• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1673-1678
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• 2005

This paper addresses both theoretical and experimental studies of the stability of haptic interfaces during the simulation of virtual Coulomb friction. The first objective of this paper is to present an analysis of how friction affects stability in terms of the describing function method and the absolute stability theory. Two different feedback methods are introduced and are used to evaluate the analysis: an active force feedback, using a motor, and a passive force feedback, using controllable brake. The second objective of this paper is to present a comparison of the theoretical and experimental results. The results indicate that the sustained oscillations due to the limit cycle occur when simulating friction with an active force feedback. In contrast, a passive force feedback can simulate virtual friction without the occurrence of instability. In conclusion, a hybrid active/passive force feedback is proposed to simulate a highly realistic friction display.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1-6
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• 1991

This paper is concerned with the design of a robust tracking controller using a state observer on a robotic manipulator under the disturbance. The controller is designed to follow a step or ramp reference input without steady state error in the presence of a disturbance and a system parameter variation. In most cases, since all the state vectors are not measured, unmeasurable state vectors must be estimated or reconstructed. A reduced order observer is proposed to estimate unmeasurable state vectors of the non-linear system. Some problems are caused by the Coulomb friction, the disturbance, and the spring effect of a link between the drive motor and the manipulator arm. The state variables, directly measured and estimated by the reduced order observer, are fed back to the controller. When the robot system exhibits the 'limit cycle, the feedback gains initially obtained by optimal control theory are changed. As a result, the limit cycle is eliminated by the new controller gains,

• 소성∙가공
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• 제11권5호
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• pp.394-404
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• 2002

The drawbead model for a three-dimensional a finite element analysis of sheet metal forming processes is developed. The mathematical models of the basic drawbeads like circular drawbead, stepped drawbead, and squared drawbaed are first derived using the bending theory, belt-pulley equation, and Coulomb friction law. Next, the experiments for finding the drawing characteristics of the drawbead are performed. Based on mathematical models and drawing test results, expert models of basic drawbeads are then developed employing a linear multiple regression method. For the expert models of combined drawbeads such as the double circular drawbead, double stepped drawbead, circular-and-stepped drawbead, etc., those of the basic drawbeads are summed. Finally, in order to verify the expert models developed, the drawing characteristics calculated by the expert models of the double circular drawbead and circular-and-stepped drawbead are compared with those obtained from the experiments. The predictions by expert models agree well with the measurements by experiments.

• 한국광학회:학술대회논문집
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• 한국광학회 1995년도 광학 및 양자전자학 워크샵 논문집
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• pp.138-148
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• 1995

A reduced description of the dynamics of carriers in excited semiconductors is presented. Fristly, a time-convolutionless equation of motion for the reduced density operator is derved from the microscopic Liouville wquation operator method. Secondly, the quantum kinetic equations for intercting electron-hole parirs near band-edge in semiconductors under an extermal optical field are obtained from the equation of motion for the reduced density operator. The non-Markovian optical gain of a driven semiconductor is derived including the many-body effects. plasma screening and excitinic effects are taken into account using as effective Hamiltonian in the time-dependent Hartree-Fock approximation. it is shown that the line shape of optical-gain spectra gain is enhanced by the exicitonic effects caused by the attrative electron-hole Coulomb interaction and the interference effects (renormalized memory effects) between the extermal driving filed and the intermal driving Filed and the stochastic reservoir of the system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.423-425
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• 1998

Resonance effects and nonlinear frictions which generate many problems in control system exist in almost all the servo system. therefore, In this paper, the design procedure which employs $H_{\infty}$ control theory after augmenting with two integrators is proposed to track the ramp input. Limit cycles are unavoidable by the effect of interaction between two integrators and Coulomb friction in these system. The describing function is used to check the limit cycles and decide the coefficients of two integrators to minimize the effect of the limit cycles.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.720-725
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• 1995

The most important problems which should be considered in designing servo controllers are resonance effects and nonlinear friction. These problems exist in almost all the servo systems, especially for the robotic maniplators and numerical control systems and cause difficulties in designing controllers. In this paper, controller design procedure which employs $H_{\infty}$ control theory is proposed for the servo systems with these problems. Sometimes, for these systems, there is a possibility of limit cycles due to the interation between the nonlinear friction and integrator. To check the possibility of limit cycles, describing fuction method is used.

