• 한국정보통신학회논문지
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• 제4권1호
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• pp.115-121
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• 2000

입력제어신호 변형은 유연한 빔의 진동을 감소시키는 중요한 수단이다. 본 논문에서는 유한시간에서 다중 모드인 유연한 빔의 오차 진동을 제거하는 매우 단순한 입력제어신호 변형 방법을 소개한다. 제어신호는 선형 방정식의 풀이에 의해 구성되어 진다. 유한시간 동안 원하는 동작의 모터 각도는 임의의 한정된 오차 진동을 제거함으로서 도달된다. 폐루프 구성에서 모터 각도에 대한 기준입력으로서의 제어신호 사용에 대한 필요한 조건들 또한 다루게 된다. 제안된 시스템 구성의 효과는 컴퓨터 시뮬레이션을 통해 증명된다.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2000년도 춘계 학술발표회 논문집 Proceedings of EESK Conference-Spring
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• pp.283-289
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• 2000

The panel shear and bearing strengths determining the seismic resistance of reinforced concrete column-to-steel beam connections are predicted by various methods for four previously tested exterior beam-column joints. The analytical approach to model the joint deformation is also examined. Several analyses incorporating the deformations of panel shear and bearing in the joint are demonstrated using a analyses incorporating the deformations of panel shear and bearing in the joint are demonstrated using a fairly simple connection model in the commercial packages such as Drain2dx and IDARC. The strength prediction results indicated that the ASCE method with the modifcation of the comprssion strut contribution is th most accurate. It is also considered that the analytical model presented including the joint deformation can be used for the overall analysis

• 한국건축시공학회지
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• 제4권3호
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• pp.125-131
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• 2004

Nowadays, it seems we are in the high time of construction design because development of construction technology widen the option of construction exterior closing materials and deepen the high-tech construction method with all various materials. When we see the flow of construction market, the mainstream is the high-rise intelligent building, which makes the best use of the small midtown area efficently. Therefore, Alum curtain wall is becoming the main material of exterior construction, the concept of which is changing from just a simple window frame to an outer wall which has comprehensive function and capability. As we think of the importance of Curtain wall as a comprehensive outer wall, We should do thorough technical examination and verification at the stage of construction design and plan of carrying out construction.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2004년도 추계 학술발표회 제16권2호
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• pp.65-68
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• 2004

In the seismical capacity evaluation for RC structure wall-slab joint is very important factor. Because lateral load is resistance element and gravity load resistance element are acted mutually in the wall-slab joint. In this paper, to improve the seismic capacity of the wall-slab joint in the existing wall type apartments experiment which improve and retrofit a seismic capacity by unequal angle bracing and carbon sheet attachment are carried out. These methods are also economic and simple in mitigating seismic hazard, improve earthquake-resistance performance, and reduce risk level of building occupants. From the experimental results, the change of strength, degration of stiffness, and energy dissipation are evaluated. It can be concluded that these methods are effective in improving the seismic performance.

• 융합신호처리학회논문지
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• 제3권1호
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• pp.61-66
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• 2002

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used for the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and the second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined parallel fuzzy controller. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Steel and Composite Structures
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• 제31권1호
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• pp.99-112
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• 2019

Semi-rigid joints have been widely studied in literature in recent decades because they affect greatly the structural response of frames. In literature, the behavior of semi-rigid joints is commonly assumed to be identical under positive and negative moments which are obviously incorrect in many cases where joint details such as bolt arrangement or placement of haunch are vertically asymmetrical. This paper evaluates two common types of steel frames with asymmetrical beam-to-column joints by Direct Analysis allowing for plasticity. A refined design method of steel frames using a proposed simple forth order curved-quartic element with an integrated joint model allowing for asymmetrical geometric joint properties is presented. Furthermore, the ultimate behavior of six types of asymmetrical end-plate connections under positive and negative moment is examined by the Finite Element Method (FEM). The FEM results are further applied to the proposed design method with the curved-quartic element for Direct Analysis of two types of steel frames under dominant gravity or wind load. The ultimate frame behavior under the two different scenarios are examined with respect to their failure modes and considerably different structural performances of the frames were observed when compared with the identical frames designed with the traditional method where symmetrical joints characteristics were assumed. The finding of this research contributes to the design of steel frames as their asymmetrical beam-to-column joints lead to different frame behavior when under positive and negative moment and this aspect should be incorporated in the design and analysis of steel frames. This consideration of asymmetrical joint behavior is recommended to be highlighted in future design codes.

