• 한국신뢰성학회:학술대회논문집
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• 한국신뢰성학회 2006년도 학술발표대회 논문집
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• pp.357-361
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• 2006

Fatigue fracture behavior of a hybrid joint part with bolting was evaluated in comparison to the case of static fracture. Hybrid joint part specimens for bending test were made with layers of CFRP and aluminum honeycomb. Characteristic fracture behaviors of those specimens were obviously different under static and cyclic loads. Static bending load showed the shear deformation at the honeycomb core, whereas cyclic bending load caused the delamination between CFRP skin layers and honeycomb core. Experimental results obtained by static and fatigue tests were considered in modifications of design parameters of the hybrid joint.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• 한국지능시스템학회논문지
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• 제24권3호
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• pp.304-309
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• 2014

본 논문에서는 허리 구조를 갖는 복합 바퀴-다리 이동형 로봇의 설계 방법을 제안한다. 제안된 복합 이동형 로봇은 비평탄 및 평탄 지형에서의 효과적인 이동을 위하여 로봇의 다리에 바퀴가 결합된 복합 바퀴-다리 구조와 로봇 주행 중 보행 자세로의 안정적인 전환과 비평탄 지형에서 기구적인 제한의 개선을 위하여 허리 관절을 갖는 구조로 설계하였다. 또한 다양한 지형을 인지하기 위하여 LRF센서, PSD센서, CCD 카메라를 사용하였다. 제안한 로봇 시스템의 검증을 위해 지형별 주행과 보행 자세를 선택할 수 있는 운동 계획 기법을 제안하였다. 실제 복합 바퀴-다리 이동형 로봇을 설계 및 제작하고, 제안된 운동계획을 사용한 실험을 통해 지형에 따른 효율적인 이동 성능을 검증하였다.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2006년 추계학술발표대회 개요집
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• pp.216-218
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• 2006

The application of aluminium alloy is increasing for lightweight and high quality transport vehicle. In this study, therefore, it is intended to apply the high speed hybrid welding method for marine grade aluminium alloy(A5083) used for shipbuilding that consists of 3 kW CW Nd:YAG laser and MIG welding process. For this purpose, the characteristics of process parameters(laser & arc combine angle and focal position of hybrid head to specimen) are investigated for hybrid fillet joint. This study also describes determination of heat distribution using finite element model of the T-joint fillet weld using the in-house solver which has been validated for different type of welding problems.

• 복합신소재구조학회 논문집
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• 제6권4호
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• pp.51-57
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• 2015

Various hybrid dampers have been developed in Korea to control the vibration due to a wind and earthquake. In order to minimize the installment space, cost and construction process, the new hybrid friction damper is developed. This hybrid damper is composed of several rotary friction components having two frictional joint. Because of these components, the building vibration due to wind and earthquake can be mitigated by hybrid friction damper. In this paper, various dependency tests were carried out to evaluate on the structural performance of two joint rotational friction component of the hybrid damper. Test results show that two joint rotational components do not depend on a displacement and a frequency of forcing but friction coefficients is reducing as a clamping force is increasing.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.801-802
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• 2011

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1998년도 봄 학술발표회논문집(II)
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• pp.487-492
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• 1998

The purpose of this study is to investigate the external joints flexural of hybrid system(RPC) which is consist of precast concrete slabs and cast in site concrete walls. The external joint's specimens were prepared by types of joint detail and were tested under cyclic load which used yielding displacement. The results of external joints of hybrid system showed that the strength capacity of RPC is little different than RC and that the energy dissipation capacity of RPC is similar to RC.

• KCI Concrete Journal
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• 제11권3호
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• pp.191-199
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• 1999

A Precast frame system with hybrid beam-column connections was proposed in this study. An analytical study evaluated the system under seismic loadings. Four buildings with different heights were modeled in which each building had three types of joint details (A. B, C). Thus, twelve buildings were examined with variables such as building height and joint detail. Four earthquake records were applied to the buildings as input ground motions. All the records were normalized to the intensity of 0.25g to assess behavior under the same intensity of seismic excitation. All the joint types showed almost identical results except for the Mexico earthquake which was scaled up from 0. 1g to 0.25g. Buildings with the type C joint exhibited the largest deflection for the Mexico earthquake. It was concluded that type B joint could be used in a high seismic zone and the type C joint could possibly be used in the regions of low to medium seismic activity.

• 한국강구조학회 논문집
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• 제21권6호
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• pp.647-657
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• 2009

본 연구는 강-프리스트레스 콘크리트(PSC) 혼합구조 보를 분절형 교량에 적용하기 위해 필수적으로 요구되는 이종 부재간의 연결에 대한 기초연구로써, 연결부 거동과 시공성을 향상시키기 위해 연결부 상․하부 플레이트에 perfobond rib 전단연결재를 설치한 강-PSC 연결부를 제안하였다. 제안된 연결부가 설치된 보 실험체들을 제작하여 하중재하실험을 통해 연결부의 성능을 확인한 결과, 모든 실험체에서 연결부의 파괴 없이 연결부 인접 PSC부에서 실험체의 파괴와 극한강도가 나타났다. 합성 작용에 의하여 실험체의 초기 강성은 우수한 것으로 나타났으며, 균열의 진전 형상도 전형적인 휨 균열 형상을 나타내었다. 또한, 기존 스터드를 적용한 실험체 이상의 강도를 얻을 수 있는 것으로 나타났다. 그러므로 제안된 연결부는 혼합구조 연결부에 효과적으로 적용 가능하다고 판단된다.

• Earthquakes and Structures
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• 제12권6호
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• pp.603-617
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• 2017

This paper presents investigation into the behavior of beam-column joints, with the joint region concrete being replaced by steel fiber reinforced concrete (SFRC) and by ultra-high performance concrete (UHPC). A total of ten beam-column joint specimens (BCJ) were tested experimentally to failure under monotonic and cyclic loading, with the beam section being subjected to flexural loading and the column to combined flexural and axial loading. The joint region essentially transferred shear and axial stresses as received from the column. Steel fiber reinforced concrete (SFRC) and ultra-high performance concrete (UHPC) were used as an innovative construction and/or strengthening scheme for some of the BCJ specimens. The reinforced concrete specimens were reinforced with longitudinal steel rebar, 18 mm, and some specimens were reinforced with an additional two ties in the joint region. The results showed that using SFRC and UHPC as a replacement concrete for the BCJ improved the joint shear strength and the load carrying capacity of the hybrid specimens. The mode of failure was also converted from a non-desirable joint shear failure to a preferred beam flexural failure. The effect of the ties in the SFRC and UHPC joint regions could not be observed due to the beam flexural failure. Several models were used in estimating the joint shear strength for different BCJ specimens. The results showed that the existing models yielded wide-ranging values. A new concept to take into account the influence of column axial load on the shear strength of beam-column joints is also presented, which demonstrates that the recommended values for concrete tensile strength for determination of joint shear strength need to be amended for joints subject to moderate to high axial loads. Furthermore, finite element model (FEM) simulation to predict the behaviour of the hybrid BCJ specimens was also carried out in an ABAQUS environment. The result of the FEM modelling showed good agreement with experimental results.