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복합재료 구조물의 건전성 모니터링을 위한 P(VDF-TrFE) 직물센서의 가능성 평가
배지훈 ( Ji-hun Bae ),장승환 ( Seung-hwan Chang ) 한국복합재료학회 2017 Composites research Vol.30 No.2
복잡한 형상의 구조 건전성 모니터링을 위해서는 높은 취성 등 기존 센서의 단점을 보완 할 수 있는 매우 유연하고 내구성이 확보된 센서가 필요하다. 본 연구에서는 전기활성고분자의 한 종류인 Polyvinylidene fluoride trifluoroethylene (PVDF-TrFE)를 사용하여 직물센서를 제작하였다. 또한 제작된 직물센서를 복잡한 형상을 가지는 탄소섬유/에폭시 복합재료 구조물에 적용하여 구조 건전성 모니터링을 위한 도구로써 활용 가능성을 평가하였다. 복합재료 구조물의 손상 반응과 파손 메커니즘을 분석하기 위해 다중간헐적 압축시험을 수행하였다. 시험 과정에서 복합재료 구조물에 삽입된 직물센서는 전기적 신호를 발생 (0.05 V-0.25 V)하며 실시간으로 균열발생과 균열위치를 감지해냈다. For structural health monitoring of a complex shaped structure a new sensor that can compensate for the drawbacks of the current sensors such as brittleness is needed and the sensor should be highly flexible and durable. In this study a textile sensor made of polyvinylidene fluoride trifluoroethylene (PVDF-TrFE) which is a type of electroactive polymer was fabricated. And the textile sensors were applied to a complex shaped structure (an egg-box panel made of carbon/epoxy composite) for checking their feasibility of structural health monitoring. To correlate the collapse response with failure mechanisms of the structure the multiply-interrupted compressive test was carried out. During the test, the textile sensors succeeded to prove their applicability for damage detection (crack initiation) by generating electric voltages (0.05 V-0.25 V) in the real time.
Simulation for Sensorless Dual Arm Coordination with Relative Internal Forces
Ji-Hun Bae(배지훈),Jae-Han Park(박재한),Ga-Ram Jang(장가람),Moon-Hong Baeg(백문홍) 제어로봇시스템학회 2012 제어로봇시스템학회 합동학술대회 논문집 Vol.2012 No.7
In this paper, we propose a simple and feasible control scheme for dual arm coordination without force/torque sensor information, especially, in the task of holding and lifting a box. That is a kind of hybrid force/position control based on virtual work theorem and virtual spring-damper hypothesis. We calculate the minimum force and direction to hold and lift a box considering the friction cone on the box surface, and control directly the desired force as a feedforward term in the open loop control manner. The result of computer simulation shows that sensorless dual arm manipulation can be realized with only relative kinematic information between each robot arm.
복합재료구조물 거동 관찰을 위한 P(VDF-TrFE) 스마트센서의 기초연구
배지훈 ( Ji Hun Bae ),장승환 ( Seung Hwan Chang ) 한국복합재료학회 2015 Composites research Vol.28 No.3
Poly(vinylidene fluoride-trifluoroethylene; P(VDF-TrFE))는 여러 분야에서 다양한 형태로 활용되고 있는 유망한 전기활성고분자이다. 이 재료는 전기-기계적 특성을 가지고 있기 때문에 다양한 형태의 센서와 구동기로 활 용되고 있으며, 복합재료 구조의 거동을 관찰하는 센서로도 활용이 가능하다. 본 논문에서는 세 가지 방법; (1) 전 기적 폴링, (2) 어닐링-냉각, (3) 압축을 사용하여 P(VDF-TrFE) 공중합체 필름의 β 상 결정구조 향상시켜 센서로서 의 특성을 강화하기 위한 연구를 수행하였다. P(VDF-TrFE) 필름에 대한 각 방법의 효과를 조사하기 위해 X-선 회 절을 통한 미세구조분석을 수행하였다. 실험 결과, 전기적 폴링, 어닐링-냉각, 그리고 압축 방법 모두 P(VDF-TrFE) 필름의 β 상 결정구조 향상에 효과적이었으며 대조군(45.29%) 대비 최대 62.80%까지 β 상 결정도가 향상됐다. Poly(vinylidene fluoride-trifluoroethylene; P(VDF-TrFE)) is one of the most promising electroactive polymers with numerous application potentials in many fields of industry. Because of its good electro-mechanical properties P(VDF-TrFE) has been used for a number of sensors and actuators and also can be used for monitoring composite structure behaviors as a sensor. Three different ways (Electrical poling, annealing-cooling, and pressing) to enhance β-phase of P(VDF-TrFE) film were carried out. A microscopic analysis was conducted using X-ray diffraction to investigate the effect of such treatments on piezoelectric properties of P(VDF-TrFE) film. From the results, poling, annealing-cooling, and pressing were all effective to enhance β crystallinity of P(VDF-TrFE) film and the maximum increase rate was 62.80% from 45.29% of the control group.
