• 한국정밀공학회지
• /
• 제15권12호
• /
• pp.142-147
• /
• 1998

Developing robot hands with multi-degree-of-freedom is one of the topics that researchers have recently begun to improve the limitation by adding flexibility and dexterity. In this study, an articulated servo-pneumatic robot hand system with direct-drive joints has been developed whose main feature is the minimization of the dimension. The servo-pneumatic system is advantageous to fabricate a dexterous robot hand system due to the high torque-to-weight and torque-to-volume ratio. This enables the design of a finger joint with an integrated rotary vane type actuator which produces high output torque without reduction gears, being very robust. In order to control the servo-pneumatic finger joints, a miniature proportional valve that can be attached to the robot hand is required. In this paper, a flapper nozzle type 4/3-way proportional directional valve has been designed and tested. The experimental results show that the developed valve can control a finger joint satisfactorily without much vibratory joint movements and acoustic noises.

• 전력전자학회:학술대회논문집
• /
• 전력전자학회 2009년도 정기총회 및 추계학술대회 논문집
• /
• pp.158-160
• /
• 2009

HEV(Hybrid Electrical Vehicle)의 배터리와 전동기/발전기용 인버터 사이에 장착되는 양방향 컨버터는 boost/buck 동작을 수행함으로써 차량이 효율적으로 동작되도록 한다. 대표적인 단상(single-phase)의 Half bridge topology를 기준으로 효율을 분석 하였으며 효율 개선을 위하여 다상(multi-phase) 인터리빙, 소프트 스위칭 기술 등이 사용되고 있으나 여기서는 하드 스위칭 상태만 다룬다. Ideal한 컨버터의 경우 단순히 Duty비와 동작 영역에 따라서 출력 상태가 결정 되며 입력전력과 출력전력은 동일하다. 그러나 손실이 있는 경우 입/출력 전력은 동일하지 않게 되고, Duty 역시 변화 한다. 따라서 각 손실 파라미터를 Ideal한 Duty로 가정하고 구할 경우 오차가 발생한다. 또한, 스위칭 소자의 on/off시 발생하는 스위칭 손실은 실험 측정값과 계산값의 차이가 크기 때문에 이 역시 오차의 원인이 된다. 본 논문에서는 각 손실 파라미터와 입/출력 전력을 Duty에 대한 다항식으로 표현 하였다. 고차 다항식의 근을 수치 해석적으로 구하여 손실을 고려한 Duty비를 찾아 낼 수 있다. 스위칭 손실의 경우 데이터 시트에 주어진 손실 그래프를 테스트 영역까지 1차 근사하여 사용함으로써 정확한 효율 측정이 가능하도록 하였다.

• International Journal of Aeronautical and Space Sciences
• /
• 제17권4호
• /
• pp.467-475
• /
• 2016

Ultrasonic propagation imaging (UPI) has shown great potential for detection of impairments in complex structures and can be used in wide range of non-destructive evaluation and structural health monitoring applications. The software implementation of such algorithms showed a tendency in time-consumption with increment in scan area because the processor shares its resources with a number of programs running at the same time. This issue was addressed by using field programmable gate arrays (FPGA) that is a dedicated processing solution and used for high speed signal processing algorithms. For this purpose, we need an independent and flexible block of logic which can be used with continuously evolvable hardware based on FPGA. In this paper, we developed an FPGA-based ultrasonic propagation imaging system, where FPGA functions for both data acquisition system and real-time ultrasonic signal processing. The developed UPI system using FPGA board provides better cost-effectiveness and resolution than digitizers, and much faster signal processing time than CPU which was tested using basic ultrasonic propagation algorithms such as ultrasonic wave propagation imaging and multi-directional adjacent wave subtraction. Finally, a comparison of results for processing time between a CPU-based UPI system and the novel FPGA-based system were presented to justify the objective of this research.

• Computers and Concrete
• /
• 제8권6호
• /
• pp.735-755
• /
• 2011

The capability of a multi-directional fixed smeared crack constitutive model to simulate the flexural/punching failure modes of fiber reinforced concrete (FRC) laminar structures is discussed. The constitutive model is implemented in a computer program based on the finite element method, where the FRC laminar structures were simulated according to the Reissner-Mindlin shell theory. The shell is discretized into layers for the simulation of the membrane, bending and out-of-plane shear nonlinear behavior. A stress-strain softening diagram is proposed to reproduce, after crack initiation, the evolution of the normal crack component. The in-plane shear crack component is obtained using the concept of shear retention factor, defined by a crack-strain dependent law. To capture the punching failure mode, a softening diagram is proposed to simulate the decrease of the out-of-plane shear stress components with the increase of the corresponding shear strain components, after crack initiation. With this relatively simple approach, accurate predictions of the behavior of FRC structures failing in bending and in shear can be obtained. To assess the predictive performance of the model, a punching experimental test of a module of a façade panel fabricated with steel fiber reinforced self-compacting concrete is numerically simulated. The influence of some parameters defining the softening diagrams is discussed.

• Structural Engineering and Mechanics
• /
• 제47권3호
• /
• pp.331-343
• /
• 2013

The natural sloshing frequencies of annular cylindrical TLD are parametrically investigated by experiment, aiming at the exploration of its successful use for suppressing the structural vibration of spar-type floating wind turbine subject to multidirectional wind, wave and current excitations. Five prototypes of annular cylindrical TLD are defined according to the inner and outer radii of acryl container, and eight different liquid fill heights are experimented for each TLD prototype. The apparent masses near the first and second natural sloshing frequencies are parametrically investigated by measuring the apparent mass of interior liquid sloshing to the acceleration excitation. It is observed from the parametric experiments that the first natural sloshing frequency shows the remarkable change with respect to the liquid fill height for each TLD model with different container dimensions. On the other hand, the second natural sloshing frequency is not sensitive to the liquid fill height but to the gap size, for all the TLD models, convincing that the annular cylindrical sloshing damper can effectively suppress the wave- and wind-induced tilting motion of the spar-type floating wind turbine.

