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철근콘크리트 기둥의 반복거동에 대한 이력모델 매개변수 예측
황원준 ( Hwang Won Jun ),김승직 ( Kim Sung Jig ) 한국구조물진단유지관리공학회 2021 한국구조물진단유지관리공학회 학술발표대회 논문집 Vol.25 No.2
본 연구는 철근콘크리트 기둥의 물리적 변수를 활용하여 반복거동에 대한 이력모델을 예측하는 것을 목적으로 한다. 수집한 기둥실험체의 데이터를 활용해 이력거동 매개변수를 도출하였다. 도출한 매개변수와 물리적 변수의 상관관계를 분석하여 이력모델의 매개변수 예측식을 제안하였다. 제안된 예측식을 활용한 해석모델과 실험결과를 비교하여 검증을 수행한 결과, 전반적으로 실험체와 유사한 거동을 나타내었다. 하지만 강도·강성 저감 현상이 제대로 반영되지 않아 과대평가 되는 경향이 나타났다. 이는 회귀분석을 위한 모집단 선정 시 파괴모드를 구분하여 고려하지 않았기 때문으로 판단된다.
Won-Jun hwang(황원준),In-Man Park(박인만),Un-Wook Kang(강언욱),Sung-Hyun Han(한성현) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.3
We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.
하이브리드 시뮬레이션을 이용한 PC벽체 수직접합부 이력댐퍼의 성능평가
황원준(Hwang, Won Jun),이종억(Lee, Jong Eok),김승직(Kim, Sung Jig),장준호(Chang, Chun Ho) 한국콘크리트학회 2021 한국콘크리트학회 학술대회 논문집 Vol.33 No.2
본 논문에서는 하이브리드 시뮬레이션을 이용한 PC벽체 수직접합부의 이력댐퍼에 대한 성능을 평가하였다. 하이브리드 시뮬레이션은 실험모듈과 해석모듈이 합쳐진 기법으로서, PC벽체는 OpenSees를활용 하여 모델링 하고, 이력댐퍼는 해석모델의 변위응답을 활용하여 실험을 수행하였다. 또한, 해석모듈에서 도출되는 변위응답은 높은 정밀도로 액추에이터에서 가력되었다. 따라서, 수직접합부가 적용된 PC벽체의 전체 거동을 평가하기 위해서는 하이브리드 시뮬레이션이 가장 경제적이고 효과적이라고 판단된다. This paper was evaluated the performance of vertical joint composed of the hysteretic steel damper between precast concrete (PC) walls by conducting the hybrid simulation. The hybrid simulation is an experimental technique that combines an experimental module and an analysis module. In addition, PC walls were modeled using OpenSees of non-linear analysis program, and then the hysteretic steel damper was tested using the deformation in displacement response of an analysis module. Also, the displacement derived from the response of an analysis module was applied to specimens with high accuracy by the actuator. Therefore, it is concluded that the hybrid simulation is the most economical and effective to experimentally evaluate the overall behavior of the PC walls with the vertical joint.
황원준(Won Jun Hwang),심병균(Byoung kyun Shim),조창제(Chang Jae Cho),한성현(Sung Hyun Han) 한국생산제조학회 2011 한국생산제조시스템학회 학술발표대회 논문집 Vol.2011 No.4
This paper is the development of industrial robot hand's and the design methods of industrial robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.
초음파센서 기반 자율주행 로봇의 장애물 회피에 관한 연구
황원준(Won-Jun Hwang) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.1
This paper presents the theoretical development of a complete navigation problem of a nonholonomic mobile robot by using ultrasonic sensors. To solve this problem, a new method to computer a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constranits of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic system modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonci sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory antomation.