• Tribology and Lubricants
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• v.24 no.6
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• pp.378-385
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• 2008

In foil bearings, the friction between bumps and their mating surfaces is the major factor which exerts great influence on the bearing performance. From this point of view, many efforts have been made to improve the understanding of the influence of the friction on the foil bearing performance by developing a number of analytical models. However, most of them did not consider the hysteretic behavior of the foil structure resulting from the friction. The present work developed the static structural model in which hysteretic behavior of the friction was considered. The foil structure was modeled using finite element method and the algorithm which determines the conditions of the contact nodes and the directions of the friction forces was used to take into account the friction. The developed model was integrated into the foil bearing prediction code to investigate the effects of the friction on the static performance of the bearing. The results of analysis show that multiple static equilibrium positions are presented for the one static load under the influence of the friction, inferring its great effects on the dynamic performance. However, the effect of friction on the minimum film thickness which determines load capacity of the bearing is negligible.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.12
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• pp.2353-2363
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• 1994

This paper is concerned with the design of a robust digital controller using reduced-order observer on a robotic manipulator under the disturbance. In most cases of robotic manipulator since all state vectors are not measurable, the unmeasurable state vectors must be estimated or reconstructed. Other problems are caused by the nonlinear element like as nondifferentiable Coulomb friction, disturbance due to the gravitational pull, and the torsional spring effect of a link between the drive motor and the manipulator arm. The controller is based on feeding back the observable variables and the estimated state variables which are generated by the observer, and augmenting the system by additional discrete integrators. The feedback gain parameters are obtained by first applying the optimal control theory and then readjusting the feedback parameters to eliminate the limit cycle by using describing Function for nonlinear hybrid system.

• Journal of Aerospace System Engineering
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• v.9 no.4
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• pp.23-30
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• 2015

The focal plane image stabilization for a camera is one of the most effective method that can increases the digital camera's image quality by compensating the vibration disturbance. The optical image stabilization can be implemented by making the focal plane to trace the path of incident light. To control the position of focal plane motion compensating stage precisely, a nonlinear control algorithm has been applied by considering coulomb friction which is nonlinear behavior of the compensator system. In our study, we have analyzed the hand shaking vibration using the gyro sensor, and made a mathematical model of compensating stage containing optical sensor and piezo-actuator. Then the nonlinear control algorithm has been designed and its performance has been verified by experiment. In this study, a friction driven peizo-electric actuator with $1{\mu}m$ resolution and 10mm/s speed has been used for stage movement.

• Geotechnical Engineering
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• v.9 no.4
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• pp.83-92
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• 1993

A series of drained triaxial tests on sand was performed using the cubical triaxial appaiatus, in which three principal stress could be loaded independently. The test results indicated that the intermediate principal stress influenced on both stress strain behavior and strength of sand. The axial strain at failure decreased and volumetric strain increased with an increase of the intermediate stress under constant minor principal stress. The internal friction angle of sand increased in general with increase of the deviator stress ratio b(=(G.:-c, )1(G, -G, )) except slight decrease of the internal friction angle as b value approached to 1. Finally Lade's failure criterion presented good coincidence with the exper imental strengttL while Mohr Coulomb failure criterion underestimated the experimental strength.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.8 s.227
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• pp.1075-1086
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• 2004

In this paper, Time Delay Control(TDC) for robot manipulators is analyzed and its problems are founded. In order to remedy the problems, the enhanced controller is proposed and analyzed. The effect of friction associated with TDC is reported and its cause is presented. Through the analysis, simulation and experiment, it is shown that the friction effect causes serious degradation in control performance and that it is a result of the error of Time Delay Estimation(TDE) in TDC. In order to remedy the problems, TDC combined with Internal Model Control(IMC) concept is proposed. The proposed compensator is effective enough to handle the bad effect of friction, and is so simple and efficient as to match positive attribute of TDC. The simulation and experimental results show the effectiveness of proposed controller against the friction of the robot manipulators.

• Transactions of Materials Processing
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• v.30 no.2
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• pp.83-90
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• 2021

In this paper, a parametric study on the influence of friction between materials on pull force in single clinching is conducted using an axisymmetric elasto-plastic finite element method and law of Coulomb friction. An appropriate finite element analysis model is given, which minimizes the effect of the material model and numerical factors including the number of quadrilateral finite elements and blank radius. It is emphasized that the elasto-plastic material model should be employed because the elastic deformation of the internal region is affected more by the pull force. It has been shown that the pull force increases as friction coefficient increases and that the optimized friction coefficient is around 0.4, which is qualitatively comparable with its theoretical value. When the friction coefficient reaches 0.5 in the example studied, the neck fracture is predicted.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.6C
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• pp.305-314
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• 2012

