• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.67-77
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• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• Steel and Composite Structures
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• v.24 no.2
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• pp.227-237
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• 2017

This paper presents optimization of a long-span portal steel frame under dynamic wind loads using a surrogate-assisted evolutionary algorithm. Long-span portal steel frames are often used in low-rise industrial and commercial buildings. The structure needs be able to resist the wind loads, and at the same time it should be as light as possible in order to be cost-effective. In this work, numerical model of a portal steel frame is constructed using structural analysis program (SAP2000), with the web-heights at five locations of I-sections of the columns and rafters as the decision variables. In order to evaluate the performance of a given design under dynamic wind loading, the equivalent static wind load (ESWL) is obtained from a database of wind pressures measured in wind tunnel tests. A modified formulation of the problem compared to the one available in the literature is also presented, considering additional design constraints for practicality. Evolutionary algorithms (EA) are often used to solve such non-linear, black-box problems, but when each design evaluation is computationally expensive (e.g., in this case a SAP2000 simulation), the time taken for optimization using EAs becomes untenable. To overcome this challenge, we employ a surrogate-assisted evolutionary algorithm (SAEA) to expedite the convergence towards the optimum design. The presented SAEA uses multiple spatially distributed surrogate models to approximate the simulations more accurately in lieu of commonly used single global surrogate models. Through rigorous numerical experiments, improvements in results and time savings obtained using SAEA over EA are demonstrated.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.1
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• pp.28-40
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• 2015

This paper aims to address the intelligent active vibration control problem of a flexible rectangular plate vibration involving parameter variation and external disturbance. An adaptive sliding mode (ASM) MIMO control strategy and smart piezoelectric materials are proposed as a solution, where the controller design can deal with problems of an external disturbance and parametric uncertainty in system. Compared with the current 'classical' control design, the proposed ASM MIMO control strategy design has two advantages. First, unlike existing classical control algorithms, where only low intelligence of the vibration control system is achieved, this paper shows that high intelligent of the vibration control system can be realized by the ASM MIMO control strategy and smart piezoelectric materials. Second, the system performance is improved due to two additional terms obtained in the active vibration control system. Detailed design principle and rigorous stability analysis are provided. Finally, experiments and simulations were used to verify the effectiveness of the proposed strategy using a hardware prototype based on NI instruments, a MATLAB/SIMULINK platform, and smart piezoelectric materials.

• Nuclear Engineering and Technology
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• v.52 no.8
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• pp.1732-1741
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• 2020

The structural integrity of welded joints in the reactor pressure vessel (RPV) is directly related to the safety of nuclear power plants. The RPV is made from SA508-III steel in a pressurized water reactor. In this study, we investigated the effects of temperature on the tensile and fracture toughness properties of Chinese SA508-III welded joint in different sampling areas in order to provide reference data for structural integrity assessments of RPVs. The specimens used in tensile and fracture toughness tests were fabricated from the base metal (BM), weld metal (WM), and the heat-affected zone (HAZ) in the welded joint. The representative testing temperatures included the ambient temperature (20 ℃), upper shelf temperature (100 ℃), and service temperature (320 ℃). The results showed that temperature greatly affected the fracture toughness (JIC) values for the SA508-III welded joint. The JIC values for BM and HAZ both decreased remarkably from 20 ℃ to 320 ℃. The fracture morphologies showed that the BM and HAZ in the welded joint exhibited fully ductile fracture at 20 ℃, whereas partial cleavage fracture was mixed in ductile fracture mode at 100 ℃ and 320 ℃. The WM exhibited the ductile and cleavage fracture mixed mode at various temperatures, and the JIC values showed slight changes.

• Journal of architectural history
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• v.18 no.1
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• pp.7-29
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• 2009

In understranding the essence of the Korea traditional Architecture, it is important to consider the jointing methods of architectural members, architectural technologies, etc. Especially the purpose of this study is understanding on the Jointing Method of Wooden Members in the period of Unified Silla Architecture. It's conclusion is summarized as follows. 1. A section of column has very close to do with the foundation stone. The structures of foundation stone and column are generally concluded by butt joint, arrow-head joint, housed joint by Grang-e method. Judu is structured by arrow-head joint And, in general, beam is structured by Sagaematchum Chumcha and sagaljudu of Don direction. At the head of Pyungju and the body of Goju, Changbang is structed by Jangbumachum with arrow-head joint or by jumukchang-machum. Also, it is surmised that Gyisoseum and Anssolim methods had been applied to columns from former ages. The example can be found at Bagjae Mireuksaji stone pagoda. Bagjae Mireuksaji stone pagoda taking wooden-pagoda form adopts Gyisoseum and Anssolim methods. We can also find such a sort of methods from other stone constructions like Budo, etc. 2. Injahwaban is structured by short Changbumachum with arrowed-head joint at upper members, and by Anjangmachum at the lower part. This sort of Gongpo style can be seen in the mural painting of tomb of Koguryo and in Buplyungsa, Buplyunsa, Bupkisa-located in Japan, which are influenced by Bakjae or Unified Silla. It is considered that at the end of the late United Silla, Injawhaban had been replaced with Chumcha and Soro on the Pyungbang under influence of Dapo style from China.

