• Earthquakes and Structures
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• v.15 no.6
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• pp.639-654
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• 2018

Rocking motion have been used for achieving the 'resilient buildings' against earthquakes in recent studies. Low-rise buildings, unlike the tall ones, because of their small aspect ratio tend to slide rather than move in rocking mode. However, since rocking is more effective in seismic response reduction than sliding, it is desired to create rocking motion in low-rise buildings too. One way for this purpose is making the building's structure rock on its internal bay(s) by reducing the number of bays at the lower part of the building's skeleton, giving it a mushroom form. In this study 'mushroom skeleton' has been used for creating multi-story rocking regular steel buildings with square plan to rock on its one-by-one bay central lowest story. To show if this idea is effective, a set of mushroom buildings have been considered, and their seismic responses have been compared with those of their conventional counterparts, designed based on a conventional code. Also, a set of similar buildings with skeleton stronger than code requirement, to have immediate occupancy (IO) performance level, have been considered for comparison. Seismic responses, obtained by nonlinear time history analyses, using scaled three-dimensional accelerograms of selected earthquakes, show that by using appropriate 'mushroom skeleton' the seismic performance of buildings is upgraded to mostly IO level, while all of the conventional buildings experience collapse prevention (CP) level or beyond. The strong-skeleton buildings mostly present IO performance level as well, however, their base shear and absolute acceleration responses are much higher than the mushroom buildings.

• Journal of Aerospace System Engineering
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• v.13 no.2
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• pp.26-33
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• 2019

Control moment gyro (CMG) employed as satellite actuators, generates a large torque through the steering of its gimbals. Although each gimbal holds a high-speed rotating wheel, the wheel imbalances induces disturbance and degrades the satellite control quality. Therefore, the disturbances ought to be detected and identified as a precaution against actuator faults. Among the method used in detecting disturbances is the state observers. In this paper, we apply a continuous second order sliding mode observer to detect single disturbances/faults in CMGs. Verification of the algorithm is also done on the hardware satellite simulator where four CMGs are installed.

• Journal of Advanced Navigation Technology
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• v.26 no.2
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• pp.105-112
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• 2022

In this paper, unmanned underwater glider was designed for high-depth operation and adopted a bladder-type buoyancy controller for improving battery efficiency, and the motion controller controls the pitch angle by moving the internal mass battery. To improve the energy efficiency of the unmanned underwater glider, a layered PID controller that performs control by section was designed. Simulation program including 6-DOF motion equations and hydrodynamics coefficients of an unmanned underwater glider is constructed using Matlab/Simulink program. Control methods such as PID controller, sliding mode controller and layered PID controller were applied to the simulator to compare the dynamics performance and energy efficiency. As a result, the layered PID controller showed improved control performance compared to other controllers and improved energy efficiency of approximately 7.2% compared to PID controller.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.16-23
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• 2016

DFRCC (ductile fiber reinforced cementitious composites), which are a significantly improved ductile material compared to conventional concrete, were evaluated as a new construction material with a high potential applications to concrete structures for a range of purposes. In this study, experiments on the failure behavior of composite beams with a DFRCC and FRP (fiber reinforced polymer) plank with a rib used as permanent formwork and tensile reinforcement were carried out. A normal concrete and a fiber reinforced concrete with PVA series of RF4000 and the PP series of PP-macro were used for comparison, and each RF4000+RSC15 and PP-macro+RSC15 was tested by producing composite beams. The experimental results of the FRP plank without a sand coating showed that sliding failure mode between the FRP plank and concrete started from a flexural crack at the beam center; therefore it is necessary for the FRP plank to be coated with sand and the effect of the fiber to failure mode did not appear to be huge. The experiment of the FRP plank with a sand coating showed that both 1200mm and 2000mm allowed sufficient bonding between the concrete and FRP plank. The maximum load of the fiber reinforced concrete was higher than that of normal concrete and the case which a series of PP fiber was mixed showed the highest value. The crack latency caused by the fibers led to composite action with a FRP rib.

