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Development of a 3-Axis Force Sensor for an Intelligent Gripper that Safely Grips Unknown Objects
김한솔(Han-Sol Kim),김갑순(Gab-Soon Kim) Korean Society for Precision Engineering 2022 한국정밀공학회지 Vol.39 No.3
In this study, we designed and manufactured a 3-axis force sensor for an intelligent gripper that safely grips an unknown object. The 3-axis force sensor consists of an Fx force sensor, an Fy force sensor, and an Fz force sensor in one body, and is manufactured by attaching a strain gauge. The characteristics evaluation showed that the rated output error was within 0.2, the nonlinearity error was within 0.05, and the reproducibility error was within 0.06%. Therefore, the 3-axis force sensor designed and manufactured in this study can be used to measure weight and control the force used to grip an unknown object by attaching it to the intelligent gripper.
2성분계 콘크리트의 구조체 보정강도(mSn) 산정을 위한 적산온도 기반 콘크리트의 압축강도 예측 연구
김한솔 ( Kim Han-sol ),이한승 ( Lee Han-seung ) 한국건축시공학회 2023 한국건축시공학회 학술발표대회 논문집 Vol.23 No.1
The compressive strength of concrete is greatly affected by the temperature inside the concrete at the initial age immediately after pouring. In the KCI Concrete Standard Specification, only the temperature correction strength (Tn) according to the curing temperature is applied in the mixing strength calculation formula, and mSn is not considered. The formula based on the Chrino model of the blast furnace slag concrete was calculated, and the strength of the structural concrete and the strength of the water cured specimen in the same mixture were compared with the predicted strength. As a result, the error between the predicted strength and the measured strength was greater in the structural concrete than in the concrete specimen.
열량계와 겉보기 활성화 에너지를 이용한 콘크리트의 압축강도 예측에 관한 실험적 연구
김한솔 ( Kim Han-sol ),장종민 ( Jang Jong-min ),김영관 ( Kim Yeung-kwan ),이한승 ( Lee Han-seung ) 한국건축시공학회 2020 한국건축시공학회 학술발표대회 논문집 Vol.20 No.2
Predicting the compressive strength of concrete is important for shortening construction time and reducing construction costs. In this study, the coefficients required for maturity method and compressive strength prediction equation were calculated by measuring the cement hydration reaction rate, concrete setting time and ultimate strength. The experiment was conducted in an isothermal environment of 10°C, 20°C and 30°C using a normal Portland cement, and the experiment was conducted with a total of 9 levels of W/C (40%, 50%, 60%) of 3 levels for each temperature. As a result of comparing the predicted strength and the measured strength for each blend, only an error of less than 5% was found for all blending and curing periods.
김한솔(Han Sol Kim),주영훈(Young Hoon Joo),박진배(Jin Bae Park) 한국지능시스템학회 2018 한국지능시스템학회논문지 Vol.28 No.2
본 논문에서는 연속 시간 상호 결합 카오스 시스템을 위한 분산 퍼지 동기화 방법을 제안한다. 이를 위해, 구동 (drive)과 응답(response) 카오스 시스템을 각각 연속 시간 상호 결합 타카기-수게노 (Takagi-Sugeno: T-S) 퍼지 모델로 표현하며, 두 시스템의 응답을 동기화하는 분산 퍼지 동기화 제어기의 설계 방법을 선형 행렬 부등식 (linear matrix inequality: LMI) 형태로 유도한다. 또한, 설계 유연성의 증대를 위해 본 논문에서는 구동 카오스 시스템의 상호 결합률을 정확히 알지 못하며, 상한 조건만 알고 있다고 가정한다. 이에 더해, 구동과 응답 카오스 시스템의 소속 함수를 모두 포함하는 새로운 퍼지 리아푸노프 (Lyapunov) 함수를 제안하며, 이를 통해 동기화 조건을 수치적으로 완화한다. 마지막으로, 제안하는 방법의 타당성을 시뮬레이션 예제를 통해 검증한다. In this paper, we propose a decentralized fuzzy synchronization method for continuous-time interconnected chaotic systems. To this end, drive and response chaotic systems are represented as continuous-time interconnected Takagi-Sugeno (T-S) fuzzy model, and its synchronization controller design method is proposed in terms of linear matrix inequalities (LMIs). Also, in order to increase the design flexibility, it is assumed that the interconnection rate of the drive chaotic system is not known exactly but its upper bound condition only can be known. In addition, we define a novel fuzzy Lyapunov function that consists of both membership functions of the drive and response chaotic systems, thereby numerically relaxing the resulting synchronization condition. Finally, the effectiveness of the proposed method is validated through a simulation example.
적산온도 기반 콘크리트의 압축강도 예측을 위한 무선 아두이노 센서 시스템 개발에 관한 기초 연구
김한솔 ( Kim Han-sol ),문동환 ( Moon Dong-hwan ),이한승 ( Lee Han-seung ) 한국건축시공학회 2019 한국건축시공학회 학술발표대회 논문집 Vol.19 No.1
The mechanical and durability characteristics of concrete structures depend on the construction environment, material conditions, design conditions, and temperature and humidity environment after casting. However, wired communicati-on sensors which are mainly used in the field have many limitations in their usability and monitoring. In this study, all temperature and humidity data measured from embedded sensors are monitored via a wireless sensor network. Based on the measured temperature data, the predicted compressive strength of the concrete was compared with the actual compressive strength. As a result, The error between predicted strength and experimental strength has decreased over time.