• Journal of Ocean Engineering and Technology
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• v.17 no.2
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• pp.34-39
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• 2003

Recent deepwater offshore structures in the Gulf of Mexico utilize butt welded tubular joints. Application of a welded tubular joint includes tendons, production risers, and steel catenary risers. Fatigue life assessment of these joints becomes more critical, as the structures to which they are attached are allowed to undergo cyclic and sometimes large displacements around an anchored position. Estimation of the fatigue behavior of these tubular members in the design stage is generally condrcted by using S-N curves, as specified in the codeds and standards. Applying the stress concentration factor of the welded structure to the S-N approach often results in a very conservative assessment, because the stress field acting on the tubular has a non-uniform distribution through the thickness. Fatigue life analysis using fracture mechanics has been applied in the design of the catenary risers. This technology enables the engineer to establish proper requirements on weld quality and inspection acceptance criteria to assure satisfactory structural integrity during its design life. It also provides guidance on proper design curves and a methodology for accounting for the effects of non-uniform stress distribution through the wall thickness. Still, there is inconsistency when designing tubular joints using a conventional S-N approach and when specifying weld flaw acceptance criteria using fracture mechanics approach. This study developed fatigue curves that are consistent with both the S-N approach and the fracture mechanics approach. Accounting for non-uniform stress distribution and threshold stress intensity factor were key parameters in relating both approaches. A series of S-N curves, generated from the fracture mechanics approach, were compared to the existing S-N curves. For flat plate butt joint, the S-N curve generated from fracture mechanics matches with the IIW class 100 curve when initial crack depth was 0.5 mm (0.02 ). The new curves for tubular joint agree very well with the experimental results. The comparison also indicated the degree of conservatism built into the API X design curve.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• v.6 no.1
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• pp.69-74
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• 2003

Recent deepwater offshore structures in the Gulf of Mexico utilize butt welded tubular joints. Application of a welded tubular joint includes tendons, production risers, and steel catenary risers. Fatigue life assessment of these joints becomes more critical, as the structures to which they are attached are allowed to undergo cyclic and sometimes large displacements around an anchored position. Estimation of the fatigue behavior of these tubular members in the design stage is generally conducted by using S-N curves, as specified in the codes and standards. Applying the stress concentration factor of the welded structure to the S-N approach often results in a very conservative assessment, because the stress field acting on the tubular has a non-uniform distribution through the thickness. Fatigue life analysis using fracture mechanics has been applied in the design of the catenary risers. This technology enables the engineer to establish proper requirements on weld quality and inspection acceptance criteria to assure satisfactory structural integrity during its design life. It also provides guidance on proper design curves and a methodology for accounting for the effects of non-uniform stress distribution through the wall thickness. Still, there is inconsistency when designing tubular joints using a conventional S-N approach and when specifying weld flaw acceptance criteria using fracture mechanics approach. This study developed fatigue curves that are consistent with both the S-N approach and the fracture mechanics approach. Accounting for non-uniform stress distribution and threshold stress intensity factor were key parameters in relating both approaches. A series of S-N curves, generated from the fracture mechanics approach, were compared to the existing S-N curves. For flat plate butt joint, the S-N curve generated from fracture mechanics matches with the IIW class 100 curve when initial crack depth was 0.5 mm (0.02). The new curves for tubular joint agree very well with the experimental results. The comparison also indicated the degree of conservatism built into the API X design curve.

• International Journal of High-Rise Buildings
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• v.11 no.3
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• pp.189-196
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• 2022

The practical difficulties of construction will impose many restrictions on the structural design, and the construction method can also provide unexpected ideas for solving design problems. Through the discussion of three issues closely related to construction in the structural design of Wuhan Center, this paper illustrates the importance of in-depth consideration of the construction situations in the structural design stage. The topics of "Connection between Embedded Steel Plates in Steel Plate Composite Shear Wall" and "Connection Joint between Outrigger Truss and Core Wall" are about how to facilitate on-site construction by simplifying and optimizing detail design. The topic of "Adjusting Internal Force Distribution by Optimizing Construction Sequence" is about how to make the construction process a tool for structural design.

• Journal of the Microelectronics and Packaging Society
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• v.18 no.2
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• pp.35-41
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• 2011

Recently, board level solder joint reliability performance of IC packages during drop impact becomes a great concern to semiconductor and electronic product manufacturers. The handheld electronic products are prone to being dropped during their useful service life because of their size and weight. The IC packages are susceptible to solder joint failures, induced by a combination of printed circuit board (PCB) bending and mechanical shock during impact. The board level drop testing is an effective method to characterize the solder joint reliability performance of miniature handheld products. In this paper, applying the JEDEC (JESD22-B111) standard present a finite element modeling of the FBGA. The simulation results revealed that maximum stress was located at the outermost solder ball in the PCB or IC package side, which consisted well with the location of crack initiation observed in the failure analysis after drop reliability tests.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.434-441
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• 2013

Bending motion has been used in the surgical instruments with bending structures and tendon mechanisms. A simplified bending angle amplification ratio between the proximal and distal bending joint was derived in this article. The bending structure of disk and rib in the proximal joint was analyzed based on finite element method with an emphasis on the circumferential uniformity of bending stiffness. Regarding the distal joint, optimal design and sensitivity analysis was done with four design variables of outer and inner diameter, rib height and rib width while maximizing the deformation under the stress distribution below the yield stress. Outer diameter and rib width are most critical to maximum deformation as the outer diameter and inner diameters are so to maximum equivalent stress.