• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.215-226
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• 2016

Modeling, control and implementation of a real redundant robot with five Degrees Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the classical sliding mode control law through a hyperbolic function, we get a new algorithm which enables reducing the chattering effect of the real actuators, which together with the learning and adaptive controllers, is applied to the model and to the real robot. A simulation environment including the actuator dynamics is elaborated. A 5 DOF robot, a communication interface and a signal conditioning circuit are designed and implemented for feedback. Three control laws are executed in: a simulation structure (together with the dynamic model of the SCARA type redundant manipulator and the actuator dynamics) and a real redundant manipulator of the SCARA type carried out using MatLab/Simulink programming tools. The results, obtained through simulation and implementation, were represented by comparative curves and RMS indices of the joint errors, and they showed that the redundant manipulator, both in the simulation and the implementation, followed the test trajectory with less pronounced maximum errors using the adaptive controller than the other controllers, with more homogeneous motions of the manipulator.

• Journal of the Korean Society for Railway
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• v.13 no.1
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• pp.16-22
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• 2010

Various programs for dynamic simulation of the railway vehicle have advantages and disadvantages. These programs have limitation that cannot express a large deformable body for an wire of the railway vehicle. In this study, a program for dynamic simulation of the railway vehicle is developed. And the rigid, flexible and large deformable body can be simulated using this program. Its reliability is verified by comparison with a commercial program. Also, a wire is considered as the large deformable body and a sliding joint which connects the rigid body to the large deformable body is included. Moreover, as the wheel-rail contact module is added, the dynamic simulation of the railway vehicle can be analyzed using the developed program.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2003.11a
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• pp.91-94
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• 2003

Ceramic femoral heads in the total hip replacement have been developed to reduce the polyethylene liner wear. Alumina and zirconia (3Y-TZP) are using in clinical application worldwide and there are many good test reports. However, alumina has a risk of catastrophic failure, and zirconia has the low temperature degradation in spite of enhanced fracture toughness. Recently, novel zirconia/alumina composite having low temperature degradation-free character and high fracture tough . was developed and it leads the lower wear 3f polyethylene than alumina and zirconia. In the present study, in order to optimise the microstructure of low temperature degradation (LTD)-free zirconia/alumina composite for the best wear resistance of polyethylene, various compositions of (LTD)-free zirconia/alumina composites were fabricated, and the sliding wear of UHMWPE against these novel composites were examined and compared with that against alumina and zirconia ceramics used for total hip joint heads.

• Magazine of the Korean Society of Agricultural Engineers
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• v.41 no.6
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• pp.64-74
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• 1999

The frequency of earthquake occurrence tends to increase in Korea. Therefore, the stability of pipeline, such as watersupply pipe, gas pipe, and oil pipe etc. across fault zones in Gyoung-sang landmass is very important, expecially , in metropolitan area. There were some examples of the construction of buried pipeline across fault zones in Korea. the interactiion between the buried pipeline across fault zones and the ground is considered. As well, in the interfaces of them, the direct shear numerical analysis model including elasto-plastic joint element is assumed that the retained dilatancy theory in them, otherwise. Also, the other elements are modeled the ground is nonlinear elastic coutinuaus beam, respectively. In this study, the maximum shear force point exist inside retaine zone(anchored zone) during shwar (as fault sliding), and the distribution of pipeline's behavior is all alike them of pipeline buried in ladnsliding grounds. Since the pipeline is not continuous beam but jointed by steel-pipe segments , practically, on acting of a large bending moment or a shear force, then, those are may be unstable. The reaearch on this point may be new approach.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.09a
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• pp.660-670
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• 2009

Neighboring construction becomes mainstream of Ground excavation in downtown area. This causes the displacement, deformation, stress condition, etc of the ground surroundings. Therefore Neighboring construction have an effect on Neighboring structure. All these years a lot of Neighboring construction carried out, and the accumulation of technology also get accomplished. But earth retaining structure collapse happens yet. Types of earth retaining structure collapse are 12. 1. Failure of anchor or strut system, 2. Insufficiency of penetration, 3. H-pile Failure on excessive bending moment, 4. Slope sliding failure, 5. Excessive settlement of the back, 6. Deflection of H-pile, 7. Joint failure of coupled H-pile, 8. Rock failure when H-pile penetration is rock mass, 9. Plane arrangement of support systems are mechanically weak, 10. Boiling, 11. Heaving, 12. Over excavation. But field collapses are difficult for classification according to the type, because collapse process are complex with various types. When we consider the 12 collapse field, insufficient recognition of ground condition is 4 case. Thorough construction management prevents from fault construction. For limitations of soil survey, It is difficult to estimate ground condition exactly. Therefore, it should estimate the safety of earth retaining system, plan for necessary reinforcement, according to measurement and observation continuously.

