• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1786-1790
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• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2005.04a
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• pp.207-211
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• 2005

The Korean Tilting Train eXpress (TTX) with service speed of 180km/h have been developing using hybrid design concept combined with a sandwich composite structure for the carbody and stainless steel structure for the underframe to match the challenging demands with respect to cost efficient lightweight design for railway carriage structures. The sandwich composite structure was used to minimize the weight of the carbody, while the metal underframe was used to modify the design easily and to keep the strength of underframe for the installation of the electrical equipments. The sandwich composite structure was 23 meters long, 3 meters wide and 2.7 meters high, and cured as one body in a large autoclave equipment with the length of 30 meters and the diameter of 5 meters. The joint part between the carbody structure made of sandwich composites and the metal underframe was joined by the proposed design.

• 한국신재생에너지학회:학술대회논문집
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• 2007.06a
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• pp.658-661
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• 2007

KIER have been developing high-temperature solar technology, especially the solar thermal power generation system, since the early of 1990s. In 1994, the first research on high temperature solar technology started with PTC technology. At the moment the most advanced 10kW dish system is under demonstration for 10kW solar thermal power generation. Test results showed about 19.2% solar to electricity average efficiency. Another research activities of KIER is hybrid power generation. For hybridization, solar and LFG(landfill gas) are used. Another hybrid solar system is with solar chemical reaction. In this system, power unit is gas turbine, and the heat content of fuel(like natual gas) is upgraded by solar energy through chemical reaction. The latest project on solar thermal power generation is for 1 MW power tower system. This is the Korea-China Joint project.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.891-895
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• 1996

Performance and efficiency of hybrid (hydraulic-mechanical) pick-up device of deep sea manganese nodules collector are very sensitive to altitude and altitude of pick-up head relative to undulating seafloor. For this reason, motion control of pick-up head relative to the changing deep sea topography and other disturbances is of particular importance in design of pick-up device. The concept of design axiom is applied to a pick-up device of hybrid type. Kinematic analysis conducted in absolute Cartesian coordinates gives position, velocity, and acceleration of the hydraulic cylinders which enable the pick-up head to keep the preset optimal distance from seafloor. Inverse dynamic analysis provides the driving forces of hydraulic cylinders and the reaction forces at each joint. Design sensitivity analysis is performed in order to investigate the effects of possible design variables on the change of the maximum strokes of hydraulic cylinders. The direct differentiation method is used to obtain the design sensitivity coefficients.

• Restorative Dentistry and Endodontics
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• v.25 no.3
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• pp.446-458
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• 2000

In this study, compressive strengths of three condensable composite resins(ALERT, SureFil, Solitaire), conventional hybrid composite resin(Z-100) and amalgam(HI-Aristaloy 21) according to the 6 types of cavity design(cylinder, trapezoidal, butt-joint, round bevel, long bevel and short bevel) were measured and appearance of fracture surfaces were observed with SEM, thus evaluated clinical applications of condensable composite resins according to the cavity designs. The results were as follows; 1. Compressive strengths according to experimental materials were the highest in SureFil, and Z-100, ALERT, Solitaire, HI-Aristaloy 21 in order. 2. SureFil showed the highest compressive strength(p<0.05). compressive strengths of ALERT and Solitaire were lower than that of Z-100, hybrid composite(p<0.05). 3. Compressive strengths according to specimen design were the highest in trapezoidal shape(p<0.05) and no significant difference was detected between other specimen designs. 4. The appearance of condensable composite resin under SEM was of a diverse configuration according to component of resin matrix, shapes of filler and surface treatments between resin and filler.

• Journal of Welding and Joining
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• v.28 no.3
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• pp.42-48
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• 2010

Polycarbonate (PC) and Acrylonitrile Butadiene Styrene (ABS) were welded by a combination of a diode laser and a CNC machining center. Laser beam delivered through the transparent PC and was absorbed in an opaque ABS. Polymers were melted and joined by absorbed and conducted heat. Experiments were carried out by varying working distance from 44mm to 50mm for the focus spot diameter control, laser input power from 10W to 25W, and scanning speed from 100 to 400mm/min. The weld bead and cross-section were analyzed for weld quality, and tensile results were presented through the joint force measurement. With focus distance at 48mm, laser power with 20W, and welding speed at 300mm/min, experimental results showed the best welding quality which bead size was measured to be 3.75mm. The shear strength at the given condition was $22.8N/mm^2$. Considering tensile strength of ABS is $43N/mm^2$, shear strength was sufficient to hold two materials. A single process was possible in a CNC machining system, surface processing, hole machining and welding. As a result, the process cycle time was reduced to 25%. Compared to a typical process, specimens were fabricated in a single process, with high precision.

