• 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.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.462-470
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• 1999

In this paper, we proposed a cross-couple controller for compensating nonlinear friction of the X-Y table of CNC machines. Due to the nonlinearity of the frictions, large contour errors, referred to as quadrant glitches, occur when each axis of the X-Y table makes a zero velocity crossing. To reduce the quadrant glitches the friction compensators and nonlinear friction observers for estimating Coulomb frictions are employed in the proposed method. A hyperbolic tangent function is used in reducing the magnitude of quadrant glitches and the CEM (Contour Error Model) is utilized for the estimation of the velocities. The performance of the proposed compensators is evaluated for several trajectories by computer simulations.

• Tunnel and Underground Space
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• v.15 no.3 s.56
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• pp.228-235
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• 2005

Friction angle and cohesion of rock masses can be estimated from Hoek and Brown failure criterion and then plastic corrections can be applied using Mohr-Coulomb yield function. This study finds that this estimation procedure would not be appropriate for weak rock masses and for cases where low confining stress is expected to develop. A procedure is outlined in this paper for estimating plastic corrections directly from Hoek and Brown material model. Comparative study shows that direct procedure would simulate non-linear failure surface better than indirect procedure especially in the low confining stress regime.

• Journal of the Korea Concrete Institute
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• v.28 no.2
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• pp.167-176
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• 2016

Shear friction strength model of concrete was proposed to explain the direct friction mechanism at the concrete interfaces intersecting two structural elements. The model was derived from a mechanism analysis based on the upper-bound theorem of concrete plasticity considering the effect of transverse reinforcement and applied axial loads on the shear strength at concrete interfaces. Concrete was modelled as a rigid-perfectly plastic material obeying modified Coulomb failure criteria. To allow the influence of concrete type and maximum aggregate size on the effectiveness strength of concrete, the stress-strain models proposed by Yang et al. and Hordijk were employed in compression and tension, respectively. From the conversion of these stress-strain models into rigidly perfect materials, the effectiveness factor for compression, ratio of effective tensile strength to compressive strength and angle of concrete friction were then mathematically generalized. The proposed shear friction strength model was compared with 91 push-off specimens compiled from the available literature. Unlike the existing equations or code equations, the proposed model possessed an application of diversity against various parameters. As a result, the mean and standard deviation of the ratios between experiments and predictions using the present model are 0.95 and 0.15, respectively, indicating a better accuracy and less variation than the other equations, regardless of concrete type, the amount of transverse reinforcement, and the magnitude of applied axial stresses.

• Structural Engineering and Mechanics
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• v.83 no.3
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• pp.377-386
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• 2022

This paper considers dynamic impedance functions and presents a detailed analysis of the soil plasticity influence on the pile-group foundation dynamic response. A three-dimensional finite element model is proposed, and a calculation method considering the time domain is detailed for the nonlinear dynamic impedance functions. The soil mass is modeled as continuum elastoplastic solid using the Mohr-Coulomb shear failure criterion. The piles are modeled as continuum solids and the slab as a structural plate-type element. Quiet boundaries are implemented to avoid wave reflection on the boundaries. The model and method of analysis are validated by comparison with those published on literature. Numerical results are presented in terms of horizontal and vertical nonlinear dynamic impedances as a function of the shear soil parameters (cohesion and internal friction angle), pile spacing ratio and frequencies of the dynamic signal.

• Geotechnical Engineering
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• v.13 no.6
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• pp.165-180
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• 1997

The structure such as underground external walls of buildings, conduit and box culvert supports the surcharge loads (point, strip and line loads) . The vertical and horizontal stresses in a soil mass depend on the backfill width and wall friction, etc. The investigations described in this paper is designed to identify the magnitude and the distributions of the lateral and vertical pressure which is occurred by the narrowly backfilled soil in an open cut by the surcharge loads. For these purposes, model tests were performed for various width of backfill in a model test box by considering the wall friction using carbon rods. The results of test were compared with the theories of Weissenbach and VS Army Code and also with the results of the numerical analysis using finite difference method which introduces Mohr-Coulomb failure hypothesis.

• Structural Engineering and Mechanics
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• v.63 no.5
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.4
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• pp.1281-1293
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• 2013

A sophisticated finite element model is illustrated to analyze the behavior of Prefabricated Parallel Wire Strand(PPWS) sockets for main cables of suspension bridges. An orthotropic model is proposed for the casting material by considering both effects of individual wires and a casting alloy, and the contact between surfaces of a socket and a casting alloy is idealized by using the Coulomb friction and the surface-based contact model. The proposed FE model is verified by comparing the strain distributions obtained from the tensile test and FE analysis. The mechanical behavior of a socket is investigated with respect to the variation of the frictional coefficient. The result shows that the friction between surfaces significantly diminishes the stress concentration of a socket and a casting alloy, and the normal stress from the design equation represents the averaged value of the upper and lower quartiles in the distribution of contact stresses between a socket and a casting alloy.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.149-154
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• 1990

In this paper, simulation results of a robust digital tracking controller on a robotic manipulator are presented. The objective is to follow a ramp reference input with zero steady state error in the presence of a disturbance and system parameter variations. Some of the difficulties are caused by the Coulomb frictions, the disturbance due to the gravitational pull, the spring effect of a link between the drive motor and the manipulator arm. Another difficulty is that, because of the non-differentiable Coulomb friction, the digital control system cannot be represented as a discrete system. It is thus necessary to design the controller based on a discrete-continuous hybrid model. The controller is based on feeding back the state variables and augmenting the system by addition discrete integrators. The feedback gain parameters are obtained by applying the quadratic optimal control theory and then choosing the new weighting matrices to eliminate the limit cycle by using the describing function method for hybrid system.

• Journal of the Korean Geotechnical Society
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• v.34 no.2
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• pp.5-17
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• 2018

In this study, the in-situ stress, strength and stress-strain characteristics with shear parameters (UU, CU, ${\bar{CU}}$) are analytically evaluated and the stability analyses are carried out under loading/unloading conditions. The in-situ stress and the stress-strain behaviour may become different according to input shear parameters in finite element analyses with construction step, Especially, if the internal friction angle in Mohr-Coulomb model is set to zero, the in-situ stress and the stress-strain behaviour might not be properly predicted. The results from CU parameter of total stress analysis have no significant difference with the results from CU of effective stress analysis. Therefore, in the numerical analysis for soft ground, CU parameters can be applied to predict in-situ stress and stress-strain behaviors. In addition, the calculation method was proposed to determine the shear parameter of Mohr-Coulomb model, which is corresponding to the shear strength equivalent to that of in-situ soil.