동시 경화법으로 제조된 T800/에폭시 복합재료-알루미늄 단면겹치기조인트의 성형압력 및 부가압력에 따른 접착강도에 관한 연구
손대성 ( Dae Sung Son ),배지훈 ( Ji Hun Bae ),장승환 ( Seung Hwan Chang ) 한국복합재료학회 2011 Composites research Vol.24 No.5
본 논문에서는 필라멘트 와인딩 시 장력에 의해 복합재료에 발생한 압력 정보를 이용하여 동시경화법으로 제조된 T800 탄소섬유/에폭시 복합재료-알루미늄 단면겹치기 접착조인트의 접착강도를 부가압력의 크기에 따라 측정하였다. 실험시편은 오토 클레이브 진공백 성형을 통해 성형압력 (절대압력 0.1MPa, 0.3MPa, 0.7MPa)을 조절하여 제작하였다. 접착강도를 측정하기 위하여 인장실험이 실시되었으며, 필라멘트 와인딩 공정에 의해 제조된 Type III 수소저장용기의 복합재료-알루미늄 라이너의 계면 접착강도를 측정하기 위해 단면겹치기 접착조인트의 접착부에 일정한 압력을 가해줄 수 있는 압력부가 장치를 설계하였다. 적층된 복합재료에 가해지는 부가압력이 접착강도에 미치는 영향을 확인하기 위해 서로 다른 세 종류의 부가압력 (절대압력 0.1MPa, 0.3MPa, 0.7MPa)을 시편에 부가하여 접착강도를 측정하고, 그 결과를 비교하였다. In this paper, the bonding strengths of co-cured T800 carbon/epoxy composite-aluminum single lap joints with and without additional pressures were investigated using the pressure information induced by the fiber tension during a filament winding process. The specimens of all the tests were fabricated by an autoclave vacuum bag de-gassing molding being controlled forming pressures (absolute pressures of 0.1MPa, 0.3MPa and 0.7MPa including vacuum). A special device which can act uniform additional pressures on the joining part of the single lap joint specimen was designed to measure the bonding strengths of composite-aluminum liners of type III hydrogen pressure vessel fabricated by a filament winding process. After the three different additional pressures(absolute pressures of 0.1MPa, 0.3MPa and 0.7MPa) were applied to the specimens the effect of the additional pressures on the bonding strengths of the co-cured single-lap joints were evaluated.
LM 최적화 알고리즘을 이용한 유리함수 모델의 데이터 피팅
박재한(Jae-Han Park),배지훈(Ji-Hun Bae),백문홍(Moon-Hong Baeg) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.8
This paper considers a data fitting problem for rational function models using the LM (Levenberg-Marquardt) optimization method. Rational function models have various merits on representing a wide range of shapes and modeling complicated structures by polynomials of low degrees in both the numerator and denominator. However, rational functions are nonlinear in the parameter vector, thereby requiring nonlinear optimization methods to solve the fitting problem. In this paper, we propose a data fitting method for rational function models based on the LM algorithm which is renowned as an effective nonlinear optimization technique. Simulations show that the fitting results are robust against the measurement noises and uncertainties. The effectiveness of the proposed method is further demonstrated by the real application to a 3D depth camera calibration problem.
GPS 정보와 차선정보의 정합을 통한 이동로봇의 실외 위치추정
지용훈(Yong-Hoon Ji),배지훈(Ji-Hun Bae),송재복(Jae-Bok Song),유재관(Jae-Kwan Ryu),백주관(Joo-Hyun Baek) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.6
Accurate localization is very important to stable navigation of a mobile robot. This paper deals with local localization of a mobile robot especially for outdoor environments. The GPS information is the easiest way to obtain the outdoor position information. However, the GPS accuracy can be severely affected by environmental conditions. To deal with this problem, the GPS and wheel odometry can be combined using an EKF (Extended Kalman Filter). However, this is not enough for safe navigation of a mobile robot in outdoor environments. This paper proposes a novel method using lane features from the road image. The pose data of a mobile robot can be corrected by analyzing the detected lane features. This can improve the accuracy of the localization process substantially.