• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.2
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• pp.170-177
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• 2019

In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.34 no.3
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• pp.167-174
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• 2021

Recent investigation into the integrity of nuclear containment buildings has highlighted the importance of developing an elaborate diagnostic method to evaluate the distribution and size of cavities inside concrete walls. As part of developing such a method, this paper presents a finite element approach to modeling elastic waves propagating in the containment building walls of a nuclear power plant. We introduce a perfectly matched layer (PML) wave-absorbing boundary to limit the large-scale nuclear containment wall to the region of interest. The formulation results in a semi-discrete form with symmetric damping and stiffness matrices. The transient elastic wave equations for a mixed unsplit-field PML were solved for displacement and stresses in the time domain. Numerical results show that the sensitivity of displacement, velocity, acceleration, and stresses is large depending on the size and location of the cavity. The dynamic response of the wall slightly differs depending on the existence of the containment liner plate. The results of this study can be applied to a full-waveform inversion approach for characterizing cavities inside a containment wall.

• Journal of Navigation and Port Research
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• v.26 no.3
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• pp.323-328
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• 2002

Soil-steel structures have been used for the underpass, or drainage systems in the road embankment. This type of structures sustain external load using the correlations with the steel wall and engineered backfill materials. Buried flexible conduits made of corrugated steel plates for the coastal road was tested under vehicle loading to investigate the effects of live load. Testing conduits was a circular structure with a diameter of 6.25m. Live-load tests were conducted on two sections, one of which an attempt was made to reinforce the soil cover with the two layers of geo-gird. Hoop fiber strains of corrugated plate, normal earth pressures exerted outside the structure, and deformations of structure were instrumented during the tests. This paper describes the measured static and dynamic load responses of structure. Wall thrust by vehicle loads increased mainly at the crown and shoulder part of the conduit. However additional bending moment by vehicle loads was neglectable. The effectiveness of geogrid-reinforced soil cover on reducing hoop thrust is also discussed based on the measurements in two sections of the structure. The maximum thrusts at the section with geogrid-reinforced soil cover was 85-92% of those with un-reinforced soil cover in the static load tests of the circular structure; this confirms the beneficial effect of soil cover reinforcement on reducing the hoop thrust. However, it was revealed that the two layers of geogrid had no effect on reducing the overburden pressure at the crown level of structure. The obtained values of DLA decrease approximately in proportion to the increase in soil cover from 0.9m to 1.5m. These values are about 1.2-1.4 times higher than those specified in CHBDC.