• Structural Engineering and Mechanics
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• v.34 no.4
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• pp.449-474
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• 2010

A smart hollow cylinder consisting of a host functionally graded elastic core layer and two surface homogeneous piezoelectric layers is presented in this paper. The bonding between the layers can be perfect or imperfect, depending on the parameters taken in the general linear spring-layer interface model. The effect of such weak interfaces on free vibration and steady-state response is then investigated. Piezoelectric layers at inner and outer surfaces are polarized axially or radially and act as a sensor and an actuator respectively. For a simply supported condition, the state equations with non-constant coefficients are obtained directly from the formulations of elasticity/piezoelasticity. An approximate laminated model is then introduced for the sake of solving the state equations conveniently. It is further assumed that the hollow cylinder is embedded in an elastic medium and is simultaneously filled with compressible fluid. The interaction between the structure and its surrounding media is taken into account. Numerical examples are finally given with discussions on the effect of some related parameters.

• Structural Engineering and Mechanics
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• v.47 no.2
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• pp.149-166
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• 2013

Flexible behaviors in new aerospace structures can lead to a degradation of their control and guidance system and undesired performance. The objectives of the current work are to analyze the vibration resulting from the propulsion force on a Single Stage to Orbit (SSTO) launch vehicle (LV). This is modeled as a follower force on a free-free Euler-Bernoulli beam consisting of two concentrated masses at the two free ends. Once the effects on the oscillation of the actuators are studied, a solution to reduce these oscillations will also be developed. To pursue this goal, the stability of the beam model is studied using Ritz method. It is determined that the transverse and rotary inertia of the concentrated masses cause a change in the critical follower force. A new dynamic model and an adaptive control system for an SSTO LV have been developed that allow the aerospace structure to run on its maximum bearable propulsion force with the optimum effects on the oscillation of its actuators. Simulation results show that such a control model provides an effective way to reduce the undesirable oscillations of the actuators.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.14 no.1
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• pp.20-25
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• 2001

To develop the piezoelectric actuator, the structural, dielectric and piezoelectric properties and electric fieldinduced strain of the ceramics(Pb$\_$1-2/Ba$\_$x/)[Mg$\_$1/2/W$\_$1/2/)$\_$0.03/-Ni$\_$1/3/Nb$\_$2/3/)$\_$0.12/-(Zr$\_$0.5/Ti$\_$0.5/)$\_$0.85/]O$_3$(x=0, 0.01, 0.03, 0.05, 0.07, 0.1) were investigated with the substitution of Ba. The tetragonality of crystal structure and grain size decreased by the substitution of Ba. Curie temperature decreased due to the decrease of the tetragonality, and dielectric constants increased with the substitution of Ba. The coercive field, remnant polarization and electromechanical coupling factor also decreased, whereas the piezoelectric constatns d$\_$33/ and d$\_$31/ were showed the highest value of 430 and 209(x10$\^$-12/C/N), respectively, because of the increase of dielectric constant. The strain induced by 60Hz AC electric field had the maximum value of 204x10$\^$-6/Δℓ/ℓ at the substitution of Ba 3mol%. As the applied electric field approaches to the coercive field, the piezoelectric element is depolarized and the electric field induced strain revealed non-linearity.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.835-841
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• 2014

In this paper we propose a swing-up strategy for a single inverted pendulum. The proposed method has a feature whereby can handle the input and output constraint of a pendulum in a systematic way. For the swing-up of a pendulum, we adopt a 2-DOF control structure that combines the feedforward and feedback control. In order to generate the swing-up feedforward trajectories that satisfy the input and output constraint, we formulate the problem of generating feedforward trajectories as a nonlinear optimal control problem subject to constraints. We illustrate that the proposed method is more flexible than the existing method and provides great freedom in choosing the actuator of the inverted pendulum. Through an experiment, we show that the proposed method can swing a pendulum upward effectively while satisfying all the imposed constraints.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.15 no.10
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• pp.896-901
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• 2002

The polarization and strain behavior of multilayer ceramic actuators fabricated by tape casting using a PNN-PZT ceramics were investigated in association with electrode size and internal layer number. Spontaneous polarization and strain decreased with increasing electrode size. In addition, the increase of internal layer number brought reduced spontaneous polarization and increased the field-induced strain. Because the actuators structure is designed to stack ceramic layer and electrode layer alternatively, the ceramic-electrode interfaces may act as a resistance to motion of domain wall. To analyze the effect of ceramic-electrode interface, the diffraction intensity ratio of (002) to (200) planes was calculated from X-ray diffraction patterns of samples subjected to a voltage of 200 V. The diffraction intensity ratio of (002) to (200) planes was decreased with increasing electrode size and internal layer number. The diffraction intensity ratio and straining behavior analyses indicate that the Polarization and strain were affected by the amount of 90°domain decreasing with increasing electrode size and internal layer number. Consequently, the change of polarization and displacement with respect to electrode size and layer number is likely to be caused by readiness of the domain wall movement around the interface.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2010.06a
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• pp.320-320
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• 2010

