• Geomechanics and Engineering
• /
• 제11권2호
• /
• pp.269-288
• /
• 2016

The jointed rock mass behavior often plays a major role in the design of underground excavation, and their failures during excavation and in operation, are usually closely related to joints. This research attempts to evaluate the effects of two basic geometric factors influencing tunnel behavior in a jointed rock mass; joints spacing and joints orientation. A hybridized indirect boundary element code known as TFSDDM (Two-dimensional Fictitious Stress Displacement Discontinuity Method) is used to study the stress distribution around the tunnels excavated in jointed rock masses. This numerical analysis revealed that both the dip angle and spacing of joints have important influences on stress distribution on tunnel walls. For example the tensile and compressive tangential stresses at the boundary of the circular tunnel increase by reduction in the joint spacing, and by increase the dip joint angle the tensile stress in the tunnel roof decreases.

• Journal of Welding and Joining
• /
• 제28권4호
• /
• pp.49-54
• /
• 2010

Stainless steel sheets are widely used as the structural material for the railroad cars and the commercial vehicles. These kinds structures used stainless steel sheets are commonly fabricated by using the GMAW (gas metal arc welding). For fatigue design of GMA welded joints such as fillet and plug, ring type joint, it is important to obtain optimum design factor information on GMA welded joints. in this paper, analysis approach for fatigue test using design of experiment are evaluated optimum factor in GMA welded joint type and geometrical parameters of materials. Using these results, that factors applied to fundamental information for fatigue design.

• ETRI Journal
• /
• 제37권5호
• /
• pp.906-916
• /
• 2015

High-speed I/O channels require adaptive techniques to optimize the settings for filter tap weights at decision feedback equalization (DFE) read channels to compensate for channel inter-symbol interference (ISI) and crosstalk from multiple adjacent channels. Both ISI and crosstalk tend to vary with channel length, process, and temperature variations. Individually optimizing parameters such as those just mentioned leads to suboptimal solutions. We propose a joint optimization technique for crosstalk cancellation (XTC) at DFE to compensate for both ISI and XTC in high-speed I/O channels. The technique is used to compensate for between 15.7 dB and 19.7 dB of channel loss combined with a variety of crosstalk strengths from $60mV_{p-p}$ to $180mV_{p-p}$ adaptively, where the transmit non-return-to-zero signal amplitude is a constant $500mV_{p-p}$.

• International Journal of Control, Automation, and Systems
• /
• 제5권5호
• /
• pp.559-569
• /
• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• Structural Engineering and Mechanics
• /
• 제67권1호
• /
• pp.1-8
• /
• 2018

Shake table tests performed on five 1:3 reduced scale two story RC moment resisting frames having construction defects, have shown severe joint damageability in deficient RC frames, resulting in joint panels' cover spalling and core concrete crushing. Haunch retrofitting technique was adopted herein to upgrade the seismic resistance of the deficient RC frames. Additional four deficient RC frames were built and retrofitted with steel haunch; both axially stiffer and deformable with energy dissipation, fixed to the beam-column connections to reduce shear demand on joint panels. The as-built and retrofitted frames' seismic response parameters are calculated and compared to evaluate the viability of haunch retrofitting technique. The haunch retrofitting technique increased the lateral stiffness and strength of the structure, resulting in the increase of structure's overstrength. The retrofitting increased response modification factor R by 60% to 100%. Further, the input excitation PGA was correlated with the lateral roof displacement to derive structure response curve that have shown significant resistance of retrofitted models against input excitations. The technique can significantly enhance the seismic performance of deficient RC frames, particularly against the frequent and rare earthquake events, hence, promising for seismic risk mitigation.

