• 한국항해항만학회지
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• 제28권6호
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• pp.541-548
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• 2004

본 논문에서는 항만 자동화를 위해 새로이 제안된 리니어 모터 기반 컨테이너 이송시스템에 지능제어기법을 이용하여 그 정밀도를 향상시키고자 한다. LMCTS(Linear Motor-based Container Transfer System)는 스케일의 거대함 때문에 일반 리니어 모터에서 중요시 되지 않는 정지마찰력과 디텐트럭(detent force)이 정밀제어에 큰 문제가 된다. 특히, 컨테이너 적제유무에 따라 시스템 자체가 급격히 변하므로 기존의 PID형 제어기로는 좋은 성능을 얻기 어렵다. 따라서 본 논문에서는 같은 구조를 갖는 두 개의 DR-FNN(Dynamically- constructed Recurrent Fuzzy Neural Network)를 제어기와 에뮬레이터로 구성하여 이러한 문제를 해결하고자 하였다.

• Earthquakes and Structures
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• 제20권1호
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• pp.39-53
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• 2021

By means of installing sloped rolling-type seismic isolators (SRI), the horizontal acceleration transmitted to the to-be-protected object above can be effectively and significantly reduced under external disturbance. To prevent the maximum horizontal displacement response of SRI from reaching a threshold, designing large and conservative damping force for SRI might be required, which will also enlarge the transmitted acceleration response. In a word, when adopting seismic isolation, minimizing acceleration or displacement responses is always a trade-off. Therefore, this paper proposes that by exploiting the possible information provided by an earthquake early warning system, the damping force applied to SRI which can better control both acceleration and displacement responses might be determined in advance and accordingly adjusted in a semi-active control manner. By using a large number of ground motion records with peak ground acceleration not less than 80 gal, the numerical results present that the maximum horizontal displacement response of SRI is highly correlated with and proportional to some important parameters of input excitations, the velocity pulse energy rate and peak velocity in particular. A control law employing the basic form of hyperbolic tangent function and two objective functions are considered in this study for conceptually developing suitable control algorithms. Compared with the numerical results of simply designing a constant, large damping factor to prevent SRI from pounding, adopting the recommended control algorithms can have more than 60% reduction of acceleration responses in average under the excitations. More importantly, it is effective in reducing acceleration responses under approximately 98% of the excitations.

• 로봇학회논문지
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• 제12권4호
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• 한국정밀공학회지
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• 제26권2호
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• pp.45-53
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• 2009

Today, reduction of $CO_2$ exhaustion gas for global-warming prevention becomes important issues in all industrial fields. Hydraulic systems have been widely used in industrial applications due to high power density and so on. However hydraulic pump is always being operated by engine or electric motor in the conventional hydraulic system. Therefore most of the conventional hydraulic system is not efficient system. Recently, an electro-hydraulic hybrid system, which combines electric and hydraulic technology in a compact unit, can be adapted to a wide variety of force, speed and torque requirements. In the electro-hydraulic hybrid system, hydraulic pump is operated by electric motor only when hydraulic power is needed. Therefore the electro-hydraulic system can reduce the energy consumption drastically when compared to the conventional hydraulic systems. This paper presents a new kind of hydraulic load simulator which is composed of electro-hydraulic hybrid system. Disturbances in the real working condition make the control performance decrease or go bad. QFT controller is designed to eliminate or reduce the disturbance and improve the control performance of the electro-hydraulic load simulator. Experimental results show that the proposed controller is verified to apply for electro-hydraulic hybrid system with varied external disturbances.

