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JRTR 제어봉구동장치의 구조건전성 평가를 위한 내진시험
최명환(Myoung-Hwan Choi),김경호(Gyeong-Ho Kim),선종오(Jong-Oh Sun),조영갑(Yeong-Garp Cho) 한국소음진동공학회 2016 한국소음진동공학회 학술대회논문집 Vol.2016 No.4
A control rod drive mechanism is a reactor regulating system, which inserts, withdraws or maintains a control rod containing a neutron absorbing material within a reactor core to control the reactivity of the core. The top-mounted CRDM for Jordan Research and Training Reactor has been designed and fabricated based on the HANARO’s experience. This paper describes the seismic test results to evaluate the structural integrity of CRDM drive assembly. The tests are carried out at two test rigs simulating the upper part of reactor pool. The seismic test results show that the CRDM maintains the function and structural integrity without changes of natural frequencies before and after 5 OBE and 1 SSE load excitations. Also, the stepping motor during the OBE load is driven having a good stepping performance without a malfunction.
Force Sensing Resistor를 이용한 힘/모멘트 센서 개발
최명환(Choi Myoung Hwan),이우원(Lee Woo Won) 강원대학교 산업기술연구소 2001 産業技術硏究 Vol.21 No.1
A low cost force./moment sensor that can be used in the robot teaching task is presented. Force Sensing Resistor is used as the transducer. The principle of force/moment detection is explained, the architecture of the sensor is shown, and the measurement of the force/moment is presented. The force/moment sensor shown in this work is not meant to be used in a precise force/moment control, but it is intended to be used in the robot teaching where low accuracy can be tolerated.
최명환(Choi Myoung Hwan) 강원대학교 산업기술연구소 1998 産業技術硏究 Vol.18 No.-
In a independent joint servo control of robots, the performance of the control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces. These act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increase, and makes the high speed-high precision control more difficult to achieve. In this paper, a solution to the optimal path placement problem is presented that minimizes the joint disturbance torque during a straight line motion. The proposed method is illustrated using computer simulation. The proposed solution method can be applied to the class of robots that are controlled by independent joint servo control, which includes the vast majority of industrial robots.