• 한국정밀공학회지
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• 제10권2호
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• pp.14-21
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• 1993

Pneumatic actuators have greater power to weight ratio than electric ones, but they have been rarely used as robotic actuators because of poor accuracy resulted from nonliearity of air. On the other hand, electric servo motors have glld controllability, but they have poor power to weight ratio. For the heavy load handling robot a combined actuating method was developed for vertical and horizontal axes of RISTBOT-ll which handles up to 250kgf load. In this paper, the control method is implemented and analyzed for the manufactured heavy load handling robot.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2002년도 가을 학술발표회 논문집
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• pp.354-361
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• 2002

This paper propose section properties factor to generate stress history for fatigue analysis and safety inspection of steel bridge. A methodology is described for the computation of numerical stress histories in the steel truss bridge, caused by the vehicles using section properties factor. The global 3-D beam model of bridge is combined with the local shell model of selected details. Joint geometry is introduced by the local shell model. The global beam model takes the effects of joint rigidity and interaction of structural elements into account. Connection nodes in the global beam model correspond to the end cross-section centroids of the local shell model. Their displacements are interpreted as imposed deformations on the local shell model. The load cases fur the global model simulate the vertical unit force along the stringers. The load cases fer the local model are imposed unit deformations. Combining these, and applying vehicle loads, numerical stress histories are obtained. The method is illustrated by test load results of an existing bridge.

• Steel and Composite Structures
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• 제23권6호
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• pp.623-631
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• 2017

Present paper deals with the temperature-dependent buckling analysis of sandwich nanocomposite plates resting on elastic medium subjected to magnetic field. The lamina layers are reinforced with carbon nanotubes (CNTs) as uniform and functionally graded (FG). The elastic medium is considered as orthotropic Pasternak foundation with considering the effects of thermal loading on the spring and shear constants of medium. Mixture rule is utilized for obtaining the effective material properties of each layer. Adopting the Reddy shear deformation plate theory, the governing equations are derived based on energy method and Hamilton's principle. The buckling load of the structure is calculated with the Navier's method for the simply supported sandwich nanocomposite plates. Parametric study is conducted on the combined effects of the volume percent and distribution types of the CNTs, temperature change, elastic medium, magnetic field and geometrical parameters of the plates on the buckling load of the sandwich structure. The results show that FGX distribution of the CNTs leads to higher stiffness and consequently higher buckling load. In addition, considering the magnetic field increases the buckling load of the sandwich nanocomposite plate.

• 설비공학논문집
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• 제21권11호
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• pp.636-642
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• 2009

Energy consumption data are surveyed and measured to develop energy demand models for hospital buildings as part of a complete package. Daily consumption profiles for electricity, heating, cooling and hot water are surveyed for 14 carefully chosen hospitals to establish energy demand patterns for a time span of a year. Then the hourly demand patterns of the 4 loads are field-measured for different seasons and statistically analyzed to provide higher resolution models. Used in conjunction with energy demand models for other types of buildings, the high resolution of 8760 hour energy demand models for a hospital for a typical year will serve as building blocks for the comprehensive model that allows the estimation of the combined loads for arbitrary mixtures of buildings.

• Geomechanics and Engineering
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• 제17권6호
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• pp.553-564
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• 2019

This paper presents experimental results of rock-concrete bi-material discs under cyclically diametrical compression. It was found that both specimens under cyclical and static loading failed in three typical modes: shear crack, tensile crack and a combined mode of shear and wing crack. The failure modes transited gradually from the shear crack to the tensile one by increasing the interface angle between the interface and the loading direction. The cycle number and peak load increased by increasing the interface angle. The number of cycles and peak load increased with the interface groove depth and groove width, however, decreased with increase in interface groove spacing. The concrete strength can contribute more to the cycle number and peak load for specimens with a higher interface angle. Compared with the discs under static loading, the cyclically loaded discs had a lower peak load but a larger deformation. Finally, the effects of interface angle, interface asperity and concrete strength on the fatigue strength were also discussed.

