Novel Ni- and Fe-based alloys are developed to impart improved mechanical properties and corrosion resistance. The designed alloys are manufactured as a powder and deposited on a steel substrate using a high-velocity oxygen-fuel process. The coating layer demonstrates good corrosion resistance, and the thus-formed passive film is beneficial because of the Cr contained in the alloy system. Furthermore, during low-temperature heat treatment, factors that deteriorate the properties and which may arise during high-temperature heat treatment, are avoided. For the heattreated coating layers, the hardness increases by up to 32% and the corrosion resistance improves. The influence of the heat treatment is investigated through various methods and is considered to enhance the mechanical properties and corrosion resistance of the coating layer.

A new Fe-Cr-Mo-B-C amorphous alloy is designed, which offers high mechanical strength, corrosion resistance as well as high glass-forming ability and its gas-atomized amorphous powder is deposited on an ASTM A213-T91 steel substrate using the high-velocity oxygen fuel (HVOF) process. The hybrid coating layer, consisting of nanocrystalline and amorphous phases, exhibits strong bonding features with the substrate, without revealing significant pore formation. By the coating process, it is possible to obtain a dense structure in which pores are hardly observed not only inside the coating layer but also at the interface between the coating layer and the substrate. The coating layer exhibits good adhesive strength as well as good wear resistance, making it suitable for coating layers for biomass applications.

본 연구에서는 조선소에서 작업자의 안전 확보를 위하여 스마트디바이스를 기반으로 동작, 체온, 외부온도, 맥박, 호흡, 청각적 기능을 탑재하였고, 이로부터 획득되는 정보들을 취합하여 서버 컴퓨터로 보내기 위한 클라이언트/서버 프로그램을 개발하였다. 또한, 작업자의 안전 상태를 진단할 수 있는 종합안전지수의 개념을 제시하였고 실제 선박에 탑승하여 센서모듈 및 스마트디바이스 테스트를 수행을 통해 획득된 데이터들에 대한 상관관계분석 및 다중 회귀분석을 통해 결과데이터와 센서 값 사이에 유의미한 상관관계를 가지고 있음을 확인하였다.

본 논문은 철근콘크리트 구조물의 지진해석에 관한 국제 벤치마크 프로젝트인 SMART-2013을 통해 3차원 비대칭 철근콘크리트 건물의 고유진동수와 재료 비선형성을 고려한 지진응답을 계산한 결과를 제시한다. 이를 위해 콘크리트와 철근의 비선형 재료모델을 구성하고 대표부피요소에 대한 국부테스트를 수행하여 비선형 모델의 성능을 평가하였다. 이러한 SMART-2013 철근콘크리트 건물의 비선형 유한요소모델에 대해 모드해석과 저강도 지진하중에 대한 선형 시간이력해석을 수행한 결과, 구조물의 고유진동수, 변위 및 가속도 시간이력이 SMART-2013 프로젝트에서 제시한 실험값들과 유사하였다. 또한 Northridge 지진에 대한 변위 및 가속도 응답의 시간이력과 최대층간상대변위의 응답스펙트럼을 계산하여 고강도 지진 하중에 대한 이 철근콘크리트 건물의 거동을 평가하였다.

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.