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최혁렬 成均館大學校 科學技術硏究所 1996 論文集 Vol.47 No.1
Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.
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이미지 분석에 의한 콘크리트의 공극 분포 및 공기량 분석
권혁찬,정원경,윤경구 江原大學校 産業技術硏究所 2004 産業技術硏究 Vol.24 No.A
Air voids in hardened concrete have an important influence on concrete durability such as resistance of freezing and thawing, permeability and surface scaling resistance. Linear traverse method and point count method in ASTM standard method have been widely used to estimate the air void system in hardened concrete. However, these methods are not used at present time, because they are is exhausted much time and effort. In previous study, air voids system of concrete was estimated by spacing factor. The purpose of this study organizes image analysis method by analyzing air contents, air voids distributions by diameters, air voids system as well as spacing factors after hardened concrete. The experimental variables institute of depth of specimen(top. middle, bottom), air contents(AE contents 0, 0.01, 0.03%).
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박재준, 김동주, 최혁렬 성균관대학교 기계기술연구소 2001 성균관대학교 논문집 기계기술편 Vol.4 No.1
This paper describes the locomotion method of Walking robots by introducing two robots, a biped walking robot and a quadraped walking robot, whnch we have manufactured. The biped robot made of LEGO MINDSTORM has bean destined to have the minimal number of actuator. It presents a locomotion method in which robots can walk with a few actuators. The Quadraped Walking robot has three dgree of freedom per a leg, and use RC Servo motor as actuator. we researched walking pattern of quadrated walking robot through this robot. In this paper we also discuss the problems of developing walking robots and solutions.
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이형직,송두규,권혁병,정해경,윤상옥,이형복,이홍림 국립7개대학공동논문집간행위원회 2003 공업기술연구 Vol.3 No.-
소결첨가제나 바인더를 넣지않고 만든 무첨가 PZT 분말 성형체를 플라즈마 소결-로 열처리 후의 미세조직의 변화, PbO의 거동 그리고 이에 따른 유전특성을 로소결한 경우와 비교하여 다음과 같은 결과를 얻었다. 플라즈마 소결-로 열처리로 만든 PZT 시편이 로 소결 시편과 비교하여 입성장이 크게 일어나지 않은 미세조직을 나타내었으며, 또한 균일한 Pb, Zr, Ti 성분분포를 보였다. 유전특성에 있어서는 1kHz에서 20%정도의 유전율의 향상을 얻을 수 있었으며 유전소실 또한 40%정도 낮출 수 있었다. 상기의 결과는 DC 플라즈마 소결법의 특징인 소결초기의 급속가열 효과와 PbO의 증발 억제 효과에 의한 것으로 고려된다. PZT powder compacts without additives and binder were processed by plasma sintering-furnace annealing. Microstructures, PbO behaviour and dielectric properties were investigated, and compared to the specimen obtained by furnace sintering. The specimen prepared by plasma sintering-furnace annealing showed more not only fine microstructures but also homogeneous pb, Zr, Ti composition distribution, and revealed 20% higher dielectric constant as well as 40% lower dielectric loss (measured at 1kHz). Above results might be considered to be caused by rapid heating effects, high temperature sintering effects and preventing effects of PbO evaporation characterized by dc plasma sintering.
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정원경,김동호,권혁찬,윤경구 강원대학교 산업기술연구소 2003 産業技術硏究 Vol.23 No.A
The purpose of this paper is to analysis of initial behavior of concrete pavement with initial measurement strain gauge for concrete pavement at field, and to investigate the field test results for field applicability testing. The early-age behaviors of concrete pavement slabs were measured using the strain gauges. From the slab depths and positions, the outputs from each gauges were recorded at initial curing period The initial measurement of concrete pavement and check of crack at the joint were performed. the results could be summarized as follows. From the results of concrete strength, compressive strength and flexural strength were showed 271kgf/㎝', 43kgf/㎝' respectively. From the tests of early-age strain measurement, it was found that the strain varied at the maximum value of 150μ ε and early1 behavior of concrete slab was showed a tensile strain However. for long-term was showed a compressive strain due to dry-shrinkage.
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홍창우,김동호,이훈재,권혁찬,윤경구 江原大學校 産業技術硏究所 2002 産業技術硏究 Vol.22 No.A
Latex modified concrete is governed by both cement hydration and polymer film formation processes in its binder phase. Such the reactions are expected to improve the polymer-cement co-matrixes themselves and the bond between the cement hydrates and aggregates, and to improve the properties of hardened latex-modified concrete. The purpose of this study was to study the strength and chemical resistance of Rapid-setting latex modified concrete(RSLMC) with the main experimental variables such as latex content(0, 5, 10, 15, 20%) and water-cement ratio(36, 38, 40%) at latex content 15%. Water absorption test was carried out to estimate water permeability resistance. Chemical resistance test was carried out to measure the weight change and to observe the appearance of RSLMC immersion in hydrochloric acid, sulfuric acid, and calcium choloride.
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윤경구,김성환,정원경,권혁찬 강원대학교 부설 석재복합신소재 제품연구센터 2003 석재연 논문집 Vol.8 No.-
본 논문은 콘크리트 배합시 발생하는 과도한 기포 발생 문제점을 해결하기 위하여 최적의 소포제 종류 및 혼입률 범위를 산정하여 초속경 라텍스개질 콘크리트 성능을 개선하는 것이다. 초속경 라텍스개질 콘크리트 실험은 2종류의 소포제 A, C와 혼입률 0, 1, 2, 3%을 주요 변수로 하여 공기량 시험, 압축강도 및 휨강도 시험을 수행하였다. 또한, 내구성 평가를 위하여 염소이온 투과실험도 수행하였다. 초속경 라텍스 개질 콘크리트의 공기량시험 결과 소포제 종류에 상관없이 소포제 혼입률 1%이상 첨가시 공기량은 50%이상 감소하였다. 또한, 소포제 첨가에 의한 기포 발생량 감소에 의해서 압축강도의 증진을 이루었다. 초속경 라텍스개질 콘크리트 실험은 A, C 소포제로 선정하여 실험을 수행하였다. 초속경 라텍스개질 콘크리트의 강도 특성에서는 A 소포제 혼입률 1%에서 압축강도 235kgf/㎠ , 휨강도는 조기 교통개방에 요구되는 휨강도 기준 45kgf/㎠를 초과하는 49kgf/㎠를 나타내었다. The purpose of this study was to remove the excessive air foaming which was produced in mixing the RSLMC(latex-modified concrete with rapid-setting cement) by choosing the best antifoam agent type and the optimized quantity for performance improved RSLMC. The main experimental variables such as antifiamer types(A, C), antifoamer contents(0, 1, 2, 3%), and latex contents(15%). Air content test and compressive, flexural tests were carried out to measure the improved properties of RSLMC. the rapid chloride permeability was carried out to estimate a durability of RSLMC. The results of RSLMC showed that the decrease of 50% air content was obtained by admixturing a antifoam agent by 1%. Two kinds and the optimized quantities of antifoam agent were selected for using in RSLMC. The results of RSLMC were obtained at a latex content of 15% and a antifoam agent quantity of 1% with antifoamer A type. The compressive strength and flexural strength at 3 hours after RSLMC placement were 235kgf/㎠ and 49kgf/㎠, respectively, which exceeded the flexural strength criterion of 45kgf/㎠ in order to open the RSLMC placed to traffic.
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