRM were measured with belly sting support configuration. Pitching moments of belly sting with various fairings were compared and small interference fairing shape was found. The belly sting model support interference and reducing effect of fairing shapes with CFD analysis.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.3
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• pp.51-58
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• 2004

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures farces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction, and perform the force control using the measured forces and moments. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test for the developed sensor was performed, and the result shows that intereference errors of the developed sensor are less than 4.23％. Thus, the developed small 6-axis force/moment sensor may be used a robot's gripper.

• Journal of Korean Tunnelling and Underground Space Association
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• v.11 no.4
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• pp.427-435
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• 2009

This study deals with the analytical solution for soil-lining interaction in a deep and circular tunnel. Simple closed-form analytical solutions for thrust and moment in the circular tunnel lining due to static and seismic loadings are developed by considering the relations between displacement and interaction forces at the soil-lining interface. The interaction effect at the soil-lining interface is considered with new ratios (the normal and shear stiffness ratios). The effects of the ratios on the normalized thrust and the normalized moment are investigated.

• Korean Journal of Construction Engineering and Management
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• v.5 no.6 s.22
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• pp.212-217
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• 2004

Carbon fiber reinforced plastic(CFRP) plate Is one of the alterative materials for soengthening of reinforced and prestressed connote members due to excellent strength and light weight In this paper, the behavior of beams strengthened with CFRP plate and CFS(Carbon fiber sheet) is observed and analyzed from the test results. Especially specimens with thick plate is tested when large moment and large shear lone appear in same position. The main failure mode is a peeling-off of the CFRP plate near the loading points due to flexural-shear crack, Because of this failure mode, failure load is not linearly proportional to the thickness of CFRP plates. When beam is wrapped with CFS around oかy loading point it does not influence on the failure loads. Depending on the loading pattern, it is necessary to consider different design criteria for reinforced concrete members with external reinforcement. When line moment and large shear force appear in same location, maximum thickness may limit to 0.6mm and ratio between moment of strengthened beam and moment of unstrengthened beam is proposed 1.5-2.0. In order to use the plate of thicker than 6mm, CFS may be extended to the location which moment of strengthened beam is 1.5 times than moment of unstrengthened beam.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.36T no.1
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• pp.64-70
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• 1999

When manipulator moves the objects, the object position error can be occurred because of acceleration or negative acceleration according to the direction. So we make manipulator working path for establishing optimal gripper force control preventing occurrence of object position error. And we attached the tactile sensor on the gripper of manipulator which gives us very specific information between manipulator and object. Reasoning of continuous tactile image data, manipulator can sense rotation and slippage and change the grasping force that corrects calculated grasping force and compensation can be possible of the object position error. We use the FSR(Force Sensing Resistor)sensor which consists of 22 by 22 taxels and continuous taxel number is used for filtering and using the moment method for sensing algorithm in our experiment.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.1
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• pp.89-96
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• 2009

This paper describes the intelligent robot's hand with three finger sensors for a humanoid robot. In order to grasp an unknown object safely, the intelligent robot's hand should measure the mass of the object, and determine the grasping force using the mass, finally control the grasping force using the finger sensors and the controller. In this paper, the intelligent robot's hand for a humanoid robot was developed. First, the six-axis force/moment sensor was manufactured. second, three finger force sensors were designed and fabricated, third, the high-speed controller was manufactured using DSP(digital signal processor), finally, the characteristic test for determining a grasping force and for grasping an unknown object safely It is confirmed that the hand could grasp an unknown object safely.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.10
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• pp.61-68
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• 2010

In order to let the humanoid robot walk on the uneven terrains, the robot's foot should have the similar structure and function as human's. The intelligent foot should be made up of toes and heel. When it walks on the uneven terrains, the foot's sole senses the force and adjusts foot's position before robot losing his balance. In this paper, the force sensors of robot's intelligent foot for having the similar structure and function like human are developed. The heel 3-axis force/moment sensor and toe force sensors for humanoid robot's intelligent foot is developed, and the characteristic tests of them are carried out. As a result of characteristic test, the interference error of the heel 3-axis force/moment sensor is less than 2.2%. It is thought that the developed force sensors could be used to measure the reaction forces which is applied the toes and the heel of a humanoid robot.