• Wind and Structures
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• v.30 no.4
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• pp.405-421
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• 2020

Quayside container cranes are important delivery machineries located in the most frontiers of container terminals, where strong wind attacks happen occasionally. Since the previous researches on quayside container cranes mainly focused on the mean wind load and static response characteristics, the fluctuating wind load and dynamic response characteristics require further investigations. In the present study, the aerodynamic wind loads on quayside container cranes were obtained from wind tunnel tests. The probabilistic and spectral models of the fluctuating aerodynamic loads were established. Then the joint probabilistic distributions of dynamic wind-induced responses were derived theoretically based on a series of Gaussian and independent assumption of resonant components. Finally, the results were validated by time domain analysis using wind tunnel data. It is concluded that the assumptions are acceptable. And the presented approach can estimate peak dynamic sliding force, overturning moments and leg uplifts of quayside container cranes effectively and efficiently.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.3
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• pp.70-78
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• 1989

In the control of the robot system using the variable structure control(VSC) method, up to these days the advantage of the VSC method has not been applied effectively because the parameters are selected arbitrarily by the existence condition of sliding mode without a precise analysis about the VSC parameters. This paper reveals the relation between dynamic constraints and the VSC parameters of robot system, and analyzes the effect on the trajectory of the joint angle and the hand when the analytical result of the relation is applied to the robot system control. The result of the analysis in this paper is applied effectively to the path tracking control and the trajectory planning using the VSC method.

• Journal of Korean Society of Steel Construction
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• v.10 no.1 s.34
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• pp.101-113
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• 1998

In this study, we research the influence of butt-welded joints in high tension bolted joints on the static and fatigue strength. As a results, if it's located inside or outside of the friction surface, the fatigue strength decrease, and the decrease of fatigue strength is greater in cases that the butt-welded joints exist outside of the friction surface. But the influence of butt-welded joint on the fatigue strength satisfies category B of the Specifications.

• Tribology and Lubricants
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• v.27 no.6
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• pp.293-301
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• 2011

Understanding of the tribological characteristics of polytetrafluoroethylen (PTFE) and ultra-high-molecular-weight polyethylene (UHMWPE) is crucial for their applications such as bearing and total joint replacement. In this work, the effect of the surface roughness of carbon steel on the tribological behaviors of PTFE and UHMWPE was experimentally investigated by using block-on-ring tribotester with friction force monitoring capability. It was found that that the amount of material transfer layers of PTFE formed on the carbon steel was significantly larger than those of UHMWPE, which was responsible the lower friction coefficient of PTFE. It was also concluded that the effect of surface roughness of carbon steel on the friction coefficient of UHMWPE was more significant than that of PTFE. For UHMWPE, it was found that the effect of surface roughness of counterface was varied with respect to applied normal force and sliding as well. Based on Archard's wear law, the wear coefficient of PTFE and UHMWPE was calculated to be $3{\times}10^{-5}$ ~ $8{\times}10^{-5}$ and $7{\times}10^{-6}$ ~ $2{\times}10^{-5}$, respectively.

• International Journal of Ocean System Engineering
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• v.3 no.3
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• pp.142-146
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• 2013

In this study, the effect of Carbon/PEEK composites on the tribological properties has been investigated. Also, its validity has been tested in the capacity of alternative materials of the Ti-based materials used for artificial hip joint. Moreover, this work evaluated the mechanical properties according to the fiber ply orientation, along with the fractured surfaces of the carbon/PEEK composites. The composites with a unidirectional orientation had higher tribological properties than those with a multidirectional orientation. This was caused by the debonding between the carbon fiber and the PEEK, which was proportional to the contact area between the sliding surface and the carbon fiber. The friction test results showed that there were no significant differences in relation to the fiber ply orientation. However, the friction properties of the carbon/PEEK composites were higher than those of the carbon/epoxy composites. In addition, the results showed that a composite that slid in a direction normal to the prepreg lay-up direction had a smaller friction coefficient than one that slid in a direction parallel to the prepreg lay-up direction.