• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• 한국운동역학회지
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• 제26권4호
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• pp.433-441
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• 2016

Objective: The purpose of this study was to understand the injury mechanism and to provide quantitative data to use in prevention or posture correction training by conducting kinematic and kinetic analyses of risk factors of lower extremity joint injury depending on the change of direction at different angles after a landing motion. Method: This study included 11 men in their twenties (age: $24.6{\pm}1.7years$, height: $176.6{\pm}4.4cm$, weight: $71.3{\pm}8.0kg$) who were right-leg dominant. By using seven infrared cameras (Oqus 300, Qualisys, Sweden), one force platform (AMTI, USA), and an accelerometer (Noraxon, USA), single-leg drop landing was performed at a height of 30 cm. The joint range of motion (ROM) of the lower extremity, peak joint moment, peak joint power, peak vertical ground reaction force (GRF), and peak vertical acceleration were measured. For statistical analysis, one-way repeated-measures analysis of variance was conducted at a significance level of ${\alpha}$ <.05. Results: Ankle and knee joint ROM in the sagittal plane significantly differed, respectively (F = 3.145, p = .024; F = 14.183, p = .000), depending on the change of direction. However, no significant differences were observed in the ROM of ankle and knee joint in the transverse plane. Significant differences in peak joint moment were also observed but no statistically significant differences were found in negative joint power between the conditions. Peak vertical GRF was high in landing (LAD) and after landing, left $45^{\circ}$ cutting (LLC), with a significant difference (F = 9.363, p = .000). The peak vertical acceleration was relatively high in LAD and LLC compared with other conditions, but the difference was not significant. Conclusion: We conclude that moving in the left direction may expose athletes to greater injury risk in terms of joint kinetics than moving in the right direction. However, further investigation of joint injury mechanisms in sports would be required to confirm these findings.

• Steel and Composite Structures
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• 제5권4호
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• pp.325-340
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• 2005

This paper presents a thorough investigation into the structural performance of cold-formed steel column bases using double lipped C sections with bolted moment connections. A total of four column base tests with different connection configurations were carried out, and it was found that section failure under combined bending and shear was always critical. Moreover, the proposed column bases were demonstrated to be structurally efficient attaining moment resistances close to those of the connected sections. In order to examine the structural behaviour of the column base connections, a finite element model was established using shell and spring elements to model the sections and the bolted fastenings respectively. Both material and geometrical non-linearities were incorporated, and comparison between the test and the numerical results was presented in details. The design rules originally developed for bolted moment connections between lapped Z sections were adopted and re-formulated for the design of column base connections after careful calibration against the test data. Comparison on co-existing moments and shear forces at the critical cross-sections of the column bases was fully presented. It was shown that the proposed design and analysis method was structurally adequate to predict the failure loads under combined bending and shear for column bases with similar connection configurations.

• Steel and Composite Structures
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• 제5권4호
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• pp.289-304
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• 2005

This paper presents a thorough investigation into the structural performance of cold-formed steel column bases using double lipped C sections with bolted moment connections. A total of four column base tests with different connection configurations were carried out, and it was found that section failure under combined bending and shear was always critical. Moreover, the proposed column bases were demonstrated to be structurally efficient attaining moment resistances close to those of the connected sections. In order to examine the structural behaviour of the column base connections, a finite element model was established using shell and spring elements to model the sections and the bolted fastenings respectively. Both material and geometrical non-linearities were incorporated, and comparison between the test and the numerical results was presented in details. The design rules originally developed for bolted moment connections between lapped Z sections were adopted and re-formulated for the design of column base connections after careful calibration against the test data. Comparison on co-existing moments and shear forces at the critical cross-sections of the column bases was fully presented. It was shown that the proposed design and analysis method was structurally adequate to predict the failure loads under combined bending and shear for column bases with similar connection configurations.

• Computers and Concrete
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• 제2권4호
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• pp.309-324
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• 2005

The moment-curvature relationship of reinforced concrete beams made of normal- and high-strength concrete experiencing complex load history is studied using a numerical method that employs the actual stress-strain curves of the constitutive materials and takes into account the stress-path dependence of the concrete and steel reinforcement. The load history considered includes loading, unloading and reloading. From the results obtained, it is found that the complete moment-curvature relationship, which is also path-dependent, is similar to the material stress-strain relationship with stress-path dependence. However, the unloading part of the moment-curvature relationship of the beam section is elastic but not perfectly linear, although the unloading of both concrete and steel is assumed to be linearly elastic. It is also observed that when unloading happens, the variation of neutral axis depth has different trends for under- and over-reinforced sections. Moreover, even when the section is fully unloaded, there are still residual curvature and stress in the section in some circumstances. Various issues related to the post-peak behavior of reinforced concrete beams are also discussed.

