• 한국정밀공학회지
• /
• 제7권4호
• /
• pp.85-102
• /
• 1990

Up to now, most robot control systems are very naive. They consist of a number of independent position-servo loops to control each joint angle separately. Those control systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severely limited in range of application, speed of operation and variation of payload. This study proposed a new method to design a robot manipulator controller capable of tracking the reference trajectories of joint angles in a reasonable accuracy to cope with actual situations of varying payload, uncertain parameters. The adaptive model following control method has been used to improve existing robot manipulator controllers. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the designer. The stability of adaptive controller is based on the Second Method of Lyapunov. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance under various load varia- tion and parameter uncertainties.

• 한국생산제조학회지
• /
• 제21권6호
• /
• pp.968-975
• /
• 2012

ABS(Anti-skid Brake System) had been developed on purpose of most effect at breaking in limited runway. An aircraft has a large amount of kinetic energy on landing. When the brakes are applied, the kinetic energy of the aircraft is dissipated as heat energy in the brake disks between the tire and the ground. The optimum value of the slip during braking is the value at the maximum coefficient of friction. An anti-skid system should maintain the brake torque at a level corresponding to this optimum value of slip. This system is electric control system for brake control valve at effective control to prevent slip and wheel speed or speed ratio. In this study we measured the thickness of the carbon disk before and after to find its wear and it shows that carbon disk brake has higher stiffness and strength than metal disk at high temperature. In addition, thermal structural stability and appropriate frictional coefficient of the carbon disk brake prove its possible substitution of metal disk brake.

• 한국소음진동공학회논문집
• /
• 제14권10호
• /
• pp.1007-1014
• /
• 2004

This paper presents a study of low frequencies volume velocity vibration control of a smart panel in order to reduce sound transmission. A distributed piezoelectric quadratically shaped polyvinylidene fluoride (PVDF) polymer film is used as a uniform force actuator and an array of $4\;{\times}\;4$ accelerometer is used as a volume velocity sensor for the implementation of a single-input single-output control system. The theoretical and experimental study of sensor-.actuator frequency response function shows that this sensor-actuator arrangement provides a required strictly positive real frequency response function below about 900 Hz. Direct velocity feedback could therefore be implemented with a limited gain which gives reductions of about 15 dB in vibration level and about 8 dB in acoustic power level at the (1,1) mode of the smart panel. It has been also shown that the shaping error of PVDF actuator could limit the stability and performance of the control system.

• Advanced Composite Materials
• /
• 제17권1호
• /
• pp.75-87
• /
• 2008

Aerospace structural applications, along with high performance marine and automotive applications, require high-strength efficiency, which can be achieved using metal matrix composites (MMCs). Rotating components, such as jet-engine blades and gas turbine parts, require materials that maximize strength efficiency and metallurgical stability at elevated temperatures. Titanium matrix composites (TMCs) are well suited in such applications, since they offer an enhanced resistance to temperature effects as well as corrosion resistance, in addition to optimum strength efficiency. The overall behavior of the composite system largly depends on the properties of the interface between fiber and matrix. Characterization of the fiber.matrix interface at operating temperatures is therefore essential for the developemt of these materials. The fiber fragmentation test shows good reproducibility of results in determining interface properties. This paper deals with the evaluation of fiber fragmentation characteristics in TMCs at elevated temperature and the results are compared with tests at ambient temperature. It was observed that tensile testing at $650^{\circ}C$ of single-fiber TMCs led to limited fiber fragmentation behavior. This indicates that the load transfer from the matrix to the fiber occurs due to interfacial friction, arising predominantly from mechanical clamping of the fiber by radial compressive residual and Poisson stresses. The present work also demonstrates that composite processing conditions can significantly affect the nature of the fiber.matrix interface and the resulting fragmentation of the fiber.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
• /
• 제25권1호
• /
• pp.51-60
• /
• 2019

Purpose: This study aims to analyze design guidelines for hospice facilities in the US, UK, and Canada focused on design considerations and space requirements, and utilizes them as baseline data for establishing standards for Korean hospice facilities. Methods: Comparative review was carried out to investigate hospice care models, design consideration, and room sizes and requirements for design guideline of hospice facilities in United States, UK and Canada identified on electronic database and review articles, and to examine major characteristics and tendencies of hospice facilities. Results: The hospice care models characteristics in design guidelines is generally largely divided into hospital-based hospice facility, Nursing home-based hospice facility, and daycare hospice. The design considerations in hospice facilities focused on medical efficiency, flexibility, barrier-free environment, person-centered care, and stability. There is also a need for single resident room, rooms for the patient's family, and isolation room for infection control. Implications: it is recommended to establish standards for the installation and operation of required and recommended rooms and considerations when establishing the standards of hospice facilities in Korea. This Study is limited to a simple comparative analysis of the framework of guideline.

