• 한국공작기계학회논문집
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• 제17권3호
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• pp.34-39
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• 2008

In this study, CFRP(Carbon Fiber Reinforced Plastics) that has high specific strength and elastic modulus and low thermal strain was used as a material for the lightweight structural member. CFRP is a fiber material as anisotropic material. The anisotropic material is characterized by the change of its mechanical properties according to stacking orientation angle. CFRP orientation angle was oriented in [A/B]s in order to examine the effect of CFRP orientation angle on the characteristics of energy absorption. CFRP is very weak to the impact from the outside. So, when impact is applied to CFRP, its strength is rapidly lowered. The hybrid material was manufactured by combining CFRP to aluminum which is lightweight and widely used for structural members of the automobile. The hybrid member was shaped as a side member that could support the automobile engine and mount and absorb a large amount of impact energy at the front-end in case of automobile collision. The bending test device was manufactured in accordance with ASTM standard, and mounted to UTM for bending test. For comparing bending characteristics of the hybrid member with those of Aluminum and CFRP member, tests were performed for aluminum, CFRP and hybrid member, respectively.

• International Journal of Precision Engineering and Manufacturing
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• 제7권1호
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• pp.35-41
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• 2006

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2-DOF PID controller. The experimental results jar an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard.

• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.17-29
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• 2006

A novel inverse kinematics solution based on the back propagation neural network (NN) for redundant manipulators is developed for online obstacles avoidance. A laser transducer at the end-effctor is used for online planning the trajectory. Since the inverse kinematics in the present problem has infinite number of joint angle vectors, a fuzzy reasoning system is designed to generate an approximate value for that vector. This vector is fed into the NN as a hint input vector rather than as a training vector to guide the output of the NN. Simulations are implemented on both three- and four-link redundant planar manipulators to show the effectiveness of the proposed position control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.609-614
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• 1989

A collision avoidance algorithm based on a heuristic graph search and subgoals is presented. The joint angle space is quantized into cells. The evaluation function for a heuristic search is defined by the sum of the distance between the links of a manipulator and middle planes among the obstables and the distance between the end-effector and the subgoals on desired trajectory. These subgoals reduce the combinatorial explosion in the search space. This method enables us to avoid a dead-lock in searching. Its effectiveness has been verified by simulation studies.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.951-957
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• 1988

A collision-free trajectory planning algorithm is proposed to optimally coordinate two robots working in a common 3-D workspace. Each link of the two robots is modeled as a line segment and by their motion priority, one of the two robots is chosen as the master and the other the slave. And the one-step-ahead minimum distance between the two robots is computed by moving the master to the next location on its specified trajectory. Then the nominal trajectory of the slave is modified such that the distance between the next locations of the master and the slave must be larger than a prespecified allowable minimum distance. Here the weighted sum of the trajectory error and the joint motions of the slave is minimized by using the linear programming technique under the constraints that joint angle and velocity limits are not violated. To show the validity of the proposed algorithm, a numerical example is illustrated by employing a two dof's and a three dof's planar robots.

• 한국공작기계학회논문집
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• 제11권5호
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• pp.88-92
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• 2002

This research is about slurry wear of SM45C and SUS304, which using standard sand and KUM river sand. The results are as follows ; 1. Mass loss rates of both standard sand and KUM river sand were linearly increased as increasement of time and velocity. 2. The average diameter of sand from relatively, less wear rate and portion of larger particles. 3. Wear resistance was linear with time and velocity of liquid jet regardless of type of sand. Also, it was able to evaluate with the formula, $HV^2$/E calibrated with n, the velocity index. 4. The wear surface in liquid jet experiment was smooth. The maximum wear depth was observed at the location 2~4mm apart from the center in the condition of $90^{\circ}$ of collision angle 6mm of nozzle diameter, and 20mm of collision distance. The sectional shape in radial appeared as 'W'shape.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.798-801
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• 2001

This research is about slurry wear of SM45C and SUS304, which using standard sand and KUM river sand. The results are as follows ; 1. Mass loss rates of both standard sand and KUM river sand were linearly increased as increasement of time and velocity. 2. The average diameter of sand from relatively, less wear rate and portion of larger particles. 3. Wear resistance was linear with time and velocity of liquid jet regardless of type of sand. Also it was able to evaluate with the formula, HV2/E calibrated with n, the velocity index. 4. The wear surface in liquid jet experiment was smooth. The maximum wear depth was observed at the location, 2~4mm apart from the center in the condition of 90$^{\circ}$of collision angle 6mm of nozzle diameter, and 20mm of collision distance. The sectional shape in radial appeared as 'W' shape.

• 해양환경안전학회지
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• 제3권1호
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• pp.1-14
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• 1997

This paper describes a series of numerical simulations of colision between a 310, 000 DWT double hull VLCC (struck ship) and three 35, 000, 70, 000 and 105, 000 DWT tankers (striking ships) using LS/DYNA3D. Collisions are assumed to occur at the middle of the VLCC with the striking ships moving at right angle to the VLCC centerline. Striking ship speeds are varied to find a critical speed without failure of inner side shell, and the informations of collision force and absorption energy of each case are also reported. The validation of LS/DYNA3D in this study was made by comparing the result of numerical simulation of LS/DYNA3D with that of double hull tanker grounding experiment by the Carderock Division of Navla Surface Warfare Center (CDNSWC).

• 한국안전학회지
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• 제29권3호
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• pp.14-19
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• 2014

The global demand for reduction in the weight of automobiles has led many countries to focus on the development of hybrid, eco-friendly, and electric cars. Reduction in the weight of materials can both increase fuel efficiency and maximize automobile performance. Therefore, the design of automobile should be inclined towards the safety aspects. but at the same time, it also consider reducing the structural weight of an automobile. In this study, CFRP side members with circular and double hat shaped section was manufactured. The impact collapse tests performed with change of the stacking condition, such as variation of interface number and outerlayer angle. The impact collapse load and absorbed energy were quantitatively analyzed according to the changes in section shapes and stacking condition. This analysis was performed to obtain design data that can be applied in the development of optimum lightweight members for automobiles.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2000년도 추계학술발표대회 논문집
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• pp.84-87
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• 2000

Square tubes used for vehicle structure components have an important role on keeping its stiffness and preserving occupant safety in vehicle collision and rollover in which it experience axial collapse, bending collapse or both. Bending collapse, which absorbs kinetic energy of the impact and retains a survival space for the occupant, is a dominant failure mode in oblique collision and rollover. Thus, in this paper, the bending collapse characteristics such as the maximum bending moment and energy absorption capacity of the square tube replaced by light-weight material were evaluated and presented. The bending test of cantilever tubes which were fabricated with aluminum, GFRP and aluminum/ GFRP hybrid by co-curing process was performed. Then the maximum bending moment and the energy absorption capacity from the moment-angle curve were evaluated. Based on the test results, it was found that aluminum/ GFRP hybrid tube can show better specific energy absorption capacity compared to the pure aluminum or GFRP tube and can convert unstable collapse mode which may occur in pure GFRP tube to stable collapse mode like a aluminum tube in which plastic hinge is developed.