• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.470-473
• /
• 1996

This paper presents an iterative learning control scheme for industrial manipulators. Based upon the frequency-domain analysis, the input update law of the learning controller is given together with a sufficient condition for the convergence of the iterative process in the frequency domain. The proposed learning control scheme is structurally simple and computationally efficient since it is independent joint control depending only on locally measured variables and it does not involve the computation of complicated nonlinear manipulator dynamics. Moreover, it is capable of canceling the unmodeled dynamics of the manipulator without even the parametric model. Several important aspects of the learning scheme inherent in the frequency-domain design are discussed and the control performance is demonstrated through computer simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2001.04a
• /
• pp.647-650
• /
• 2001

In case of bent axis type axial piston hydraulic pump or motor, hydrostatic bearing used to achieve the lubrication effect on the mechanical sliding contact areas between the following pairs ; piston shoe and swash plate, valve plate and cylinder block, piston and cylinder block, etc. In this research, we designed two pairs of spherical ball joint in witch connecting rod piston end. The one is not hydrostatic bearing, the other is designed with spherical hydrostatic bearing in point of view minimum pumping power loss. By varying supply pressure on the piston, we can know that it is possible to reduce the friction torque by using hydrostatic bearing designed one. Finally, by comparing the results of driving torque between the two models, it was verified that the spherical hydrostatic bearing is well designed.

• Proceedings of the Korean Geotechical Society Conference
• /
• 1993.03a
• /
• pp.41-48
• /
• 1993

The 2nd phase of Seoul Subway, Lines 5,6,7 and 8, is in progress. To reduce the surface traffic congestion during construction the greater part of the system has been engineered by bored tunnelling. The current tunnelling methodology is based on the New Austrian Tunnelling Method. Serveral collapses have been reported to date. Most of the collapses took place in the area forwed with soft ground. The modes and causes of the collapses were progressive failures in the unsupported surface and sliding failures due to the unfavourable joint direction. The major causes turned out to be the weakness of ground and the sudden influx of ground water from the surface. Some measures to prevent the failures are also presented. To ensure the safe tunnelling ghrough the soft ground the unsupported excavation area has to be minimized and closed as early as possible. Additional support measures such as supporting core, sealing shotcrete, forepoling, spread footing, face rock bolting and grouting should be employed as well depend on ground conditions.

• Journal of Advanced Marine Engineering and Technology
• /
• v.27 no.2
• /
• pp.238-245
• /
• 2003

To overcome the weakness in the load capacity of conventional robot manipulators actuated by motors with the speed reducer such as the harmonic driver, we proposed a new closed-chain type of the robot actuator which is composed of the four-bar-link mechanism driven by the ball screw. The robot manipulator is revolute-jointed and composed of four axes. The base axis is actuated by the lineal actuator such as the ball screw, and the others are actuated by the proposed actuator. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates and then they are mapped into the sliding coordinates of the ball screw. We performed fundamental tests on the structure of the robot.

• Proceedings of the KSR Conference
• /
• 2007.05a
• /
• pp.1050-1055
• /
• 2007

In the case of a rail road bridge extension work, especially single track to double track, the foundation of new substructure which supports the extended part of superstructure could be interfered by the exist foundation of an old bridge. When these two foundations are jointed to prevent such fatal effects of the structure as unequal subsidence of soil foundations, it is important to prove the structural behaviour of the joining surfaces between new foundation and old foundation. 3-Dimensional Finite Element Analysis Method have been studied for the solutions of the structural behaviour of the foundations. In this analysis, 'Contact Element' which allows the sliding of each adjoining member is used for the joint of the boundary surface of the old and new pier foundations. Furthermore, Material Nonlinear Behaviour Analysis also supports the accuracy of the result in this study because the foundations consist of concrete main bodies and reinforced steel bars. These detailed analyses secure the verification of the structural safety of the foundations in the extension work more firmly.