• 한국지반공학회:학술대회논문집
• /
• 한국지반공학회 2006년도 춘계 학술발표회 논문집
• /
• pp.276-285
• /
• 2006

Application of anchored or strutted wall system for the earth retention of excavation works in a populated urban area or a poor soil deposit can be limited due to various restrictions. Since the strut becomes longer in a wide excavation site, the stability of an earth retaining wall is decreased, the wall deformation is increased, and the ground settlement is also increased due to an increased buckling or bending deformation of struts. Especially, in a populated urban area, the installation of anchors can be problematic due to the property line of adjacent structures or facilities. Thus, a new concept of earth retaining system like Self-Supported diaphragm Wall can solve several problems expected to occur during excavation in the urban area. In this study, Numerical analyses of counterfort diaphragm wall was introduced and the monitored data from the site was compared with the original results of numerical analyses. Also, in the case of the deep excavation applied the counterfort diaphragm wall, numerical analyses was performed to predict the wall deformation and the reinforcement to reduce the wall deformation was suggested.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 추계학술대회논문집A
• /
• pp.477-482
• /
• 2001

To realize higher track density of HDD, the servo bandwidth should be higher, however, is limited by the mechanical resonances of the arm, coil of the VCM and ball bearing pivot. The dual-stage actuator systems have been suggested as a possible solution. For the dual-stage actuator systems based on the suspension, the suspension resonance frequencies in the radial access direction are important factors to increase a servo bandwidth, however the improvement of these frequencies may affect the shock resistance performance and spring constant. The slider's flying stability can be deteriorated by the change of a vertical stiffness. In this work, we have investigated a suspension design scheme possessing a milliactuator for dual-stage actuator systems and also achieved higher mechanical characteristics. Design parameters are deduced by finite element analysis with sensitivity function. It is confirmed that the proposed suspension with the milliactuator has the capability of fine tracking motion, due to its hinge structure on the spring region, and achieves higher mechanical resonance frequencies in the radial access direction with a high-shock resistance and a low-spring constant.

• Membrane and Water Treatment
• /
• 제8권5호
• /
• pp.395-409
• /
• 2017

Membrane bioreactor (MBR) is a compact and efficient wastewater treatment and reclamation technology; but, it is limited by membrane fouling. The control of membrane fouling significantly increases operational and maintenance costs. Bacteria and their byproducts - extracellular polymeric substances (EPS) - are major contributors to membrane fouling in MBRs. A recent attempt at fouling mitigation is the development of aerobic granular sludge membrane bioreactor (AGMBR) through the integration of a novel biotechnology - aerobic granulation - and MBR. This paper provides an overview on the development of AGMBR to mitigate membrane fouling caused by bacteria and EPS. In AGMBR, EPS are used up in granule formation; and, the rigid structure of granules provides a surface for bacteria to attach to rather than the membrane surface. Preliminary research on AGMBR using synthetic wastewater show remarkable membrane fouling reduction compared to conventional MBR, thus improved membrane filtration. Enhanced performance in AGMBR using actual municipal wastewater at pilot-scale has also been reported. Therefore, further research is needed to determine AGMBR optimal operational conditions to enhance granule stability in long-term operations and in full-scale applications.

• 대한기계학회논문집B
• /
• 제22권12호
• /
• pp.1681-1690
• /
• 1998

The aim of this paper is to investigate combustion characteristics of lean premixed mixture stabilized by catalytic surface reaction. The catalytic combustor consisted of a catalyst bed and a thermal combustor. The catalyst bed was made of two stage, Pd catalyst in the first stage and Pt catalyst in the second stage. Auto ignition of lean mixture took place in the thermal combustor. Ignition temperature was about $810{\sim}820^{\circ}C$ at the fuel-air ratio of 1.5~3.0 % and the mixture velocity of 11~18m/sec. The position of flame front in the thermal combustor moved toward back as preheat temperature increased and fuel-air ratio decreased. The f1ame supported by surface reaction was stabilized without any flame stabilizers. NOx emissions from the catalytic combustor were below 2.0 ppm ($O_2$ 15 %) when gas temperature was limited below $1350^{\circ}C$. This result demonstrates that NOx emission from the catalytic combustor is much low comparing with conventional combustors.

• 시큐리티연구
• /
• 제3호
• /
• pp.175-204
• /
• 2000

In modern society, a spontaneous phenomenon that community residents' participation in crime prevention sphere is increasing now due to the recognition that it is extremely difficult to control crime only by the limited official power(police) is spreading in the society. In the consideration of crime occurrence, the fear of crime does not belong to a certain person any more, but it turns to a matter of common interest for all people. If the recognition of community problems is well understood and analysed, the effect of community residents' participation in crime prevention will appear more eminent and definite. For a long period of time, thanks to the community residents' participation in crime prevention, it has been possible to sustain safety and stability of local community. Ultimately not only the police could reduce the crime problems but local community could decrease a fear of crime. In this study, for maximized effect of crime prevention, it is focused on the role of the community residents' participation in crime prevention. For desirable interrelations among service group and residents, police, first the review of situational crime prevention and community crime prevention theory was studied. And the community residents participation to crime prevention activity in U.S.A, Japan etc was reviewed. By interviewing actual participants in community crime prevention activity, the problems and countermeasures of the community residents' participation in crime prevention activity and desirable direction was suggested