• Journal of Korea Water Resources Association
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• v.51 no.9
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• pp.827-837
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• 2018

The stabilities of sliding and overturning of caisson and bearing capacity of mound against eccentric and inclined loads, which possibly happen to a composite caisson breakwaters, have been analyzed by using the technique of multiple failure modes. In deterministic approach, mathematical functions have been first derived from the ultimate limit state equations. Using those functions, the minimum cross section of caisson can straightforwardly be evaluated. By taking a look into some various deterministic analyses, it has been found that the conflict between failure modes can be occurred, such that the stability of bearing capacity of mound decreased as the stability of sliding increased. Therefore, the multiple failure modes for the composite caisson breakwaters should be taken into account simultaneously even in the process of deterministically evaluating the design cross section of caisson. Meanwhile, the reliability analyses on multiple failure modes have been implemented to the cross section determined by the sliding failure mode. It has been shown that the system failure probabilities of the composite breakwater are very behaved differently according to the variation of incident waves. The failure probabilities of system tend also to increase as the crest freeboards of caisson are heightening. The similar behaviors are taken place in cases that the water depths above mound are deepening. Finally, the results of the first-order modal are quite coincided with those of the second-order modal in all conditions of numerical tests performed in this paper. However, the second-order modal have had higher accuracy than the first-order modal. This is mainly due to that some correlations between failure modes can be properly incorporated in the second-order modal. Nevertheless, the first-order modal can also be easily used only when one of failure probabilities among multiple failure modes is extremely larger than others.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.5
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• pp.527-534
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• 2015

This paper presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. The control yaw moment is calculated using a sliding mode control. The tire forces generated by ESC and AFS are determined using weighted pseudo-inverse based control allocation (WPCA) in order to generate the control yaw moment. On a low friction road, AFS is not effective when the lateral tire forces of front wheels are easily saturated. To solve problem, the lateral force of AFS is limited to its maximum and the braking of ESC is applied with WPCA. To evaluate the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, $CarSim^{(R)}$. From the simulation, it was verified that the proposed method could enhance the maneuverability and lateral stability if the lateral force of AFS exceeds its maximum.

• Proceedings of the KWS Conference
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• 2010.05a
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• pp.79-79
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• 2010

저온용 무연 솔더의 대표 조성으로 고려되고 있는 Sn-58Bi(융점: $138^{\circ}C$) 공정(eutectic) 조성은 우수한 강도에도 불구하고 연성(ductility) 측면에서의 문제점이 지속적으로 보고되고 있다. 따라서 이 합금계의 연성을 최대로 개선시킬 수 있으면서도 실제 상용화가 가능한 합금 조성의 개발 연구가 요청된다. 본 연구에서는 Sn-Bi 2원계 조성에서 최대의 연성을 나타내는 것으로 보고된 Sn-40Bi 조성에 미량의 합금원소를 첨가함으로써 최대의 연성을 확보하는 한편, 그 연성 특성이 변형속도에 어느 정도 민감한지를 인장 실험을 통해 결정하고자 하였다. 합금원소로는 0.1~0.5 wt%의 Ag, Mn, In, Cu를 선택하였으며, 인장 시편을 제조하여 $10^{-2}$, $10^{-3}$, $10^{-4}\;s^{-1}$의 3종류로 변형속도를 변형시켜가며 응력-변형 곡선(stress-strain curve)을 측정하였고, 조성별, 변형속도별로 최대인장강도(ultimate tensile stress, UTS) 및 연신율 결과들을 정리하였다. 합금원소를 첨가한 조성의 경우는 모든 시험 조건에서 Sn-40Bi보다 우수한 연신률을 나타내는 것으로 측정되었으나, $10^{-2}\;s^{-1}$의 빠른 변형속도에서는 그 향상 정도가 상대적으로 감소하는 경향이 관찰되었다. 특히 Sn-40Bi-0.5Ag 조성의 경우 느린 변형속도에서 특히 눈에 띄는 연신률 값을 나타내며, 모든 변형속도 조건에서 가장 우수한 연성을 나타내었다. 한편 Sn-40Bi-0.1Cu 조성의 경우 변형속도에 따른 연신률의 변화 정도, 즉, 변형속도에 따른 연신률의 민감도가 매우 커 $10^{-4}\;s^{-1}$ 속도에서는 Sn-40Bi-0.5Ag에 버금가는 연신률 값이 측정되었으나, $10^{-2}\;s^{-1}$ 속도에서는 가장 나쁜 연신률 특성을 보여주었다. Sn-40Bi-0.2Mn 조성은 최고의 연신률 향상 특성을 나타내지는 않았으나, In을 첨가한 경우보다는 대체적으로 우수한 연성을 나타내었다. 이상의 각 합금별 연성 특성은 인장시험 전의 미세조직 관찰 결과와 인장시험 후 파면부의 조직변화 관찰 결과로부터 해석되었다. 그 결과 석출상의 형성 여부, 인장 시험 중 재결정 조직의 형성 여부, 라멜라(lamellar) 조직의 분율과 라멜라 간격(lamellar spacing)의 정도 또는 $\beta$-Sn과 라멜라 조직 사이의 결정립계와 라멜라 조직 내 결정립계에서의 슬라이딩 모드(sliding mode) 변형 정도, 석출상의 크기와 분포 정도 등이 연신률 및 변형속도 민감도와 같은 연성 특성에 가장 큰 영향을 미치는 인자인 것으로 분석되었다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.22 no.6
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• pp.415-422
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• 2010