• 한국산림과학회지
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• 제74권1호
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• pp.82-87
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• 1986

대다수의 잣나무가 잣을 수확(收穫)하는 과정에서 수간(樹幹) 정단부(頂端部)의 인위적인 손상으로 말미암아 전형적인 잣나무 수형(樹型)을 잃게되는 점에 착안하여, 정상적으로 생육한 낙엽송과 비교하여 임본(林木) 제형질(諸形質)들의 관계를 조사 연구하였다. 동령급(同齡 級)의 두 수종(樹種)을 비교한 결과, 잣나무는 원단부(原端部)의 절단(切斷)으로 인하여 정상적인 수고생장(樹高生長)을 못하고 있음을 알 수 있으며, 또한 심하게 분간(分幹)되거나 굴곡된 수간(樹幹)은 이용재적(利用材積) 값을 낮추는 결과를 초래하여 본재생산(木材生産)의 측면에서는 바람직한 수형(樹型)을 갖지 못하고 있었다. 그러나 잣을 수확(收穫)할 수 있고 용재(用材)를 생산할 수 있는 잣나무의 특성을 감안하여, 조림투자(造林投資)에 대한 회수율(回收率)을 최대화하기 위한 잣나무 식재림(植栽材)에 대한 경영적(經營的) 대안(代案)을 제시하였다.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
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• 제39권6호
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• pp.257-262
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• 2013

Objectives: Oral and maxillofacial defects often require bone grafts to restore missing tissues. Well-recognized donor sites include the anterior and posterior iliac crest, rib, and intercalvarial diploic bone. The proximal tibia has also been explored as an alternative donor site. The use of the tibia for bone graft has many benefits, such as procedural ease, adequate volume of cancellous and cortical bone, and minimal complications. Although patients rarely complain of pain, swelling, discomfort, or dysfunction, such as gait disturbance, both patients and surgeons should pay close attention to such after effects due to the possibility of tibial fracture. The purpose of this study is to analyze tibial fractures that occurring after osteotomy for a medioproximal tibial graft. Materials and Methods: An analysis was intended for patients who underwent medioproximal tibial graft between March 2004 and December 2011 in Inha University Hospital. A total of 105 subjects, 30 females and 75 males, ranged in age from 17 to 78 years. We investigated the age, weight, circumstance, and graft timing in relation to tibial fracture. Results: Tibial fractures occurred in four of 105 patients. There were no significant differences in graft region, shape, or scale between the fractured and non-fractured patients. Conclusion: Patients who undergo tibial grafts must be careful of excessive external force after the operation.

• 한국지반신소재학회논문집
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• 제16권4호
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• pp.231-240
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• 2017

최근 도심지에서 인적, 물적 피해를 초래하여 경제적 손실을 수반하는 지반함몰이 빈번히 발생하고 있다. 이는 노후화된 상하수관거의 파손으로 인한 토사유실, 다짐불량, 수평굴착, 수직굴착시 토류벽 차수미흡 등 인위적 요인에 의하여 대다수 발생한다. 지반함몰은 탐사를 통하여 사전 복구 및 보강을 통해 예방이 가능하지만 현존하는 공법으로는 긴급복구에 적용하기에 어려움이 있다. 본 연구에서는 비개착식 지반공동 긴급복구 기술 개발을 위해 지하수흐름에 의한 지중 내 공동을 모사하는 모형실험을 진행하였으며, 조성된 공동 주변을 자체제작한 이완영역탐지기를 이용하여 탐지하므로써 이완영역 범위를 추정하였다. 또, 모사지반내 형성된 공동에 석고를 주입함으로써 교란영역과 이완영역을 구분하였다. 지하수 흐름에 의한 지중 공동의 형상은 선행연구 되었던 상수관거 파손시 내부 압력에 의해 조밀한 상대밀도의 지반에서 조성된 파괴모드III와 유사하였으며, 이완영역탐지기를 이용하여 탐지된 공동은 상부에서 아칭형태로 형성됨을 확인 할 수 있었다. 또한, 지반에서 공동 중심 상부에서 이완영역과 교란영역의 길이비는 2:1로 형성되며, 외력에 대한 전단저항력의 감소의 차이인해 구분될 수 있음을 확인하였다. 즉, 사전보수 및 보강시 주입재로 사용되는 재료의 팽창성을 고려하여 2차 피해가 발생되지 않도록 주의해야함을 확인 할 수 있었으며, 추후 추가적인 실험을 통하여 다양한 지반변형 상태를 추가로 실시할 예정이다.