• 제어로봇시스템학회논문지
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• 제12권2호
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• pp.138-144
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• 2006

Kinematic and dynamic characteristics of a Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a parallel manipulator with variable platform (PMVP) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by an actuator. The workspace of the PMVP is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the PMVP and the actual hardware was built to demonstrate the feasibility.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.123.3-123
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• 2001

To recycle the uranium resources in the spent nuclear fuels, all the fuel rods are extracted from the spent fuel assemblies. The remaining components of the spent fuel assembly after extracting all the rods, so called a NFBC(Non-Fuel Bearing Components), should be compacted to minimize the waste volume. To this present, KAERI (Korea Atomic Research Institute) has developed he NFBC compactor by introducing a new concept of cutting and compaction, In this paper, to achieve he maximum compaction ration of the NFBC volume while reducing compactor size, an fuzzy controller, which determines the reference force of the compactor, is proposed with using he fuzzy-inference.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.63-72
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• 2003

A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimization problem. composite design index is employed. For the given operational specifications, actuator sizing for this mechanism is also carried out.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 B
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• pp.1000-1002
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• 2002

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force using disturbance observer. Based on this estimated adhesive effort, the re-adhesion control is performed to obtain the maximum transfer of the tractive effort.

• Earthquakes and Structures
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• 제3권5호
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• pp.749-766
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• 2012

Structural control through integration of passive damping devices within the building structure has been increasingly implemented internationally in the last years and has proven to be a most promising strategy for earthquake safety. In the present paper an alternative configuration of an innovative energy dissipation mechanism that consists of slender tension only bracing members with closed loop and a hysteretic damper is investigated in its dynamic behavior. The implementation of the adaptable dual control system, ADCS, in frame structures enables a dual function of the component members, leading to two practically uncoupled systems, i.e., the primary frame, responsible for the normal vertical and horizontal forces and the closed bracing-damper mechanism, for the earthquake forces and the necessary energy dissipation. Three representative international earthquake motions of differing frequency contents, duration and peak ground acceleration have been considered for the numerical verification of the effectiveness and properties of the SDOF systems with the proposed ADCS-configuration. The control mechanism may result in significant energy dissipation, when the geometrical and mechanical properties, i.e., stiffness and yield force of the integrated damper, are predefined. An optimum damper ratio, DR, defined as the ratio of the stiffness to the yield force of the hysteretic damper, is proposed to be used along with the stiffness factor of the damper's- to the primary frame's stiffness, in order for the control mechanism to achieve high energy dissipation and at the same time to prevent any increase of the system's maximum base shear and relative displacements. The results are summarized in a preliminary design methodology for ADCS.

• 한국표면공학회:학술대회논문집
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• 한국표면공학회 2018년도 춘계학술대회 논문집
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• pp.72-72
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• 2018

A dynamic fatigue characteristic of dental implant system has been evaluated with applying single axial compressive shear loading based on the ISO 14801 standard. For the advanced dynamic fatigue test, multi-directional force and motion needed to be accompanied for more information of mechanical properties as based on mastication in oral environment. In this study, we have prepared loading and motion protocol for the multi-directional fatigue test of dental implant system with single (Apical/Occlusal; AO), and additional mastication motion (Lingual/Facial; LF, Mesial/Distal; MD). As following the prepared protocol (with modification of ISO 14801), fatigue test was conducted to verify the worst case results for the development of highly stabilized dental implant system. Mechanical testing was performed using an universal testing machine (MTS Bionix 858, MN, USA) for static compression and single directional loading fatigue, while the multi-directional loading was performed with joint simulator (ADL-Force 5, MA, USA) under load control. Basically, all mechanical test was performed according to the ISO 14801:2016 standard. Static compression test was performed to identify the maximum fracture force with loading speed of 1.0 mm/min. A dynamic fatigue test was performed with 40 % value of maximum fracture force and 5 Hz loading frequency. A single directional fatigue test was performed with only apical/occlusal (AO) force application, while multi directional fatigue tests were applied $2^{\circ}$ of facial/lingual (FL) or mesial/distal (MD) movement. Fatigue failure cycles were entirely different between applying single-directional loading and multi-directional loading. As a comparison of these loading factor, the failure cycle was around 5 times lower than single-directional loading while applied multi-directional loading. Also, the displacement change with accumulated multi-directional fatigue cycles was higher than that of single directional cycles.

• 한국생산제조학회지
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• 제20권6호
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• pp.685-691
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• 2011

The Bearing preload units are used for stable rotational movements of high speed spindles. The feeding mechanism of the preload unit is important to prevent overheat of bearings and to keep constant bearing load under thermal deformation of spindle unit. In this study, ball slide guide and ball bush as feeding mechanism of preload unit are selected. The maximum static friction force, radial stiffness and damping ratio of ball slide guide with ball load, ball number and ball size are widely investigated. In conclusion, the surface of ball slide guide must be heat treated to reduce static friction force. The number and size of ball are increased to control sensitive bearing preload force.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2003년도 추계학술대회 논문집(III)
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• pp.377-382
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• 2003

In tread braking of freight cars, braking force is produced by the friction between the wheel and the braking shoe. Friction coefficients such as the brake power, weight variation and brake shoe types should be sensitively treated as the design parameters. The conditions of the car, empty and weighted, should also be taken into consideration in brake force design and the control of brake force has some limitations in terms of the brake system design so that the brake materials selection should be considered as important measures to solve that difficulties. Friction characteristics of brake materials should remain within the range of maximum and minimum value and the friction performance should remain stable regardless of braking time and temperature. This study presented an experimental evaluation method to secure optimum braking performance by keeping safe braking effect and braking distance by the friction coefficient of the brake shoe of the freight cars.

• Tribology and Lubricants
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• 제22권2호
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• pp.87-92
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• 2006

In tread brake of freight cars, brake force is produced by the friction between the wheel and the brake shoe. Friction coefficients associated with the brake power, weight variation and brake shoe types should be sensitively treated as the design parameters. The conditions of the car, empty and loaded, should also be taken into consideration in brake force design and the control of brake force has some limitations in terms of the brake system design so that the brake friction materials selection should be considered as important measures to solve that difficulties. Friction characteristics of brake friction materials should remain within the range of maximum and minimum value and the friction performance should remain stable regardless of brake time and temperature. This study presented an experimental evaluation method to secure optimum brake performance by keeping safe brake effect and brake distance by the friction coefficient of the brake shoe of the freight cars.

• Structural Engineering and Mechanics
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• 제12권6호
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• pp.633-656
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• 2001

In this paper, modal control with direct output feedback is formulated in a systematic manner for easy implementation. Its application to the seismic protection of structural systems is verified by a shaking table test, which involves a full-scale building model and an active bracing system as the control device. Two modal control cases, namely, one full-state feedback and one direct output feedback control were tested and compared. The experimental result shows that in mitigating the seismic response of building structures, modal control with direct output feedback can be as effective and efficient as that with full-state feedback control. For practical concerns, the control performance of the proposed method in the presence of sensor noise and stiffness modeling error was also investigated. The numerical result shows that although the control force may be increased, the maximum floor displacements of the controlled structure are very insensitive to sensor noise and modeling error.