• Journal of Korean Dental Science
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• 제4권2호
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• pp.46-51
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• 2011

Purpose: For aesthetic reasons, composite resin brackets are widely used. However, related studies are rare. This pilot study sought to compare the stress distributions in two commercially available composite resin brackets with metal slot. Materials and Methods: Two commercially available resin brackets -- full-metal slot resin bracket (fSRB) and partial-metal slot resin bracket (pSRB) with straight wire appliance dimension of $0.022{\times}0.028$ in -- were selected. In each bracket, 3-dimensional finite element models were constructed, and stress level was evaluated using finite element analysis. By loading the tipping force and torsion moment, which are similar to those applied by the stainless steel rectangular wire ($0.019{\times}0.025$ -in), stress distributions were calculated, and von Mises stress values were obtained. Results: In pSRB and fSRB, the stress value of the torque moment was much higher than that of the tipping force. The pSRB showed higher stress value than fSRB in both tipping force and torque moment because of the difference in size and configuration of the metal frame inserted into the slot. More stress was also found to be concentrated on the slot area than the wing area in fSRB. Conclusion: The slot form of fSRB was found to be more resistant to the stress of tipping and torque than the slot form of pSRB. In addition, the slot areas -- rather than the wing areas -- of the bracket showed breakage susceptibility. Therefore, resistance to the torque moment on the slot area should be considered in bracket design.

• 소음진동
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• 제7권4호
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• pp.681-688
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• 1997

The purpose of engine mount system is to reduce the noise and vibration caused by engine vibration, and to decouple the roll and bounce mode at idle. To reduce the noise and vibration level in a vehicle, it is important to make the design optimization of engine mount system that consider the moment of inertia and inclination of mount rubber. As a result, according to the definition of Torque Roll Axis (TRA), the vibration axis at idle must be on the TRA or very close to it. In this paper, we studied the effect of the design optimization of engine mount system. And we have achieved good improvements in noise and vibration quality of F.R. vehicle.

• Journal of Advanced Marine Engineering and Technology
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• 제32권8호
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• pp.1285-1295
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• 2008

A research on a simulator for a side walking path of a 16 degree-of-freedom (d.o.f) biped walking robot(BWR) which is composed of 4 d.o.f upper-part body and 12 d.o.f lower-part of the body is presented. For generation of stable side walking motion, the kinematics, dynamics and the zero moment of point(ZMP) of the BWR were analyzed analytically and included in the simulator. To operate the motion simulator for stable side walking of the BWR, a graphic user interface program was developed which needs inputs for the side distance between legs, base joint angle, walking type, and walking velocity. The simulator was developed to generate joint angle data of legs for side walking, and the data are transmitted to the BWR for stable side walking. In the simulator, a new path function for smooth walking motion was proposed and applied to the simulator and actual motion of a BWR. Also for actual side walking, an algorithm for estimating backlashes of the actuating joint motors was proposed and included in the simulator. To validate the performance of the proposed motion simulator, the simulator was operated and its side walking data of the simulator were generated for a period of side walking.

• 한국연소학회:학술대회논문집
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• 한국연소학회 2002년도 제25회 KOSCI SYMPOSIUM 논문집
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• pp.11-17
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• 2002

The first-order conditional moment closure (CMC) model is applied to $CH_4$/Air turbulent jet diffusion flames(Sandia Flame D, E and F). The flow and mixing fields are calculated by fast chemistry assumption and a beta function pdf for mixture fraction. Reacting scalar fields are calculated by elliptic CMC formulation. The results for Flame D show reasonable agreement with the measured conditional mean temperature and mass fractions of major species, although with discrepancy on the fuel rich side. The discrepancy tends to increase as the level of local extinction increases. Second-order CMC may be needed for better prediction of these near-extinction flames.

• 대한화학회지
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• 제58권2호
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• pp.169-178
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• 2014

A new series of metal complexes of V(IV), Pd(II), Pt(IV), Ce(IV) and U(VI) with 3-[(3-chlorophenyl)-hydrazono]-pentane-2,4-dione (Cphpd) were synthesized and characterized by elemental analysis, molar conductivity, magnetic moment measurements, UV-vis, FT-IR and $^1H$ NMR as well as TG-DTG techniques. The data indicated that the Cphpd acts as a bidentate ligand through the hydrazono nitrogen and one keto oxygen. The kinetic parameters have been evaluated by using Coats Redfern (CR) and Horowitz-Metzeger (HM) methods. The thermodynamic data reflected the thermal stability for all complexes. The calculated bond length and the bond stretching force constant, F(U=O), values for $UO_2$ bond are $0.775{\AA}$ and $286.95Nm^{-1}$. The bond lengths, bond angles, dipole moment and the lowest energy model structure of the complexes have been determined with DFT calculations. The antimicrobial activity of the synthesized ligand and its complexes were screened.