• 한국산업융합학회 논문집
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• 제19권1호
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• pp.10-17
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• 2016

In general, articulated robot control technology is limited to the design of robot arm control systems considering each joint of the robot joint as a simple servomechanism. This method describes the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. The changes of the parameters in the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pock and place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and sustaining desirable dynamic performance for variations of payload and parameter uncertainties. In many servo control applications the linear control scheme proposes unsatisfactory, therefore, a need for nonlinear techniques that increasing. for Forging process automation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.127-132
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• 1992

To relize the future intelligent robot the development of a special-purpose processor for a coordinate transformation is evidently challenging task. In this case the complexity of a hardware architecture strongly depends on the adopted algorithm. In this paper we have used an inverse kinemetics algorithm based on incremental unit computation method. This method considers the 3-axis articulated robot as the combination of two types of a 2-axis robot: polar robot and 2-axis planar articulated one. For each robot incremental units in the joint and Cartesian spaces are defined. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Futhermore, the incremental computation of the DDA integrator can be used to solve the direct kinematics. We have also designed a hardware architecture to implement the proposed algorithm. The architecture consists of serveral simple unitsl. The operative unit comprises several basic operators and simple data path with a small bit-length. The hardware architecture is realized byusing the EPLD. For the straight-line motion of the KAIST arm we have obtained maximum end effector's speed of 12.6 m/sec by adopting system clock of 8 MHz.

• 한국방사선학회논문지
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• 제11권4호
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• pp.253-262
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• 2017

슬관절의 측면 촬영 검사방법에서 기존에 권고되고 있는 정 측면 자세에서 중심 X선의 입사 각도를 머리 쪽 $5{\sim}7^{\circ}$로 조정하는 방법을 검사방법 A, 중심 X선이 슬관절 강을 향해 검사대의 수평면과 수직으로 입사하는 방법을 검사방법 B, 경골 원위부(distal tibia)의 바깥 면(lateral side)을 방사선 투과성 물질(radiolucent materials)로 보상한(compensated) 상태에서 중심 X선을 관절 강에 수직 입사하는 방법을 검사방법 C로 분류하였다. 연구 대상자들을 분류하여 3가지 검사방법을 각각 시행한 후, 검사영상에서 관절 강 거리(joint space distance)와 양측과의 거리(both condyle distance)를 정량적 지표로 설정하여 이를 측정하고 비교하였다. 또한 각 검사방법의 편의성을 검사자(Practician)들을 대상으로 설문조사를 통해 확인하였다. 정량적 지표의 측정 결과 검사방법 A와 C는 통계적 분석 결과 특징적인 차이가 없었지만(p>0.05), 검사 방법 B는 A와 C 모두에서 차이를 보였다(p<0.05). 검사방법의 편의성을 평가한 결과, 검사방법 A가 모든 항목에서 검사방법 B, C 보다 상대적으로 점수가 낮게 평가되었고, 검사방법 B와 C는 근소한 차이로 B가 높은 평가를 받았다. 본 연구를 통해 제안한 간단한 보조기구(support device)를 이용한 슬관절 측면 촬영 검사방법은 다소 복잡한 준비과정 없이도 기존의 권고 방법과 큰 차이가 없는 관절 강의 묘사가 가능하고, 검사의 진행과정에서 검사자의 편의성을 증가시킬 수 있었다.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2000년도 가을 학술발표회 논문집(II)
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• pp.1007-1012
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• 2000

This study is to present a design method using continuous tendons in IPC girders. Present design methods use just concrete to make continuity between girders. In these design methods cracks occur in almost every joint area of girders. This means that these girders act as simple beam instead of continuous beams. The design method which is presented here uses continuous tendons between girders. In this method the cracks could be restrained. So the girders behave as continuous beams, which this method allows the span length gets longer than simple girders and also the section height could get lower. In this way the number of piers and the weight of super structure could be reduced which means the construction cost could also be reduced.