• Earthquakes and Structures
• /
• 제8권5호
• /
• pp.1127-1146
• /
• 2015

The excitation angle or angle of incidence is the angle in which the horizontal seismic components are applied with respect to the principal structural axes during a time history analysis. In this study, numerical simulations and parametric studies are performed for the investigation of the effect of the angle of seismic incidence on the response of adjacent buildings, which may experience structural pounding during strong earthquakes due to insufficient or no separation distance between them. A specially developed software application has been used that implements a simple and efficient methodology, according to which buildings are modelled in three dimensions and potential impacts are simulated using a novel impact model that takes into account the arbitrary location of impacts and the geometry at the point of impact. Two typical multi-storey buildings and a set of earthquake records have been used in the performed analyses. The results of the conducted parametric studies reveal that it is very important to consider the arbitrary direction of the ground motion with respect to the structural axes of the simulated buildings, especially during pounding, since, in many cases, the detrimental effects of pounding become more pronounced for an excitation angle different from the commonly examined 0 or 90 degrees.

• Smart Structures and Systems
• /
• 제19권6호
• /
• pp.679-694
• /
• 2017

The complexity, enlargement and irregularity of structures and multi-directional dynamic loads acting on the structures can lead to unexpected structural behavior, such as torsion. Continuous torsion of the structure causes unexpected changes in the structure's stress distribution, reduces the performance of the structural members, and shortens the structure's lifespan. Therefore, a method of monitoring the torsional behavior is required to ensure structural safety. Structural torsion typically occurs accompanied by displacement, but no model has yet been developed to measure this type of structural response. This research proposes a model for measuring dynamic torsional response of structure accompanied by displacement and for identifying the torsional modal parameter using vision-based displacement measurement equipment, a motion capture system (MCS). In the present model, dynamic torsional responses including pure rotation and translation displacements are measured and used to calculate the torsional angle and displacements. To apply the proposed model, vibration tests for a shear-type structure were performed. The torsional responses were obtained from measured dynamic displacements. The torsional angle and displacements obtained by the proposed model using MCS were compared with the torsional response measured using laser displacement sensors (LDSs), which have been widely used for displacement measurement. In addition, torsional modal parameters were obtained using the dynamic torsional angle and displacements obtained from the tests.

• 대한원격탐사학회:학술대회논문집
• /
• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
• /
• pp.448-451
• /
• 2004

MSC (Multi-Spectral Camera) system is an electro-optical camera system which is being developed to be installed on KOMPSAT-2 satellite. High resolution image data from MSC system will be transmitted to the ground-station through x-band antenna called APS (Antenna Pointing System). APS is a directional antenna which will point to the receiving antenna at ground station while the satellite is passing over it. The APS needs to be controlled accurately to provide the reliable communication with big RF link margin. The APS is controlled by ATS (Antenna Tracking Software) which is included in the MSC software. ATS uses the closed loop control algorithm which will use TPF (Tracking Parameter File) as an input for antenna position, and will use two resolve readings from APS as a feedback. ATS has been developed and verified using APS QM (Qualification Model) and all the control parameters for ATS have been tested and verified. Various kinds of maximum, nominal and realistic dynamics for the APS movement have been simulated and verified. In this paper, closed loop servo control algorithm and obtained APS position error from the verification test with APS QM will be presented in detail

• International Journal of Aeronautical and Space Sciences
• /
• 제15권3호
• /
• pp.219-231
• /
• 2014

We develop a preliminary design optimization procedure in this paper regarding the wing planform in a solar-powered high-altitude long-endurance unmanned aerial vehicle. A high-aspect-ratio wing has been widely adopted in this type of a vehicle, due to both the high lift-to-drag ratio and lightweight design. In the preliminary design, its characteristics need to be addressed correctly, and analyzed in an appropriate manner. In this paper, we use the three-dimensional Euler equation to analyze the wing aerodynamics. We also use an advanced structural modeling approach based on a geometrically exact one-dimensional beam analysis. Regarding the structural integrity of the wing, we determine detailed configuration parameters, specifically the taper ratio and the span length. Next, we conduct a multi-objective optimization scheme based on the response surface method, using the present baseline configuration. We consider the structural integrity as one of the constraints. We reduce the wing weight by approximately 25.3 % from that in the baseline configuration, and also decrease the power required approximately 3.4 %. We confirm that the optimized wing has sufficient flutter margin and improved static longitudinal/directional stability characteristics, as compared to those of the baseline configuration.

• 한국전산구조공학회논문집
• /
• 제22권3호
• /
• pp.199-209
• /
• 2009

본 논문은 단조하중을 받는 초고강도 섬유보강 콘크리트 I형보의 파괴거동에 대한 3차원 유한요소해석을 수행하였다. 보통 또는 고강도 콘크리트의 구성방정식과 달리 초고강도 섬유보강 콘크리트의 재료적 특성을 나타내기 위해 인장변형률 경화관계를 고려한 탄소성 파괴역학 모델을 제안하였다. 인장영역에서는 인장경화 변형률을 고려한 다차원적 균열기준을 정의하였고, 압축영역에서는 associated flow rule을 고려한 Drucker-Prager기준을 채택하여 해석을 수행하였다. UHPFRCI형보의 지간, 프리스트레스 하중 및 단면의 영향에 관한 수치해석 결과를 실험 거동와 비교한 결과 정확한 해석 결과를 보여주었다.