Development of the reliability-based design program in the GUI environment is inadequate for engineers familiar with the deterministic design to deal with the international design criterion based on the probabilistic design. In this study, the design program based on the GUI environment is developed in order to more efficiently input the design factor and more easily carry out the design works. The GUI environment is the GUIDE (Graphic User Interface Development Environment) tool supported by the latest MATALB version 7.1. In order to test the model reliability, the probabilities of failure (POF) on the breakwater armor block (AB) and gravity quay-wall (QW) in the sliding mode are computed using the model in the Level II and Level III. The POF are 55.4~55.7% for breakwater AB and 0.0006~0.0007% for gravity QW. A non-GUI environment program results of the POF are 55.6% for breakwater AB and 0.0018% for gravity QW. In comparison, the POF difference is negligible for breakwater AB because the exact input design parameters are available, whereas the large POF difference, but within the same order, for gravity QW can be explained by the difference of the input design factors because of the poor input data information.

• Journal of Dental Rehabilitation and Applied Science
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• v.29 no.2
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• pp.163-173
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• 2013

When the mandible performs opening movement, the condyle-disk complex conducts sliding movement along the articular eminence. Thus, anatomic configuration of articular eminence is very important to normal movement of TMJ. The purpose of this study was to measure the posterior slope of the articular eminence and evaluate the effect of a pathologic bone change in the condylar head on the stiffness of articular eminence, and compare the differences of the articular eminence slope by gender and age using dental cone-beam CT. As using i-CAT Cone-Beam Computed Tomography, the CT images of 204 TMJs of 102 patients(43 men and 59 women, mean age: 37.7 years) who were diagnosed at Wonkwang University Sanbon Dental Hospital were evaluated. All images were converted into a TMJ analysis mode to observe the continuous sagittal section images and coronal section images of the joints. To observe and assess bone changes in the condyle, three dentists measured the stiffness of the articular eminence on the same images, and when two of the three dentists agreed on their reading, these results were adopted and recorded. The articular eminence slope, considering the condylar anatomic configuration, was measured in three regions, namely, lateral part, central part, and medial part of the condyle. In the cases of a normal condyle(NCBC) and a condyle(CBC) with bone change, the articular eminence slopes were $57.0^{\circ}$(NCBC) and $51.8^{\circ}$(CBC) at the medial part, $57.9^{\circ}$(NCBC) and $52.4^{\circ}$(CBC) at the central part, and $55.1^{\circ}$(NCBC) and $49.5^{\circ}$(CBC) at the lateral part of the condyle. And the articular eminence slope of the condyle with bone change demonstrated less steepness than that of normal condyle (p<0.05). The articular eminence slope showed mediolaterally that it was the steepest at the central, followed by at the medial, and at the lateral (p<0.05). There were no significant differences by the gender and the age (p.0.05).