• Geomechanics and Engineering
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• 제5권2호
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• pp.119-142
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• 2013

Pile load tests using Osterberg cells (O-cell) were conducted on cast-in-place concrete piles founded in oil sand fill and in situ oil sand at an industrial plant site in Fort McMurray, Alberta, Canada. Interpreted pile test results show that very high pile shaft resistance (with the Bjerrum-Burland or Beta coefficient of 2.5-4.5) against oil sand could be mobilized at small relative displacements of 2-3% of shaft diameter. Finite element simulations based on linear elastic and elasto-plastic models for oil sand materials were used to analyze the pile load test measurements. Two constitutive models yield comparable top-down load versus pile head displacement curves, but very different behaviour in mobilization of pile shaft and end bearing resistances. The elasto-plastic model produces more consistent matching in both pile shaft and end bearing resistances whereas the linear elastic under- and over-predicts the shaft and end bearing resistances, respectively. The mobilization of high shaft resistance in oil sand under pile load is attributed to the very dense and interlocked structure of oil sand which results in high matrix stiffness, high friction angle, and high shear dilation.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.473-477
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• 2005

This paper presents a highly efficient HDD (Hard Disk Drive) spindle motor with a passive magnetic thrust bearing and a fluid dynamic journal bearing and its effectiveness is verified through experiment. It eliminates the mechanical friction loss of a thrust bearing which is around 18% of total power consumption of a 3.5' HDD spindle motor, by replacing a conventional fluid dynamic thrust bearing with a passive magnetic thrust bearing. The passive magnetic thrust bearing using permanent magnets is inherently unstable in radial direction. However, the radial fluid dynamic force of the fluid dynamic journal bearing counterbalances the radial magnetic force of magnetic thrust bearing to achieve the stability as the motor spins up. It has less or equivalent runout and less flying height than the conventional spindle motor.

• 한국정밀공학회지
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• 제15권12호
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• pp.128-141
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• 1998

We propose the robust nonlinear controller design methodology for the multivariable system which has hard nonlinearities (Coulomb friction, dead-zone, etc) and the structured real parameter uncertainty. The hard nonlinearity can be linearized by the RIDF technique and structured real parameter uncertainty can be modelled as the sense of Peterson-Hollot's quadratic Lyapunov bound. For this system, we apply the robust QLQG/H$_{\infty}$ control and then can obtain four Riccati equations. Because of the system's nonlinearity, however, one Riccati equation contains the nonlinear correction term that is very difficult to solve numerically, In order to treat this problem, using some transformations to Riccati equations, the nonlinear correction term can be eliminated. Then, only two Riccati equations need to design a controller. Finally, the robust nonlinear controller is synthesized via IRIDF techniques. To test this proposed control method, we consider the direct-drive robot manipulator system that has Coulomb frictions and varying inertia.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.818-821
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• 2004

With a rapid development in the area of micro and ultra precision technology, the micro surface machining of small size parts are explosively increased. Especially, to improve efficiency of various beams in lens and reflector, non-rotational symmetric form and several mm level heights changeable surface can be machined at a time. These geometric complex 3D surface cannot be machined by general short stroke FTS. The long stroke FTS if firmly needed to move directly several mm and have nm level positioning accuracy for the complex surface form. The long stroke FTS used linear motors to drive moving unit long and fine, aero static bearings to decrease friction and moving errors in guide way, optical linear scale with nm level resolution to measure position of FTS. Furthermore, to increase the performance of acceleration of FTS, the light material, such as AL is used for the structure and the high stiffness box type structure is selected. In this paper, the genetic algorithm approach is described to determine a set of design parameters for auto tuning. The authors have attempted to model the design problem with the objective of minimizing the error, such as variable pattern change. This method can give the better alternative than existing other method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.467-470
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• 2004

Diamond-Like Carbon (DLC) thin film is a semiconductor with high mechanical hardness, low friction coefficient, high chemical inertness, and optical transparency. DLC thin films have widespread applications as protective coatings and solid lubricant coatings in areas such as Hard Disk Drive (HDD) and Micro-Electro-Mechanical-Systems (MEMS). In this work, the wear characteristics of DLC thin films deposited on silicon substrates using a DC-magnetron sputtering system were analyzed. The wear tracks were measured with an Atomic Force Microscope (AFM). To identify the sp2 and sp3 hybridization of carbon bonds and other bonds Raman spectroscopy was used. The structural information of DLC thin films was obtained with Fourier transform infrared spectroscopy and wear tests were conducted by using a micro-pin-on-reciprocator tester. Results showed that the wear characteristics were dependent on the sputtering conditions. The wear rate could be correlated with the bonding state of the DLC thin film.