This paper presents the quantitative damage assessment of granite taken from KAERI Underground Research Tunnel using acoustic emission (AE). The results determined showed the crack initiation and crack damage stress occurred at 48%, 72% of uniaxial compressive strength (UCS) and until the applied stress level was reached the crack damage stress, the damage degree was 0.06. When the applied stress exceeded 80%, 90% of UCS, the damage degree were 0.34, 0.06 and which were similar to those obtained from axial deformation modulus. The simply regression analysis was used to interpret the relationship of the two damage assessment techniques and the two were highly correlated ($R^2$=0.90). Therefore, damage degree based on the AE energy and mohr-coulomb failure criterion were adopted to predict the mechanical properties. As results, the axial deformation modulus, rock strength, internal friction angle, and cohesion of KURT rock were reduced 6%, 12%, 7%, and 3% until the applied stress was 70% of UCS. But when the applied stress reached 90% of UCS, the results were more reduced 69%, 72%, 62%, and 24%, respectively.

• The Journal of Engineering Geology
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• v.11 no.1
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• pp.1-11
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• 2001

The geological characteristics of Korea are that we can encounter the rock layer only after 10m of excavation, methods to presume the rock pressure distribution of the rock layer is urgently needed. When using the existing empiric science of Terzaghi-Peck, Tschebotarioff to measure the rock pressure of the rock layer, underestimate the real strength because of the cohesion is ignored. Therefore calculating the horizontal sliding force of wedge block, which includes the dips and shear strength of discontinuities and surcharge load etc., think to be to getting a closer rock stress of the real rock pressure acting upon the earth structure in rock mass. This research use Coulomb soil pressure theory assuming that the backfill soil will yield wedge failure when it has cohesion, applying Prakash-Saran(l963), and then it uses equilibrium of force and shear strength $\tau$=c+$\sigma$tan $\Phi$ of the cliscontinuities. Analyzing shear strength and dips of cliscontinuities using calculated theory according to the status of discontinuities aperture, we were able to find out that because the cohesion and friction angle of the rock layer itself is large enough, how the dip directions and dips facing the excavation face is the only factor deciding whether or not the rock stress is applied. The evaluated theory of this research should be strictly estimated, so that the many parameters such as c, $\Phi$value, types and structures of rock class, excessive lateral pressure, dynamic load, earthquake, needed later when calculating shear strength of discontinuities and especially the ground water effect acting on rock layer should be coumpted with many measuring data achieve at the insite to study the application.

• Tunnel and Underground Space
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• v.26 no.2
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• pp.59-67
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• 2016

In this paper, we perform a numerical analysis to evaluate the potential of fault reactivation during gas production from hydrate bearing sediments and the moment magnitude of induced seismicity. For the numerical analysis, sequential coupling of TOUGH+Hydrate and FLAC3D was used and the change in effective stress and consequent geomechanical deformation including fault reactivation was simulated by assuming that Mohr-Coulomb shear resistance criterion is valid. From the test production simulation of 30 days, we showed that pore pressure reduction as well as effective stress change hardly induces the fault reactivation in the vicinity of a production well. We also investigated the influence of stress state conditions to a fault reactivation, and showed that normal fault stress regime, where vertical stress is relatively greater than horizontal, may have the largest potential for the reactivation. We tested one simulation that earthquake can be induced during gas production and calculated the moment magnitude of the seismicity. Our calculation presented that all the magnitudes from the calculation were negative values, which indicates that induced earthquakes can be grouped into micro-seismic and as small as hardly perceived by human beings. However, it should be noted that the current simulation was carried out using the highly simplified geometric model and assumptions such that the further simulations for a scheduled test production and commercial scale production considering complex geometric conditions may produce different results.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.753-764
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• 2020

In this study, the plastic zone and internal earth pressure of the tunnel were calculated using the following three methods: metal plasticity to analyze the deformation of metal during plastic processing, Terzaghi's earth pressure theory from the geotechnical perspective and modified Terzaghi's earth pressure theory, and slip line theory using Mohr-Coulomb yield conditions. All three methods are two-dimensional mathematical analysis models for analyzing the plane strain conditions of isotropic materials. Using the theory of metallurgical plastics, the plastic zone and the internal earth pressure of the ground were obtained by assuming that the internal pressure acts on the tunnel, so different results were derived that did not match the actual tunnel site, where only gravity was applied. An analysis of the plasticity zone and earth pressure via the slip-line method showed that a failure line is formed in a log-spiral, which was found to be similar to the real failure line by comparing the results of previous studies. The earth pressure was calculated using a theoretical method. Terzaghi's earth pressure was calculated to be larger than the earth pressure considering the dilatancy effect.