• Journal of the Korean Geotechnical Society
• /
• v.17 no.5
• /
• pp.17-27
• /
• 2001

지하 굴착공동의 천장면에 형성되는 잠재적 키블록의 존재성과 운동학적 거동 양상 및 안정성을 해석적으로 분석할 수 있는 시스템을 개발하였다. 천장에서 측정된 절리들의 상대적인 위치와 방향성 자료를 이용하여 데이타베이스를 구축하였으며, 굴착설계도와 연계된 전산절리도를 작성하였다. 잠재적 키블록의 존재성과 거동양상은 사면체로 가정된 블록 옆면의 3차원 공간에서의 평면식을 절리의 방향성에 의거하여 구성하며 대수학적으로 분석되었다. 블록의 안정성 분석은 자중에 의해 미끄러짐이 발생되는 블록면의 공간 기하학적 특성을 고려하여 수행하였다. 개발된 분석시스템의 현장활용성을 검증하기 위하여 언양 자수정동굴에서 키블록 형성 및 거동양상을 조사하여 분석결과와 비교하였다.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.2
• /
• pp.139-147
• /
• 2005

The lubricant impregnated MC nylon has good frictional properties, but its mechanical strength is inferior to steel for the mechanical elements. For the tribological application Nylon as gears, sliding bearings, cam and etc, the steel shafts are fitted in pre-heated nylon cylinder by a process of interference expansion fit and bonded by induction heating method. The joint shear strength of the two materials was measured by a universal test machine. From the study, the adhesive shear strength between these two materials was affected by the factors of the interference between nylon and steel, the size of nylon cylinder, knurl of steel shaft and inducting heating conditions. The most effective jointing conditions were analyzed and decided for the practical application in the industry.

• Tunnel and Underground Space
• /
• v.16 no.6 s.65
• /
• pp.451-466
• /
• 2006

Analysis of slope behavior concerning the structural characteristics of field rock mass can be processed by virtue of borehole information of joint orientation and position acquired from DOM drilled core. Anticipated sliding potential of pre-failed rock slope is analyzed and the regional slope instability is investigated by inspecting the hazardous joints and blocks the traces of which is projected on the cut-face. Cross section has been set at the center of rock slope and the traces of both joints and tetrahedral blocks, which potentially can induce the slope failure, are drawn to investigate the failure modes and the triggering mechanism. Automated monitoring system has been established to measure the slope movement and especially, inclinometer has been installed inside DOM borehole to analyze the slope movement by considering the internal rock structure. Algorithms for predicting the slope failure time have been reviewed and the significance of heavy rainfall on the slope behavior has been investigated.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.1
• /
• pp.173-179
• /
• 2017

This paper proposes a robust impedance controller for high-DOF robots. The model-based control of a higher DOF robot uses a numerical dynamic model because the analytical dynamic model is difficult to be derived and this means that modeling error is inevitable. The impedance control in the task space is affected by joint motions and has more difficulties in the higher DOF robots. In addition, the disturbances must be decoupled in the control of high DOF robot. This paper proposes a robust impedance controller based on integral sliding mode control (ISMC) and disturbance observer(DOB) for high-DOF robot manipulator. The ISMC is used to improve the robustness of the impedance control and to preserve its nominal performance. DOB is also employed to cancel the effects of input disturbances and to reduce the maximum gain of the ISMC which eventually determines the input chattering size.

• Geomechanics and Engineering
• /
• v.23 no.1
• /
• pp.39-50
• /
• 2020

In order to understand the shear mechanical properties of the interface between clay and structure and better serve the practical engineering projects, it is critical to conduct shear tests on the clay-structure interface. In this work, the direct shear test of clay-concrete slab with different joint roughness coefficient (JRC) of the interface and different normal stress is performed in the laboratory. Our experimental results show that (1) shear strength of the interface between clay and structure is greatly affected by the change of normal stress under the same condition of JRC and shear stress of the interface gradually increases with increasing normal stress; (2) there is a critical value JRC_cr in the roughness coefficient of the interface; (3) the relationship between shear strength and normal stress can be described by the Mohr Coulomb failure criterion, and the cohesion and friction angle of the interface under different roughness conditions can be calculated accordingly. We find that there also exists a critical value JRC_cr for cohesion and the cohesion of the interface increases first and then decreases as JRC increases. Moreover, the friction angle of the interface fluctuates with the change of JRC and it is always smaller than the internal friction angle of clay used in this experiment; (4) the failure type of the interface of the clay-concrete slab is type I sliding failure and does not change with varying JRC when the normal stress is small enough. When the normal stress increases to a certain extent, the failure type of the interface will gradually change from shear failure to type II sliding failure with the increment of JRC.