• 한국정보통신학회논문지
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• 제8권8호
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• pp.1685-1691
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• 2004

본 논문은 가변 구조 제어 시스템을 이용하여 AC Servo 모터의 원호 보간 오차를 개선하는데 목적을 두고 있다. AC Servo 모터를 사용하는 공작 기계의 동작에서 오차는 서보 드라이버의 시간 지연, 마찰, 그리고 모터의 x축 y축의 이득값이 어울리지 않는 등의 여러 요소가 있을 것이다. 본 논문에서는 슬라이딩 모드제어 시스템은 AC Servo 드라이브의 수치적 예로 응용되었다. 실험 결과 값은 전형적인 PI 제어와 비교하여 시스템의 원호 보간 오차 개선에 관한 우수성을 보여주고 있다.

• 소음진동
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• 제9권4호
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• pp.643-651
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• 1999

A brief description of the current technology (contact-start-stop) employed in most of today's hard disk drive is presented. The dynamics and head/disk interactions during a start/stop process are very complicated and no one has been able to accurately model the interactions. Thus, the head/disk interface that meets the start/stop durability and stiction requirements are always developed statistically. In arriving at a solution. many sets of statistical tests are run by varying several parameters. such as, the carbon overcoat thickness. lubricant thickness. disk surface roughness, etc. Consequently, the cost associated III developing an interface could be significant since the outcome is difficult to predict. An alternative method known as Load/Unload technology alters the problem set. such that. the start/stop performance can be designed in a predictable manner. Although this techno¬logy offers superior performance and significantly reduces statistical testing time, it also has some potential problems. However. contrary to the CSS technology. most of the problems can be solved by design and not by trial and error. One critical problem is that of head/disk contacts during the loading and unloading processes. These contact can cause disk and slider damage because the contacts are likely to occur at high disk speeds resulting in large friction forces. Use of glass substrate disks also may present problems if not managed correctly. Due to the low thermal conductivity of glass substrates. any head/disk contacts may result in erasure due to frictional heating of the head/disk interface. In spite of these and other potential problems. the advantage with L/UL system is that these events can be understood. analyzed. and solved in a deterministic manner.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.123-128
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• 2005

A novel tri-mode ultraprecision positioning system for machine tools and measuring machine is proposed. The basic coarse mode uses a Twist-roller Friction Drive (abbr. TFD), and controls several tens of millimeters of the machine-table travel with nanometer order of positioning resolution. The fine mode also utilizes the TFD with a fine adjusting mechanism. The resolution of the fine mode is in the range of sub-nanometer. For realizing picometer positioning, the ultra-fine mode is executed by using an active aerostatic guideway. On the bearing surface of this active guideway, several Active Inherent Restrictors (abbr. AIRs) are embedded for controlling the table position. An AIR unit consists of a piezoelectric actuator having a through hole, one end of the hole on the bearing surface acts as an inherent restrictor. Owing to the aerostatic mechanism of the AIR, the deformation of the piezoelectric actuator in the AIR unit causes much reduced table displacement. Such motion reduction is effective for ultraprecision positioning. Current positioning resolution of the ultra-fine mode is 50pm, however the final goal of the positioning resolution is expected to be in the order of picometer.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.375-381
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• 2004

Recently, the evolution in production techniques (e.g. high-speed milling) and the complex shapes involved in modem production design has been increasingly popular. The key to the achievement is a drastic improvement of the dynamic behavior of the machine tool axes used in production machinery. The more complex these tool paths the higher the speed and acceleration requirements. But it is very difficult to reach the target for high speed machine tool because of the limitations of servo system and motion control system. However the direct drive design of machine tool axes, which is based on linear motors and which recently appeared on the market, is a viable candidate to meet the ever increasing demands, because of these advantages such as no backlash, less friction, more mechanical simplicity and very higher acceleration and velocity comparing to the traditional system. This paper focused on the performance tests of the high speed horizontal machine tool based on linear motor. Especially, dynamic characteristics were investigated through circular test and circular form machining test is carried out considering many important parameter. Therefore these several experiments is used to be evaluated the model for prediction of circular motion error and circular machined error.