• 터널과지하공간
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• 제22권6호
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• pp.462-470
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• 2012

일반화된 Hoek-Brown 암반파괴조건식을 Mohr-Coulomb 파괴조건에 기초한 암반구조물 해석법에 적용시키기 위해서는 등가 마찰각과 등가 점착력을 계산하는 과정이 필요하다. Balmer(1952)이론에 기초한 기존의 접선 순간마찰각과 순간점착력 계산식은 최소주응력 ${\sigma}_3$의 함수로 표시되므로 등가 강도정수의 정수압 의존성 및 응력경로 의존성을 이해하는 데 적합지 않다. 이 연구에서는 응력불변량을 이용하여 일반화된 Hoek-Brown식의 접선 순간마찰각과 순간점착력 계산하는 방법을 제시하여 기존의 방법이 갖는 단점을 극복하였다. 제시된 방법을 이용한 예제 해석을 통해 접선 순간마찰각과 순간점착력의 정수압 의존특성 및 파괴곡면의 팔면체 단면에서 Lode각의 의존성을 고찰하였다. 접선 순간마찰각은 삼축신장 응력조건에서 가장 크며, 접선 순간점착력은 삼축압축 응력조건에서 가장 큰 것으로 나타났다. 접선 순간마찰각과 순간점착력의 정수압 및 Lode각 의존성은 GSI 값이 큰 양호한 암반에서 상대적으로 큰 것으로 나타났다.

• Geomechanics and Engineering
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• 제21권3호
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• pp.247-258
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• 2020

The shear strength of unsaturated soils, a research hotspot in geotechnical engineering, has great guiding significance for geotechnical engineering design. Although kinds of calculation models for the shear strength of unsaturated soil have been put forward by predecessors, there is still need for new models to extensively consider the nonlinear variation of shear strength, particularly for the nonlinear effect of the net normal stress on the shear strength of unsaturated soil. Here, the shear strength of unsaturated soils is explored to study the nonlinear effects of net normal stress with the introduction of a general nonlinear Mohr-Coulomb (M-C) strength criterion, and the relationship between the matric suction (or suction stress) and degree of saturation (DOS) constructed by the soil-water characteristics curve (SWCC) of van Genuchten is also applied for unsaturated soil. Then, two calculation models (i.e., an envelope shell model and an effective stress model) are established for the shear strength of unsaturated soils under the nonlinear strength theory. In these two models, the curve of the shear strength of unsaturated soils versus the net normal stress exhibits a tendency to gently. Moreover, the proposed formulas have flexibility and convenience with five parameters (for the effective stress model) or six parameters (for the envelope shell model), which are from the M-C strength parameters of the saturated soil and fitting parameters of SWCC of van Genuchten. Thereafter, by comparison with the classical theory of the shear strength of unsaturated soils from some actual cases, the rationality and accuracy of the present models were verified.

• Structural Engineering and Mechanics
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• 제16권6호
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• pp.713-730
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• 2003

This paper contains the results of the study on the development of fracture and crack propagation in quasi-brittle materials, such as concrete or rocks, using the Discrete Element Method (DEM). A new discrete element numerical model is proposed as the basis for analyzing the inelastic evolution and growth of cracks up to the point of gross material failure. The model is expected to predict the fracture behavior for the quasi-brittle material structure using the elementary aggregate level, the interaction between aggregate materials, and bond cementation. The algorithms generate normal and shear forces between two interfacing blocks and contains two kinds of contact logic, one for connected blocks and the other one for blocks that are not directly connected. The Mohr-Coulomb theory has been used for the fracture limit. In this algorithm the particles are moving based on the connected block logic until the forces increase up to the fracture limit. After passing the limit, the particles are governed by the discrete block logic. In setting up a discrete polygon element model, two dimensional polygons are used to investigate the response of an assembly of different shapes, sizes, and orientations with blocks subjected to simple applied loads. Several examples involving assemblies of particles are presented to show the behavior of the fracture and the failure process.

• Geomechanics and Engineering
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• 제13권2호
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• pp.301-318
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• 2017

Based on the existing research results, a three-dimensional failure mechanism of tunnel face was constructed. The dynamic seismic effect was taken into account on the basis of quasi-static method, and the nonlinear Mohr-Coulomb failure criterion was introduced into the limit analysis by using the tangent technique. The collapse pressure along with the failure scope of tunnel face was obtained through nonlinear limit analysis. Results show that nonlinear coefficient and initial cohesion have a significant impact on the collapse pressure and failure zone. However, horizontal seismic coefficient and vertical seismic proportional coefficient merely affect the collapse pressure and the location of failure surface. And their influences on the volume and height of failure mechanism are not obvious. By virtue of reliability theory, the influences of horizontal and vertical seismic forces on supporting pressure were discussed. Meanwhile, safety factors and supporting pressures with respect to 3 different safety levels are also obtained, which may provide references to seismic design of tunnels.