• Proceedings of the Korea Society for Industrial Systems Conference
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• 1996.10a
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• pp.103-109
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• 1996

무한 산란체나 해석적 해가 없는 구조에 대해 회절계수를 구하기 위해 사용되어지는 GTD-MM 혼합기법은 회절전류에 대한 사전 지식이 요구되면 모멘트법 해석영역 범위와 GTD 해석영역에서의 정합점의 결정이 산란해의 정확도에 큰 영향을 미침에도 불구하고 경험적 결정에 의존하고 있는 등 많은 문제점들이 있다. 본고에서는 이러한 문제점을 살펴보고 그 해결방안을 모색하였다.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.35 no.5
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• pp.267-275
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• 2022

Using a nonconforming mesh in enrichment methods results in several numerical issues induced by discontinuities and singularities found within the solution spaces, including the computational overhead during integration. In this study, we present a novel enrichment technique based on the selective expansion technique of moment fitting (Düster and Allix, 2020). In particular, two modifications are proposed to address the inefficiency during the integration process. First, a feedforward artificial neural network is introduced to correlate the implicit functions and integration moments. Through numerical examples, it is shown that the efficiency of the method is greatly improved when compared with existing expansion techniques, whereas the solution accuracy is maintained. Additionally, the finite element and domain representation grids are separated, which in turn improves the solution accuracy even for coarse mesh conditions.

• Proceedings of the Korea Association of Information Systems Conference
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• 1996.11a
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• pp.103-109
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• 1996

The GTD-MM hybrid technique, which is used for analyzing elctromagnetic scattering problems of infinite scatterer or scatterers having no analytic solutions, requires knowledges about the diffracted current by the scatterers. And the technique determines the extent of moment method analysis area and the position of GTD matching points empirically. But these parameters give considerable effects to the accuracy of the solution. So we examine the problems and try to seek some practical guidance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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• pp.643-652
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• 2006

This paper is concerned with computer simulations of a biped robot walking in static and dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a typical design. For such limbs, a set of inverse kinematic solutions is analytically derived between the torso and the feet. Specific walking patterns are off-line generated meeting stability based on the VPCG or ZMP condition. Subsequently, to verify whether the robot can walk as planned in the presence of mass and ground effects, a multi-body dynamics CAE code has been applied to the resulting joint motions determined by inverse kinematics. As a result, the key parameters to successful gaits could be identified including inherent characteristics as well. Upon comparisons between the two types of gaits, dynamic gaits are concluded more desirable for larger humaniods.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.10
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• pp.907-911
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• 2007

Compliance of joints must be considered when we analyze dynamics of a multi-body system. If the virtual model for CAE(computer aided engineering) analysis does not consider compliance, the result of CAE analysis can be very different from the actual experimental result. Especially in a biped walking robot, the robot may lose walking stability due to the compliance in joints of a walking robot. This paper proposed a method applying a compliance of joints in the biped walking robot to a virtual model. Also, through the 3-D displacement measurement using a laser tracker, it was demonstrated that the virtual model considering the joint compliance could effectively simulate the nonlinear motion of the real model.

• Magazine of the Korea Concrete Institute
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• v.10 no.4
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• pp.93-100
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• 1998

This paper presents a study on the flexural stiffness, plastic hinge length and plastic hinge rotation capacity of reinforced high performance concrete beams. 15 beams with different strength of concrete, reinforcement ratio and the pattern of loadings were tested. From the test results of reinforced normal strength concrete beams and reinforced high performance concrete beams with the concrete which has cylinder compressive strength of 700kg/${cm}^2$, slump value of 20~25cm and slump-flow value of 60~70cm. It is found that an extreme fiber concrete compressive strain of ${\varepsilon}_{cu}=0.0047$ may be used in ultimate curvature computations of reinforced high performance concrete beams. An empirical equation is proposed to estimate the effective moment of inertia. length and rotation capacity of plastic hinge of simply supported reinforced high performance concrete beams. The estimated deflections using this equation agree well with the experimental values.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.4
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• pp.299-309
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• 2014

When biped robots make turns, the ability to walk stably and precisely along any circular path is crucial. In this context, inverse kinematics solutions are found for accurate gait realization, and new zero moment point(ZMP) equations are derived with respect to the cyclindrical coordinate system to facilitate generation of stable walking patterns. Then, appropriate steady and transitional walking patterns are both proposed in form of time functons. Subsequently, walking patterns for a path but of different speeds are generated using the functions and associated formulas, and preliminarily checked for stability based on the ZMP equations. Upon comparison of those cases, one can see how and when robots may fall down during circular walking. Finally, those patterns are put to test on the sample robot by ADAMS(R) along with the inverse kinematics solutions and a new balance control scheme compensating for insufficient stability particulary during the initial transition period. Test results show that the robot can walk along the circular path as predicted at a resonably high speed despite the distributed mass and ground contact effects, validating effectiveness of the suggested approach.

• Journal of Advanced Navigation Technology
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• v.21 no.1
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• pp.132-137
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• 2017

This paper proposes a transformation method of the zero moment point (ZMP) and the center of mass (CoM) from one walking pattern to other patterns by considering the structure of a robot or walking situations in real time. In general, a humanoid robot has own structure characteristics like height and mass. The structure characteristics make the given CoM/ZMP walking pattern of one human or one humanoid robot to be difficult to apply to other robot directly. For this purpose, we analyze the characteristics of walking patterns according to the step length, duration of walking support phase and the CoM height by using the cart-table model as the simple humanoid robot model. A transformation equation is derived from the analyzation and it is verified with simulation.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.15 no.2
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• pp.125-130
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• 2016

In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.

• Journal of the Korea institute for structural maintenance and inspection
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• v.20 no.5
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• pp.109-115
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• 2016

A demand of high bearing capacity of piles to resist heavy static loads has been increased. For this reason, the utilization of large diameter PHC piles including a range from 700 mm to 1,200 mm have been increased and applied to the construction sites in Korea recently. In this study, in order to increase the flexural strength capacity of the PHC pile, the large diameter composite PHC pile reinforced by in-filled concrete and reinforcement was developed and manufactured. All the specimens were tested under four-point bending setup and displacement control. From the strain behavior of transverse bar, it was found that the presence of transverse bar was effective against crack propagation and controlling crack width as well as prevented the web shear cracks. The flexural strength and mid-span deflection of LICPT specimens were increased by a maximum of 1.08 times and 1.19 times compared to the LICP specimens. This results indicated that the installed transverse bar is in an advantageous ductility performance of the PHC piles. A conventional layered sectional analysis for the pile specimens was performed to investigate the flexural strength according to the each used material. The calculated bending moment of conventional PHC pile and composite PHC pile, which was determined by P-M interaction curve, showed a safety factor 1.13 and 1.16 compared to the test results.