• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2402-2404
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• 2003

다중 로봇 시스템에는 multiple arms, 다족 보행, 다중 손 등이 있다. 이러한 시스템들은 여러 개의 부속체인 로봇들이 물체를 파지하는 특징을 지닌다. 그러나 이러한 적용분야에서 물체를 파지하는 내력에 대한 개념은 각각 다르게 해석되어져 왔음을 살펴볼 수 있다. 본 논문에서는 내력은 로봇 말단에서의 움직임에는 영향을 주지 않지만, 정적 평형을 이루며 내부적으로 작용하는 힘과 모멘트라고 정의 하였고, 이러한 개념이 현존하는 다중 로봇 시스템에 일반적으로 적용할 수 있음을 제시한다. 또한 최소 놈 해에 있어서 내력이 존재하지 않는 조건과, 내력을 구성하는 기저를 밝혔고, 다양한 다중 로봇 시스템의 내력 해석에 사용할 수 있음을 제시하였다.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.27 no.4
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• pp.313-320
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• 2014

A tensegrity structure consists of a set of continuous cables in tension and a set of discontinuous struts in compression. The tensegrity structure can be classified into self-stressed and pre-stressed pin-jointed structure. A key step in the design of tensegrity structures is the determination of their equilibrium configuration, known as form-finding. In this paper, three effective methods are presented for form-finding of tensegrity structures. After performing form-finding process, a set of force density and corresponding topology results can be obtained. Then the force density method combined with a genetic algorithm is adopted to uniquely define a single integral feasible set of force densities. Numerical examples are presented that demonstrate the excellent performance of the algorithms.

• Journal of Korean Association for Spatial Structures
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• v.6 no.3 s.21
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• pp.131-137
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• 2006

This study presents a new stress analysis method to be substituted for the elastic analysis in such a plastic design procedure. This method is accompanied by an efficient mathematical tool which can be easily handled by personal computer. The method also easily accepts arbitrary strategies by the designer for selection member size.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2010.04a
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• pp.584-587
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• 2010

본 논문에서는 고유치문제에 근거한 텐세그러티 구조물의 형상탐색에 대하여 제시하고자 한다. 하지만 자기평형 응력을 구하기 위해서 정방형 행렬이 아닌 장방형 행렬을 풀어야 하는 난제가 발생하므로 선행 연구자들은 이를 해결하기 위해 내력밀도법과 일반역행렬을 이용한 방법 등을 제시하였다. 본 연구에서는 새롭게 형상을 탐색하는 방법을 제시하여 텐세그러티 구조물 및 케이블 돔 구조물의 자기평형 응력을 얻었다. 제시한 방법은 기존의 방법을 기본으로 한 모든 절점의 평형 방정식을 고유치문제로 정식화하였다. 이를 증명하기 위해 몇 가지 예제에 대하여 수치해석을 수행하였고 타당성을 검증하기 위하여 기존의 방법과 비교하였다. 제시된 방법은 기존의 방법과 같은 결과가 나왔으며 해답을 얻는 과정이 훨씬 간단하였다.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.5
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• pp.27-36
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• 1997

For the strength design of the brake system of a forklift truck, a procedure to calculate the internal forces acting on the system is presented in this paper. Vehicle dynamics, brake system kinematics, and internal force equilibrium analysis are integrated into the procedure. Design parameters such as stopping distance, maximum decceleration, and maximum torque generated by pedal force are considered in the vehicle dynamics, and geometric parameters of the brake system are considered in the brake system kinematics. With the two analysis results obtained, the internal forces acting in the brake system are finally calculated in the procedure.

• Journal of Korean Society of Steel Construction
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• v.28 no.5
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• pp.337-344
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• 2016

In this study, a form-finding method of tensegrity systems by using the force density method combined with the stiffness matrix method was presented. Numerous studies have been made on form-finding methods of the tensegrity systems. However, these methods are limited in the tensegrity systems with multiple null space of the equilibrium matrix. The proposed method can uniquely define a single integral feasible set of force densities for the structures. In order to draw maximum natural frequency that can lead a maximum stiffness of the tensegrity systems, a constrained maximization problem is formulated in the genetic algorithm. Several numerical examples are presented to prove dfficiency in searching for self-equilibrium congifurations of tensegrity systems with multiple self-stress states. A good performance of the proposed method has been shown in the results.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.3 no.4
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• pp.1-10
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• 1983

The deformation and crack width of concrete walls of slabs, plates, panels and shells reinforced by a regular rectangular net of reinforcing bars and subjected to in-plane (membrane) internal forces is analyzed on the basis of a realistic model which takes into account the frictional-dilatant behavior of rough interlocked cracks, the effect of tension stiffening, and the dowel action of bars at crack crossings. Extensive numerical computer studies are carried out, and the reinforcement designs obtained from equilibrium conditions alone on the basis of either the classical frictionless approach or the recent frictional approach are compared in terms of the resulting crack widths. It is found that the use of frictional equilibrium design based on a low friction coefficient leads to a much smaller crack width than the classical frictionless design. The influences of bar diameter and crack spacing on the crack width are also studied. The model allows more realistic deformation analysis of reinforced concrete structures.

• Journal of Korean Association for Spatial Structures
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• v.10 no.2
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• pp.87-94
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• 2010

Form-Finding of tensegrity structures by eigenvalue problem is presented, In ardor to maintain the structures stable, "Form-Finding" should be performed. The types of analytical methods are known to solve this phenomenon: One is to use force density method, and the other is to apply so called, generalized inverse method. In this paper, new form finding methods are presented to obtain the self-equilibrium stress of the tensegrity structures. This method is based on the equilibrium equation of the all of the joint and the governing equation is formulated as eigonvalue problem. In order to verify this approach, numerical example(tensegrity structures) are compared with others calculated by previous methods. The solution by present method is shown identical results. Furthermore, the developed process to find the results is more efficient than previous approaches.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.6A
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• pp.789-798
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• 2008

The stiffness method provides a framework to calculate the structural deformations directly from solving the equilibrium state. However, to use the displacement shape functions leads to approximate estimation of stiffness matrix and resisting forces, and accordingly results in a low accuracy. The conventional flexibility method uses the relation between sectional forces and nodal forces in which the equilibrium is always satisfied over all sections along the element. However, the determination of the element resisting forces is not so straightforward. In this study, a new fiber finite element mixed method has been developed for nonlinear anaysis of steel-concrete composite structures in the context of a standard finite element analysis program. The proposed method applies the Newton method based on the load control and uses the incremental secant stiffness method which is computationally efficient and stable. Also, the method is employed to analyze the steel-concrete composite structures, and the analysis results are compared with those obtained by ABAQUS. The comparison shows that the proposed method consistently well predicts the nonlinear behavior of the composite structures, and gives good efficiency.

• Journal of Korean Association for Spatial Structures
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• v.8 no.1
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• pp.41-48
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• 2008

Spatial structure is an appropriate shape that resists external force only with in-plane forte by reducing the influence of bending moment, and it maximizes the effectiveness of structure system. the spatial structure should be analyzed by nonlinear analysis regardless static and dynamic analysis because it accompanys large deflection for member. To analyze the spatial structure geometrical and material nonlinearity should be considered in the analysis. In this paper, a geometrically nonlinear finite element model for plane truss structures is developed, and material nonlinearity is also included in the analysis. Arc-length method is used to solve the nonlinear finite element model. It is found that the present analysis predicts accurate nonlinear behavior of plane truss.