• 한국생산제조학회지
• /
• 제25권6호
• /
• pp.522-531
• /
• 2016

In this study, we propose an object identification method for bin-picking developed for industrial robots. We identify the grasp posture and the associated geometric parameters of grasp objects using the joint data of a robotic gripper. Prior to grasp identification, we analyze the grasping motion in a low-dimensional space using principle component analysis (PCA) to reduce the dimensions. We collected the joint data from a human hand to demonstrate the grasp-identification algorithm. For data acquisition of the human grasp data, we conducted additional research on the motion characteristics of a human hand. We explain the method for using the algorithm of grasp identification for bin-picking. Finally, we present a subject for future research using our proposed algorithm of grasp model and identification.

• 로봇학회논문지
• /
• 제13권2호
• /
• pp.129-141
• /
• 2018

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework's effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

• Geomechanics and Engineering
• /
• 제21권3호
• /
• pp.227-236
• /
• 2020

Non-destructive exploration using elastic waves has been widely used to characterize rock mass properties. Wave propagation in jointed rock masses is significantly governed by the characteristics and orientation of discontinuities. The relationship between spatial heterogeneity (i.e., joint spacing) and wavelength for elastic waves propagating through jointed rock masses have been investigated previously. Discontinuous rock masses can be considered as an equivalent continuum material when the wavelength of the propagating elastic wave exceeds the spatial heterogeneity. However, it is unclear how stress-dependent long-wavelength elastic waves propagate through a repetitive rock-joint system with multiple joints. A preliminary numerical simulation was performed in in this study to investigate long-wavelength elastic wave propagation in regularly jointed rock masses using the three-dimensional distinct element code program. First, experimental studies using the quasi-static resonant column (QSRC) testing device are performed on regularly jointed disc column specimens for three different materials (acetal, aluminum, and gneiss). The P- and S-wave velocities of the specimens are obtained under various normal stress levels. The normal and shear joint stiffness are calculated from the experimental results using an equivalent continuum model and used as input parameters for numerical analysis. The spatial and temporal sizes are carefully selected to guarantee a stable numerical simulation. Based on the calibrated jointed rock model, the numerical and experimental results are compared.

• 터널과지하공간
• /
• 제23권5호
• /
• pp.401-412
• /
• 2013

전단거동에 의한 절리면의 거칠기 변화가 전단강도에 미치는 영향을 조사하기 위하여 절리면 강도가 상이한 편마암, 화강암 및 셰일 시료를 이용하여 순차적 다단계 전단시험을 수행하였다. 시험단계별로 절리면 프로파일의 고도를 측정하여 거칠기 계수를 산정하고 미세 거칠기 빈도 변화를 조사하였다. 거칠기 감쇠에 대한 최적의 거칠기 계수를 산정하여 반복된 전단거동에 의한 순차적 거칠기 감쇠특성을 고찰하였다. 전단강도식을 산정하여 점착력과 마찰각의 차별적 변화양상을 도출하였으며, 표면 거칠기의 마모, 파쇄 및 재형성에 의한 미세 거칠기 빈도변화를 조사하여 강도계수 변화의 원인적 요인을 분석하였다. 또한, 미세 거칠기 변화양상이 전단강도에 미치는 영향을 절리면 강도를 고려하여 분석하였다.

• Journal of Welding and Joining
• /
• 제32권1호
• /
• pp.53-60
• /
• 2014

The automatic arc welding is generally accepted as the preferred joining technique and commonly chosen for assembly of large metal structures such as in areas of automotive, aircraft and shipbuilding due to its joint strength, reliability, and low cost compared to other joint processes. Recently, several mathematical models have been developed and studied for control and monitoring welding quality, productivity, microstructure and weld properties in arc welding processes. This study indicates the prediction of process parameters for the expected welding quality with accordance to the adaptive GTA welding process. Furthermore, the mathematical models is also develop to aid the selection of an optimal welding process as the generation of process controls to predict the bead geometry as a function output parameters in the GTA welding process. The developed models through this study showed comparatively excellent predicted results, and will extend to other welding processes to integrate an optimized system for the robotic welding process.