• Journal of Mechanical Science and Technology
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• 제18권3호
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• pp.337-346
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• 2004

The control scheme using fuzzy modeling and Parallel Distributed Compensation (PDC) concept is proposed to provide asymptotic tracking of a reference signal for the flexible joint manipulators with uncertain parameters. From Lyapunov stability analysis and simulation results, the developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop multi-input/multi-output system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.

• 한국정밀공학회지
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• 제12권5호
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• pp.117-125
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• 1995

An improved robust control law is proposed for uncertain rigid robots. The uncertainty is nonlinear and (possibly fast) time-varying. Therefore, the uncertain factors such as imperfect modeling, friction, payload change, and external disturbances are all addressed. Based on the possible bound of the uncertainty, the controller is constructed. For uncertain flexible-joint robots, some feedback control terms are then added to the proposed robust control law in order to stabilize the elastic vibrations at the joints. To show that the proposed control laws are indeed applicable, the stability study based on Lyapunov function, a singular perturbation approach, and simulation results are presented.

• 한국레이저가공학회지
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• 제5권3호
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• pp.1-8
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• 2002

Finite element analysis and experiment were peformed to estimate the fatigue strength for the lap joint of laser weld. To consider quantitatively residual stress which effects on the fatigue strength of the lap joint of laser weld, after three dimensional modeling for the longitudinal and transverse direction, residual stress fields in the weldment were calculated using thermo-elastic-plastic finite element analysis, then the equivalent fatigue stress considering the residual stress was obtained. To ensure reliability of calculated fatigue strength, fatigue tests were performed. The calculated and experimental results showed a good agreement. The fatigue strength considering a residual stress was lower than that of without considering a residual stress in the lap joint of laser welding. The fatigue strength in the transverse direction was higher than that of longitudinal direction.

• 한국지반공학회논문집
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• 제17권2호
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• pp.21-30
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• 2001

통계적 절리모델링에서 가장 불확실성이 큰 부분이 절리의 길이분포를 추정하는 것이다. 절리선 길이 분포의 추정에서 이제까지는 주로 조사선 조사(scanline survey)를 통한 절리선 반길이 분포를 이용하여 왔다. 이 연구에서는 포이송 디스크 절리모델에 대하여 보다 정밀도가 높은 절리선 길이 분포 추정방법을 찾기 위하여 조사창 조사를 이용하였다. 직사각형 및 원형 조사창에 대하여 양쪽 끝이 조사창 내부에 존재하는 절리선인 양끝내포선의 길이 분포와 한쪽 끝만이 존재하는 한끝내포선의 길이 분포를 이용, 절리선 분포를 추정하는 4개의 관계식을 각각 유도하고 컴퓨터 모의실험을 통하여 유도식의 타당성을 검증한 후 각 유도식을 이용한 절리선 분포의 추정오차를 비교하였다. 또한 절리선 분포로부터 절리직경분포를 계산하는 수치적 해를 유도하고 컴퓨터 모의시험을 통해 수치적 해에 대한 타당성을 검증하였다. 이 연구에서 제시한 조사창 조사를 이용한 절리 길이의 추정방법은 앞으로 절리모델링 분야에서 적용성이 높을 것으로 판단된다.

• Journal of Computational Design and Engineering
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• 제1권1호
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• pp.1-12
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• 2014

In this paper, we propose a new method of reconstructing the hand models for individuals, which include the link structure models, the homologous skin surface models and the homologous tetrahedral mesh models in a reference posture. As for the link structure model, the local coordinate system related to each link consists of the joint rotation center and the axes of joint rotation, which can be estimated based on the trajectories of optimal markers on the relative skin surface region of the subject obtained from the motion capture system. The skin surface model is defined as a three-dimensional triangular mesh, obtained by deforming a template mesh so as to fit the landmark vertices to the relative marker positions obtained motion capture system. In this process, anatomical dimensions for the subject, manually measured by a caliper, are also used as the deformation constraints.

• Computers and Concrete
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• 제18권2호
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• pp.215-233
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• 2016

Exterior beam-column joints are structural elements that ensure connection between beams and columns. The joint strength is generally assumed to be governed by the structural element of lowest load capacity (beam or column), however, the joint may be the weakest link. The joint shear behavior is still not well understood due to the influence of several variables, such as geometry of the connection, stress level in the column, concrete strength and longitudinal beam reinforcement. A parametrical study based only on experiments would be impracticable and not necessarily exposes the failure mechanisms. This paper reports on a set of numerical simulations conducted in DIANA$^{(R)}$ software for the investigation of the shear strength of exterior joints. The geometry of the joints and stress level on the column are the variables evaluated. Results have led to empirical expressions that provide the shear strength of unreinforced exterior beam-column joints.

• Structural Engineering and Mechanics
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• 제74권6호
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• pp.723-735
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• 2020

This study is reported the adhesion failure in adhesive bonded composite and specifically for the T-joint structure. Three-dimensional finite element analysis has been performed using a commercial tool and the necessary outcomes are obtained via an eight noded solid element (Solid 185-element) from the library of ANSYS. The structural analysis input has been incurred through ANSYS parametric design language (APDL) code. The normal and shear stress distributions along different layers of the joint structure have been evaluated as the final outcomes. Based on the stress distributions, failure location in the composite joint structure has been identified by using the Tsai-Wu stress failure criterion. It has been found that the failure index is maximum at the interface between flange and web part of the joint (top layer) which indicates the probable location of failure initiation. This kind of failures are considered as adhesion failure and the failure propagation is governed by strain energy release rate (SERR) of fracture mechanics. The different adhesion failure lengths are also considered at the failure location to calculate the SERR values i.e. mode I fracture (opening), mode II fracture (sliding) and mode III fracture (tearing) along the failure front. Also, virtual crack closure technique (VCCT) principle of fracture mechanics steps is used to calculate the above said SERRs. It is found that the mode I SERR is more dominating compared to other two modes of failure for the joint considered. Finally, the influences of various parametric (geometrical and material) effect on SERR of the joint structure are evaluated and discussed in details.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1281-1284
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• 1997

In this article, the configuration of weight lifer is analyzed using manipulibility polytope. After modeling body as 7-link redundant robot, optimal joint angles during first stage are searched by dynamic programmi technique and compared with standard reference data.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.1231-1232
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• 2013

• 한국물환경학회지
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• 제36권6호
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• pp.621-635
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• 2020

Water quality models are scientific tools that simulate and interpret the relationship between physical, chemical and biological reactions to external pollutant loads in water systems. They are actively used as a key technology in environmental water management. With recent advances in computational power, water quality modeling technology has evolved into a coupled three-dimensional modeling of hydrodynamics, water quality, and ecological inputs. However, there is uncertainty in the simulated results due to the increasing model complexity, knowledge gaps in simulating complex aquatic ecosystem, and the distrust of stakeholders due to nontransparent modeling processes. These issues have become difficult obstacles for the practical use of water quality models in the water management decision process. The objectives of this paper were to review the theoretical background, needs, and development status of water quality modeling technology. Additionally, we present the potential future directions of water quality modeling technology as a scientific tool for national environmental water management. The main development directions can be summarized as follows: quantification of parameter sensitivities and model uncertainty, acquisition and use of high frequency and high resolution data based on IoT sensor technology, conjunctive use of mechanistic models and data-driven models, and securing transparency in the water quality modeling process. These advances in the field of water quality modeling warrant joint research with modeling experts, statisticians, and ecologists, combined with active communication between policy makers and stakeholders.