• Structural Engineering and Mechanics
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• v.62 no.5
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.5
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• pp.891-898
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• 1992

When catilever beams rotate about axes perpendicular to the underformed beam's longitudinal axis, their bending stiffnesses change due to the stretching caused by centrifugal inertia forces. Such phenomena result in variations of natural frequencies and mode shapes associated with constant speed rotational motions of the beams. These variations are important in many practical applications such as helicopter blades, turbomachines, and space structures. This paper presents the formulation of a set of linear equations governing the lateral motion of rotating cantilever beams. These equations can be used to provide accurate predictions of the variations of natural frequencies and mode shapes associated with constant speed rotational motions of the beams. These variations are important in many practical applications such as helicopter blades, turbomachines, and space structures. This paper presents the formulation of a set of linear equations governing the lateral motion of rotating cantilever beams. These equations can be used to provide accurate predictions of the variations of natural frequencies and mode shapes due to rotation. This technique is simpler and more consistent than other conventional techniques which are commonly used in the literature.

• Journal of Welding and Joining
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• v.30 no.4
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• pp.31-37
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• 2012

In recent years, a demand for precision-welding is increasing in wide industrial fields for getting a high quality welded structures. Although laser welding is commonly used for precision-welding, gas tungsten arc (GTA) welding is also attempted as a precision-welding due to the cost benefit. However, welding heat causes an uneven temperature distribution leading to welding deformation. Since it causes geometric errors and degrades product quality, welding distortion recently rises as an important issue in the field of automobile parts. To control welding deformation, it is needed to design in shapes that can maximize stiffness against deformation during welding; control the welding sequence; minimize heat input; and weld allowing reverse deformation; etc. Thus it is necessary to find the one, among such approaches, that can minimize the deformation range by mathematical analysis and understand how effective it would be when it is actually used in industrial fields. This study performs analyses by numerical calculations and experiments for the De-Tent Lever, one of transmission part that requires precision the most among automobile parts, as the subject of experiment. Decrease in welding deformation is required for this part, since there is currently a trouble in guaranteeing precision due to angular deformation by welding between boss and plate. Finally the ways to minimize welding deformation has been suggested in this study through analyses on it.

• Korean Journal of Applied Biomechanics
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• v.32 no.3
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• pp.103-110
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• 2022

Objective: The aim of this study was to investigate effect of core stabilization exercises on the erector spinae contractile properties and trunk isokinetic muscle function of middle age with low physical activity and sedentary lifestyle. Method: Twenty (female: n=10, male: n=10) middle-age subjects (age: 37.25 ± 6.08 years, height: 168.01 ± 6.84 cm, weight: 71.37 ± 11.75 kg) participated in this study. Tensiomyography was measured on the erector spinae, and the isokinetic trunk muscle function test was measured at an angular velocity of 60 °/s and 90 °/s. All subjects performed the core stabilization exercises for 60 min per day, 3 times a week, for 7 weeks. A paired t-test was performed with a significance level of 0.05. Results: Tensiomyography of the erector spinae revealed a significant post-exercise increase in the maximum radial displacement (p < .05) and velocity of contraction (p < .05), however, there wasn't a significant post-exercise change in the contraction time. Additionally, the isokinetic muscle function test of the trunk revealed a significant post-exercise increase in trunk extensor relative strength (p < .05) and strength ratio (p < .05). Conclusion: Our results indicated that core stabilization exercises reduced erector spinae muscle stiffness, increased the velocity of erector spinae contraction. Additionally, data showed the improvement in the trunk extensor strength help induce a more balanced development in trunk muscle.

• Geomechanics and Engineering
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• v.29 no.1
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• pp.25-40
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• 2022

In this study, 3D coupled-consolidation numerical parametric study was conducted to predict the deformation mechanism of a 20 storey building sitting on (4×4) piled raft (with length of piles, L_p=30 m) to adjacent 6 m diameter (D) tunnelling in stiff clay. The influences of different tunnel locations relative to piles (i.e., z_t/L_p) were investigated in this parametric study. In first case, the tunnel was excavated near the pile shafts with depth of tunnel axis (z_t) of 9 m (i.e., z_t/L_p). In second and third cases, tunnels were driven at z_t of 30 m and 42 m (i.e., z_t/L_p = 1.0 and 1.4), respectively. An advanced hypoplastic clay model (which is capable of taking small-strain stiffness in account) was adopted to capture soil behaviour. The computed results revealed that tunnelling activity adjacent to a building resting on piled raft caused significant settlement, differential settlement, lateral deflection, angular distortion in the building. In addition, substantial bending moment, shear forces and changes in axial load distribution along pile length were induced. The findings from the parametric study revealed that the building and pile responses significantly influenced by tunnel location relative to pile.