• 한국안전학회지
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• 제23권3호
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• pp.17-24
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• 2008

Elbows with various shapes of local wall thinning were numerically analyzed by finite element method to get load-displacement curves and the maximum loads. Results were compared with the experimental data obtained by another study. Elastic-plastic analysis were carried out under the combined loading conditions of internal pressure and in-plane bending loads. Two types of bending loads were considered such as elbow opening mode and elbow closing mode. Also, two different wall thinning geometries were modeled. Wall thinning area located extrados or intrados of elbow inner surface was considered. Longitudinal and circumferential lengths of the thinning area and the thinned thickness were varied for analysis. The results showed that the maximum load of the wall-thinned elbow decreased with increasing of the circumferential thinning length and the thinned thickness in both of extrados and intrados thinning locations in both loading types. The maximum load obtained by the analysis were in good agreement with the experimentally measured maximum load with the same wall thinning type and dimensions. This supports accuracy of the analysis results obtained in this study.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권3호
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• pp.188-195
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• 2004

This paper presents neural load torque observer that is used to deadbeat load torque observer and gain compensation by parameter estimator As a result, the response of the PMSM(permanent magnet synchronous motor) follows that nominal plant. The load torque compensation method is composed of a neural deadbeat observer To reduce the noise effect, the post-filter implemented by MA(moving average) process, is adopted. The parameter compensator with RLSM (recursive least square method) parameter estimator is adopted to increase the performance of the load torque observer and main controller The parameter estimator is combined with a high performance neural load torque observer to resolve the problems. The neural network is trained in on-line phases and it is composed by a feed forward recall and error back-propagation training. During the normal operation, the input-output response is sampled and the weighting value is trained multi-times by error back-propagation method at each sample period to accommodate the possible variations in the parameters or load torque. As a result, the proposed control system has a robust and precise system against the load torque and the Parameter variation. A stability and usefulness are verified by computer simulation and experiment.

• Geomechanics and Engineering
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• 제20권4호
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• pp.359-370
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• 2020

Prestressed ground anchors are important structural elements in geotechnical engineering. Despite their widespread usage, the design process is often significantly simplified. One of the major drawbacks of commonly used design methods is the assumption that skin friction is mobilized uniformly along an anchor's fixed length, one consequence of which is that a progressive failure phenomenon is neglected. The following paper introduces an alternative design approach - a computer algorithm employing the load-transfer method. The method is modified for the analysis of anchors and combined with a procedure for the derivation of load-transfer functions based on commonly available laboratory tests. The load-transfer function is divided into a pre-failure (hardening) and a post-failure (softening) segment. In this way, an aspect of non-linear stress-strain soil behavior is incorporated into the algorithm. The influence of post-grouting in terms of radial stress update, diameter enlargement, and grout consolidation is included. The axial stiffness of the anchor body is not held constant. Instead, it gradually decreases as a direct consequence of tensile cracks spreading in the grout material. An analysis of the program's operation is performed via a series of parametric studies in which the influence of governing parameters is investigated. Finally, two case studies concerning three investigation anchor load tests are presented.

• 대한기계학회논문집A
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• 제21권2호
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• pp.297-304
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• 1997

This paper presents a systematic design method of an anti-swing control law for overhead cranes. A velocity servo system for the trolley of a crane is designed based on the dynamics of the trolley and its load. The velocity servo system compensates for the effects of load swing on the trolley dynamics so that the velocity servo is independent of load swing. The velocity servo system is used for the design of a position servo system for the trolley via the loop shaping method. The position servo system and the swing dynamics of the load are then used to design an angle control system for load swing based on the root locus method. The combined position servo and the angle control systems constitute the overall control system. In the presence of low frequency disturbances, the proposed control law guarantees accurate position control for the trolley and fast damping for load swing. Furthermore, the performance of the proposed control law is independent of the mass of the load. Experimental results on a prototype crane show the effectiveness of the proposed anti-swing control law.

• Geomechanics and Engineering
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• 제29권4호
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• pp.407-420
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• 2022

Embedded piles, which are typically used in Korea, are precast piles inserted into prebored ground with cement paste. Dynamic pile tests tend to underestimate the bearing capacity of embedded piles because of the undeveloped shaft resistance prior to the curing of the cement paste and the insufficient energy transferred after the curing. In this study, a resistance combination method using the base resistance before the cement paste is cured and the shaft resistance after the cement paste is cured is proposed to obtain a combined load-settlement curve from dynamic pile tests. Two pairs of embedded piles with diameters of 600 and 500 mm are installed. Each pair comprises one pile for the dynamic pile test and another pile for the static load test. The shape of the load-settlement curve obtained using the proposed method is similar to that obtained from the static load test. Thus, the resistances evaluated using the proposed method at selected settlements are similar to those obtained from the static load test. This study shows that the resistance combination method may be used effectively in dynamic pile tests to accurately evaluate the bearing capacity of embedded piles.