In the case of existing ultrasonic motors, they have characteristics such as outstanding response speed, speed and high efficiency. However, it's very hard to use practically them as small motors due to complicated structure and expensive cost. This paper proposed v-type ultrasonic linear motor. Stator of the motor is composed of thin elastic body and four ceramics attached to upper and bottom areas of the body. The ceramics have each direction of polarization. When two harmonic voltages which had $90^{\circ}$ phase difference were applied to the ceramics, the symmetric and anti-symmetric displacements were generated at the tip to make the elliptical motion. To find out a model that generates maximum displacement at contact tip, FEM program was used with change of leg-angle. In addition, optimal model was chosen by considering magnitude and shape of displacement according to change of frequency.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.11a
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• pp.211-211
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• 2008

태양열, 바람, 지열, 진동 등의 우리주변에서 쉽게 얻을 수 있는 에너지를 모아서 필요로 하는 전자기기의 에너지원으로 사용하는 개념의 에너지하비스팅에 대한 연구가 활발히 진행되고 있다. 기계적인 변경으로 전압이 발생하는 압전체는 오래전 알려져 있었지만 발생전압이 낮아 에너지발전용으로 적용이 힘들었다. 하지만 전자기기의 소형화와 함께 필요로 하는 전력도 수 ${\mu}W$로 낮아짐으로 압전체를 이용한 에너지하비스팅이 주목 받고 있다. 전선으로 연결하여 전원을 공급하기 힘든 위치에 있는 전자기기는 주기적으로 배터리를 교환해 주어야한다. 이는 시간적, 금전적, 인적자원의 낭비이며 반영구적으로 전원을 공급할 장치개발이 필요하다. 구조물은 수~ 수십 Hz로 진동을 하며 이 진동으로 압전체에 변형을 주어 전압을 발생시킨다. 변형이 클 때 발생전압도 크게 되므로 압전체를 칸틸레버형태로 제작했다. 더 큰 전압발생을 위해 메탈을 사이에 두고 양면에 압전체를 둔 바이몰프 형태로 캔틸레버를 제작했다. 이때 진동의 충격을 완화시켜 압전체에 인가되도록 하고 구조물의 고유진동수모다 큰 진동수로 압전체가 진동하도록 하기위해 스프링을 사용하여 제작하였다. 이 스프링 지지구조 및 가진 조건에 따른 발전특성을 알아보았다.

• International Journal of Concrete Structures and Materials
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• v.9 no.4
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• pp.401-413
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• 2015

In this study the progressive collapse resisting capacity of a RC beam-column subassemblage with and without strengthening was investigated. Total of five specimens were tested; two unreinforced specimens, the one designed as gravity load-resisting system and the other as seismic load-resisting system, and three specimens reinforced with: (i) bonded strand, (ii) unbonded strand, and (iii) side steel plates with stud bolts. The two-span subassemblages were designed as part of an eight-story RC building. Monotonically increasing load was applied at the middle column of the specimens and the force-displacement relationships were plotted. It was observed that the gravity load-resisting specimen failed by fractures of re-bars in the beams. In the other specimens no failure was observed until the maximum displacement capacity of the actuator was reached. Highest strength was observed in the structure with unbonded strand. The test result of the specimen with side steel plates in beam-column joints showed that the force-displacement curve increased without fracture of re-bars. Based on the test results it was concluded that the progressive collapse resisting capacity of a RC frame could be significantly enhanced using unbonded strands or side plates with stud bolts.

• Journal of Mechanical Science and Technology
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• v.17 no.9
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• pp.1268-1275
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• 2003

In this paper, a compact 3-DOF mobile microrobot with sub-micron resolution is presented. It has many outstanding features : it is as small as a coin ; its precision is of sub-micrometer resolution on the plane ; it has an unlimited travel range ; and it has simple and compact mechanisms and structures which can be realized at low cost. With the impact actuating mechanism, this system enable both fast coarse motion and highly precise fine motion with a pulse wave input voltage controlled. The 1 -DOF impact actuating mechanism is modeled by taking into consideration the friction between the piezoelectric actuator and base. This modeling technique is extended to simulate the motion of the 3-DOF mobile robot. In addition, experiments are conducted to verify that the simulations accurately represent the real system. The modeling and simulation results will be used to design the model-based controller for the target system. The developed system can be used as a robotic positioning device in the micromanipulation system that determines the position of micro-sized components or particles in a small space, or assemble them in the meso-scale structure.