• Journal of the Architectural Institute of Korea Structure & Construction
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• v.34 no.10
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• pp.3-10
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• 2018

Hybrid Prestressed Precast Concrete System (HPPC system) is a newly developed frame system that can improve the performance of precast concrete (PC) joints by post-tensioning. In particular, the details proposed in this study can reduce the lifting weight of the PC members and eliminate problems caused by cracks in the joints that occur under service loads. This study performed an evaluation on the negative moment performance of full-scaled HPPC girders. The test specimens were cast with or without slabs, with bonded or unbonded tendons, and had different post-tensioned lengths in tensile section. The test results showed that the specimens with slabs had significantly higher stiffness and strength than those without slabs. There were no differences in the flexural behavior between those with bonded or unbonded tendons, and between those with short or long post-tensioned lengths in the negative moment region.

• Structural Engineering and Mechanics
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• v.85 no.3
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• pp.407-417
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• 2023

Precast assembled bridge piers with hybrid connection (PASP) use both tendons and socket connections. To study the seismic performance of PASP, a full-scale in-situ test was performed based on an actual bridge project. The elastic-plastic fiber model of PASP was established using finite element software, and numerical analyses were performed to study the influence of prestress degree and socket depth on the PASP seismic performance. The results show that the typical failure mode of PASP under horizontal load is bending failure dominated by concrete cracking at the joint between the column and cushion cap. The cracking of the pier concrete and opening of joints depend on the prestress degree and socket depth. The prestressing tendons and socket connection can provide enough ductility, strength, restoration capability, and bending strength under small horizontal displacements. Although the bearing capacity and post yield stiffness of the pier can be improved to some extent by increasing the prestressing force, ductility is reduced, and residual deformation is increased. Overall, there are reasonable minimum socket depths to ensure the reliability of the socket connection.

• Journal of the Korea Concrete Institute
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• v.26 no.1
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• pp.3-12
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• 2014

Hybrid Truss Bridge (HTB) uses steel truss webs instead of concrete webs in prestressed box girder bridges, which is becoming popular due to its structural benefits such as relatively light self-weight and good aesthetics appearance. Since the core technology of this bridge is the connection system between concrete slabs and steel truss members, several connection systems were proposed and experimentally evaluated. Also, the selected joint system was applied to the real bride design and construction. The research was performed on the connection system, since it can affect the global behavior of this bridge such as flexural and fatigue behaviors as well as the local behavior around the connection region. The evaluation study showed that HTB applied to a curved bridge or an eccentrically loaded bridge had a weak torsional capacity compared to an ordinary PSC box girder bridge due to the open cross-sectional characteristic of HTB. Therefore, three types of girders with different joint system between truss web member and concrete slab were tested for their torsional capacity. In this study, the three different types of HTB girders under torsional loading were simulated using FEM analysis to investigate the torsional behavior of HTB girders more in detail. The results are discussed in detail in the paper.

• Proceedings of the KWS Conference
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• 2010.05a
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• pp.59-59
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• 2010

Friction stir welding has become a viable and important manufacturing alternative or fabrication component, especially in aerospace and automobile applications involving aluminium alloys. In recent years, there is an increasing interest for FSW of dissimilar metals and alloys, particularly systems which are difficult to weld by conventional, thermal (or fusion) welding. In this study we tried to analyse the complex heat distribution occurring in TIG assisted FSW of dissimilar butt joint (STS304 and Al6061). For this, an analytical model for heat generation by FSW based on contact conditions has been developed. The heat input was calculated considering the coefficient of friction and slip factor between each work piece material with the tool material. The thermal model is used to generate the temperature characteristics curve, which successfully predicts the maximum welding temperature in each alloys. The analysis was carried out using the in-house solver.