• Journal of the Korea Institute of Building Construction
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• v.16 no.3
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• pp.237-245
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• 2016

Structural performance and durability of ultra high performance concrete could demonstrate optimal performance when unity was kept. Accordingly, it is necessary to involve the characteristics and quantitative surface treatment at the same time in order to retain oneness of Ultra-High-Performance Concrete(UHPC) according to construction joint occurrence. Therefore, this study derives a reasonable surface treatment method in a material's point of view through the shear adhesion performance evaluation according to the construction joints surface processing method as a part for securing the adhesion performance of the construction joints when casting UHPC. 180 MPa of required average strength was used for mix of UHPC and surface treatment method was set to totally 7 level that MN, GR-10-0, GR-20-0, GR-30-0, SH-30-5, SH-30-10. After the specimen were manufactured to a size of $150{\times}150{\times}150mm$, Direct shear test was performed to evaluate the shear adhesion strength. As a result, it was confirmed that the adhesion performance was improved when executing a surface treatment for the construction joint interface and standard of failure mode of specimen was over Type C. Also, It was considered that interface of cross section and depth of concavo-convex should be concerned.

• Proceedings of the Korean Geotechical Society Conference
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• 2000.03b
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• pp.281-288
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• 2000

In this study, we tried to determine failure criteria for joints of soft rock using ring shear test machine. The residual stress fellowing shear behavior was determined by the result of ring shear test and direct shear test. Ring shear test with the specimens which cover a large deformation range was adapted to measure a residual stress, and was possible to present the peak stress to present the peak stress to the residual stress at the same time. Residual stress is defined a minimal stress of specimens with a large displacement and the result of the peak residual stress is shown by a size of displacement volume. Therefore, the residual stress in soil was decided by shear stress of maximum shear stress - shear displacement(angle) based on the test result of a hyperbolic function ((equation omitted), a, b ＝ experimental constant). In this study, it was proved that the residual stress of rock joint can be determined by using of this method.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.265-270
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• 2001

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by using Lyapunov's direct method. The results of computer simulations also show that the robot system is stable, and has excellent trajectory tracking performance.

• Journal of the Earthquake Engineering Society of Korea
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• v.24 no.1
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• pp.29-37
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• 2020

This study is to investigate the effect of a retrofitted reinforced concrete frame with non-seismic details strengthened by embedded steel moment frames with an indirect joint, which mitigates the problems of the direct joint method. First, full-scale experiments were conducted to confirm the structural behavior of a 2-story reinforced concrete frame with non-seismic details and strengthened by a steel moment frame with an indirect joint. The reinforced concrete frame with non-seismic details showed a maximum strength of 185 kN at an overall drift ratio of 1.75%. The flexural-shear failure of columns was governed, and shear cracks were concentrated at the beam-column joints. The reinforced concrete frame strengthened by the embedded steel moment frames achieved a maximum strength of 701 kN at an overall drift ratio of 1.5% so that the maximum strength was about 3.8 times that of the specimen with non-seismic details. The failure pattern of the retrofitted specimen was the loss of bond strength between the concrete and the rebars of the columns caused by a prying action of the bottom indirect joint because of lateral force. Furthermore, methods are proposed for calculation of the specified strength of the reinforced concrete frame with non-seismic details and strengthened by the steel moment frame with the indirect joint.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.705-710
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• 1989

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated motor and manipulator is derived. An off line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of robot was tested. The trajectory errors were significantly reduced when the identified dynamic parameters were used.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.7
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• pp.765-772
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• 1990

A practical method of identifying the inertial parameters, viscous friction and Coulomb friction of a robot is presented. The parameters in the dynamic equations of a robot are obtained from the measurements of the command voltage and the joint position of the robot. First, a dynamic model of the integrated system of the mainpulator and motor is derived. An off-line parameter identification procedure is developed and applied to the University of Minnesota Direct Drive Robot. To evaluate the accuracy of the parameters the dynamic tracking of the robot was tested. The trajectroy errors were significantly reduced when the identified dynamic parameters were used.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.2
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• pp.108-115
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• 1999

This paper proposes the robot inverse calibration method using a neural networks. A highorder networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from $\pm$3 to $\pm$0.1.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1998.04a
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• pp.244-249
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• 1998

The present paper improves the direct identification scheme based upon the equation error formulation with incomplete modal data. First, an indirect estimation technique is considered for estimating unmeasured elements of latent vectors by the combined use of a model and measured incomplete eigen vectors. It is used for estimating the other elements of eigen vectors, which are essential for identification but not available. Next an index is introduced here to indicate the quality of estimation with respect to the mode and the measured positions. A sensitivity formula for eigenvalues with respect to the unknown joint coefficient is also derived to select the modes appropriate for identification. An identification strategy is suggested to meet with practical problems with the help of the index and sensitivity formula. The index and the sensitivity are proved to be useful for selecting measurement positions and modes appropriate for identification A comprehensive simulation study is performed to test the proposed method.

• Proceedings of the KSR Conference
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• 2003.10b
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• pp.466-471
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• 2003

The characteristics of a rock joint which influence the stability of rock mass structures, such as the cut slopes and the tunnels, are largely controlled by the conditions of the rock joint as well as its boundary conditions. Boundary conditions can be represented by assuming that the deformability(or stiffness) of the rock mass surrounding the joints is modelled by a spring with stiffness. A new direct shear apparatus is developed in this study, which adapts a servo control system using PID algorithm. This apparatus can be used to investigate the various aspects of shear characteristics of the rock joints at conditions of constant normal stress and constant normal stiffness and so on. It is possible that the behavior under the constant normal stiffness condition can be predicted by the normalized graphic method with results obtained from the tests in the constant normal stress condition.

• Proceedings of the Korea Institute of Applied Superconductivity and Cryogenics Conference
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• 1999.02a
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• pp.198-201
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• 1999

An optimal cooling method for HTS(high Tc superconductor) current leads has been analytically sought to minimize the required refrigerator power. The binary current lead is a series combination of a normal metal conductor at the warmer part and an HTS at the colder part. The lead is cooled by direct contacts with a two-stage cryocooler at the joint and at the cold end. It is clearly proven that there exists unique optimal values for the joint temperature and the current density to minimize the refrigerator power per unit current. the actual power input to the cryocooler in the optimal conditions is compared with its thermodynamic limit, and some significant issues in practical design are presented with a useful graphical method.