• Journal of Aerospace System Engineering
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• v.3 no.2
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• pp.12-19
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• 2009

The research for the fatigue analysis is regarded greatly as important in aerospace field. Moreover, a study on the fatigue characteristic is very actively progressing. In this study, the fatigue life estimation was performed for Flaperon Joint which has FCL(fatigue critical location) of tilt-rotor UAV. The Flaperon Joint should be taken the various loads by several missions profiles of UAV. The fatigue load spectrum of Flaperon Joint is generated by the standard mission segment for the tilt-rotor UAV, and this spectrum is used for the fatigue test and analysis. The in-house fatigue analysis program is applied to calculate the fatigue life based on Stress-Life(S-N) method. The S-N curve is generated from the S-N data of Mil-Handbook by second order polynomial regression method. Moreover, the coefficient of determination is used to ensure how accuracy it has. In addition, the Goodman equation is used to consider the mean stress effect for evaluating more accurate fatigue life. Finally, the result of fatigue analysis is verified by comparing with the fatigue test result for the Flaperon Joint.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.15 no.1
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• pp.18-27
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• 2019

The Advanced Power Reactor 1400 (APR1400) Steam Generator (SG) uses alloy 690 as a tube material and SA-508 Grade 3 Class 1 as a tubesheet material to form tube-to-tubesheet joint through hydraulic expansion process. In this paper, the residual stresses in the SG tube-to-tubesheet contact area was investigated by applying Model-Based System Engineering (MBSE) methodology and the V-model. The use of MBSE transform system description into diagrams which clearly describe the logical interaction between functions hence minimizes the risk of ambiguity. A theoretical and Finite Element Methodology (FEM) was used to assess and compare the residual stresses in the tube-to-tubesheet contact area. Additionally, the axial strength of the tube to tubesheet joint based on the pull-out force against the contact joint force was evaluated and recommended optimum autofrettage pressure to minimize residual stresses in the transition zone given. A single U-tube hole and tubesheet with ligament thickness was taken as a single cylinder and plane strain condition was assumed. An iterative method was used in FEM simulation to find the limit autofrettage pressure at which pull-out force and contact force are of the same magnitude. The joint contact force was estimated to be 20 times more than the pull-out force and the limit autofrettage pressure was estimated to be 141.85MPa.

• Journal of the Ergonomics Society of Korea
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• v.25 no.2
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• pp.51-62
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• 2006

In assessing risks related to working posture, pictures of postures are taken from various directions, which can be a source of observation error. Joint postures of the neck, lower back, knee, shoulder, and elbow were taken from 7 different viewing angles and 19 observers estimated joint angles by observing the pictures in 2-dimensional display. The joint angles were also measured using an optoelectronic motion measurement system. The estimation error increased as the viewing angle varies from the right side of the human body, but the patterns differ according to which joint angles were being observed. Guidelines to increase the validity of observation of joint angles were presented based on the results. In general, it is recommended to maintain the viewing angle within 20 degrees from the right side of the human body, while different ranges of viewing angle are recommended for each joint angle.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.2
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• pp.120-127
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• 2008

The constant velocity joint(CVJ) used for transmitting torque to the front wheels is an important part in automotive drive system. There are several types of constant velocity joints. Typically, they are classified by fixed and plunging constant velocity joints. The axial force generated in plunging constant velocity joints influences significantly the noise, vibration and harshness. For heaps of time, many constant velocity joint markers have been studying and developing a valid method to reduce the axial force and extensive tests have been carried out on rigs. This paper presents the analysis method to predict the axial force of a double offset constant velocity joint(DOJ), a kind of plunging constant velocity joint, and the influence of ball-cage dimension tolerance on the axial force.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1679-1683
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• 2005

This paper suggests the new type of a joint torque sensor which is attached at each joint of a manipulator for making compliance. Previous six axis force/torque sensors are high cost and installed end-effector of the manipulator. However, torque on links of previous an end-effector cannot be measured. We design a joint torque sensor that can be fully integrated with an actuator in order to measure applying torque of the manipulator. The sensor system is designed through the structural analysis. The proposed joint torque sensors are installed to the 6 DOF manipulator of a mobile robot for hazardous works and we implemented experiments of measuring applied torque to the manipulator. By the experiment, we proved that the proposed low-cost joint torque sensor gives acceptable performance when we control a manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.135-139
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• 1990

In general, the control of robot arms falls into two board categories (position control and force control). The joint interpolated trajectory schemes generally interpolate the desired joint path by a class of polynomial functions and generate a sequence of time based control set points for the control of a manipulator from a initial location to its destination. A digital position controller was designed and adapted to the industrial balancing manipulator. And also, the joint interpolated trajectory using 3rd order polynomial was generated in this study. The IBM PC used as the main controller and the trajectory planner had enough run-time capabilities. The 8097BH microcontroller is an integral pan of the joint controller which directly controls an axis of motion. The PI servo control system to treat each joint of the robot arm as a independent joint servo mechanism had satisfying performance, and a sequence of time-based intermediate configurations of the manipulator hand showed good continuity and smoothness on position and velocity of the manipulator's joint coordinates along the trajectory.

• Journal of Electrical Engineering and Technology
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• v.10 no.3
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• pp.1212-1220
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• 2015

This article presents a new nonlinear joint (state and parameter) estimation algorithm based on fusion of Kalman filter and randomized unscented Kalman filter (UKF), called Kalman randomized joint UKF (KR-JUKF). It is assumed that the measurement equation is linear. The KRJUKF is suitable for time varying and severe nonlinear dynamics and does not have any systematic error. Finally, joint-EKF, dual-EKF, joint-UKF and KR-JUKF are applied to a CSTR with cooling jacket, in which production of propylene glycol happens and performance of KR-JUKF is evaluated.

• Journal of Industrial Technology
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• v.18
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• pp.289-293
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• 1998

In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed - high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.1
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• pp.70-75
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• 2013

The electrical separation joint as a filter circuit distributes the track circuit frequency. The electrical separation joint is classified into the interval where reinforcing bars are insulated and not insulated through the length of track circuit. In case of incorrectly setting up the length of electrical separation joint, the amplitude of current on the track circuit is not over standard current which is the standard of current on the track circuit and it effects on the close frequency on track circuit. Then, it makes an accident or makes a train not receive information for train control. In this paper, the electrical separation joint model is suggested and parameters are numerically calculated in the model. Moreover, the length of electrical separation joint is analyzed and is demonstrated by uisng Matlab and PSpice program.

• 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.