• Journal of The Korean Society of Integrative Medicine
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• v.11 no.4
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• pp.27-39
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• 2023

Purpose : The aim of this study was to identify the influence of transient isokinetic exercise on cardiac autonomic modulation and muscle properties in healthy male subjects. Methods : Twenty-eight healthy males underwent isokinetic exercise of both knee joints using a Biodex systems 3 isokinetic dynamometer with an angular velocity of 60 °/sec. The changes in activity of the autonomic nervous system, as determined by heart rate variability (HRV), and in muscle properties were evaluated at three times: pre-exercise, immediately post-exercise, and 10 min post-exercise. Results : The time domain analysis of HRV revealed significant changes in the beat count and mean and minimal heart rate (HR) measured at pre-exercise, immediately post-exercise, and 10 min post-exercise (p<.001). The beat count and mean HR were markedly increased immediately post-exercise compared to pre-exercise, but then significantly decreased at 10 min post-exercise (p<.001). All parameters of the frequency domain were significantly altered by isokinetic exercise (p<.01). The low frequency/high frequency (LF/HF) ratio, as an index for the sympathovagal balance, was elevated by exercise and remained at a similarly high level at 10 min post-exercise (p<.01). The muscle properties of rectus femoris were changed as follows: Muscle tone and stiffness were significantly increased between pre-exercise and immediately post-exercise (p<.001), and between pre-exercise and at 10 min post-exercise (p<.001). Whereas, the elasticity showed no significant change. Conclusion : These results demonstrated that transient isokinetic exercise could induce changes in cardiac autonomic control and muscle properties. In particular, up-regulation of LF/HF ratio after exercise signifies thus enhanced sympathetic modulation by isokinetic exercise. Therefore, it is needed to understand the cardiovascular risks that may arise during isokinetic exercise for providing the basic evidence to establish appropriate isokinetic exercise protocols as effective rehabilitation exercises.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.3
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• pp.225-231
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• 2020

Recently, there has been an increasing demand for SAR satellite as it can be operated regardless of the weather condition. In general, main reflector of the SAR is formed of multiple deployable panels to increase performance in the constrained payload envelope. By nature, deployable structure lacks structural stiffness and it is vulnerable to external disturbances and excitation. In particular, SAR satellites may have high levels of vibration occurring at the antenna reflecting surface due to higher angular rate requirements. During image capturing it is important to keep high surface accuracy of the reflector for the quality of images. In this research, a performance degradation of deployable SAR antenna due to structural deformation is analyzed. Panels for main reflectors are assumed to be flexible structures and multi-body simulation environment is established. Then, deflection of the panel is calculated while the satellite performs maneuvers. In addition, antenna gain and beam pointing error are analyzed to determine how these deflections affect antenna performance and mission.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.8
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• pp.869-876
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• 2011

It is important to analyze the dynamic behavior of counter-rotating rigid/deformable rolls in the roll-coating process, because the stability of the process is affected by the dynamic characteristics. In the present study, the effects of material property, angular velocity, and gap size on the contact pressure and contact shape of the deformable roll are numerically investigated. The behavior of two rolls with a negative gap was analyzed using the finite element method, and the material property of the deformable roll was applied with the Mooney-Rivlin coefficients of the hyper-elastic model. The contact shape is affected by the gap size, and the contact pressure mainly depends on the stiffness of the deformable roll and the gap size. To maintain a negative gap between two rolls, controls such as load and displacement controls must be used. The results indicate that displacement control can reduce the instability.

• Journal of Sensor Science and Technology
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• v.10 no.1
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• pp.1-8
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• 2001

Conventional microgyroscopes of vibrating type require resonant frequency tuning of the driving and sensing modes to achieve high sensitivity. These tuning conditions depend on each fabricated microgyroscopes, even though the microgyroscopes are identically designed. A new micromachined resonator, which is applicable to microgyroscopes with self-toning characteristics, is presented. Since the laterally driven two degrees of freedom (2DOF) resonator was designed as a symmetric structure with identical stiffness in two orthogonal axes, the resonator is applicable to vibrating microgyroscopes, which do not need mode tuning. A dynamic model of the resonator was derived considering gyroscopic application. The dynamic model was evaluated by experimental comparison with fabricated resonators. The microgyroscopes were fabricated using a simple 2-mask-process of a single polysilicon layer deposited on an insulator layer. The feasibility of the resonator as a vibrating microgyroscopes with self-tuning capability is discussed. The fabricated resonators of a particular design have process-induced non-uniformities that cause different resonant frequencies. For several resonators, the standard deviations of the driving and sensing frequencies were as high as 1232Hz and 1214Hz, whereas the experimental average detuning frequency was 91.75Hz. The minimum detuned frequency was 68Hz with $0.034mVsec/^{\circ}$ sensitivity. The sensitivity of the microgyroscopes was low due to process-induced non-uniformity; the angular rate bandwidth, however, was wide. This resonator could be successfully applicable to a vibrating microgyroscopes with high sensitivity, if improvements in uniformity of the fabrication process are achieved. Further developments in improved integrated circuits are expected to lower the noise level even more.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.17-32
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• 2002

The purpose of this study was to find the rational method to analyze golf swing with specific property of club shaft. Three subjects were filmed by two high speed digital cameras with 500 fps. The phase analyzed was downswing of each subject. The three-dimensional coordinates of the anatomical landmarks were obtained with motion analysis system Kwon3d 3.0 version and smoothed by lowpass digital filter with cutoff frequency 6Hz. From these data, kinematic and kinetic variables were calculated using Matlab(ver 5.0) The variables for this study were angular velocity and accelerations, which were calculated and following conclusions have been made : 1) Golf swing time of stiff club is faster than that of regular club. 2) In shoulder joint motion of swing with the stiff club, x-stiff showed mort rapid negative acceleration than that of regular club. 3) In regular club, the velocity of club head would be more effective velocity, which was increasing, than those of other clubs before impact. 4) In wrist joint motion of swing with stiff club, x-stiff club showed faster than regular club in the downswing and impact more rapid negative acceleration.