• Proceedings of the KSME Conference
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• 2007.05a
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• pp.421-425
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• 2007

In the fabrication of dry adhesive structure, increasing contact-points or contact-area is the primary goal because the adhesive force grows in proportion to the contact-area. The simplest way to extend the contact surface is the fabrication by using soft materials. However, the column-array structure could confront the matting phenomenon which columns are stuck together. Therefore, we need a novel design to reduce the effective stiffness with adequate stiff materials like a gecko's setae. In this study, we propose a novel design for the dry adhesive structure. Moreover, we analyzed whether the adhesive structure conforms the rough surface sufficiently through finite element method adopted the non-bonding interaction as the body force. Also, we fabricated the novel structures via UV lithography and some techniques. In addition, we examined the adhesive force of the novel structures.

• Journal of Power System Engineering
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• v.18 no.1
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• pp.99-105
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• 2014

In this paper, the static characteristics of the trapezoidal corrugated plate under uniformly distributed pressure are investigated by the analytical method. Because the corrugated plate is very flexible in the corrugation direction and stiff in the transverse direction, the corrugated plate is treated as the orthotropic plate. This equivalent orthotropic plate must include both the extensional and flexural effect to obtain the precise solution. The effective extensional and flexural stiffness of the trapezoidal corrugated plate are derived to consider these effects in the analysis. To demonstrate the validity of the proposed approach, the comparison is made with the previously published results. Some numerical results are presented to check the effect of the geometric properties.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.326-332
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• 2019

In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.718-721
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• 1996

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.

• Tribology and Lubricants
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• v.30 no.4
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• pp.218-223
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• 2014

This paper presents a method of controlling the stiffness of a tungsten probe for an atomic force microscope (AFM) in order to provide high-quality phase contrast images in accordance with sample characteristics. While inducing sufficient deformation on sample surfaces with commercial Si or $Si_3N_4$ probes is difficult because of their low stiffness, a tungsten probe fabricated by electrochemical etching with appropriately high stiffness can generate relatively large elastic deformation without damaging sample surfaces. The fabrication of the tungsten probe involves two separate procedures. The first procedure involves immersing a tungsten wire with both ends bent parallel to the surface of an electrolyte and controlling the stiffness of the tungsten cantilever by decreasing its diameter using electrochemical etching in the direction of the central axis. The second procedure involves immersing the end of the etched tungsten cantilever in the direction perpendicular to the surface of the electrolyte and fabricating a tungsten tip with a tip radius of 20-50 nm via the necking phenomenon. The latter etching process applies pulse waves every 0.25 seconds to the manufactured tip to improve its yield. Finite element analysis (FEA) of the stiffness of the tungsten probe as a function of its diameter showed that the stiffness of the tungsten probes greatly varies from 56 N/m to 3501 N/m according to the cantilever diameters from $30{\mu}m$ to $100{\mu}m$, respectively. Thus, the proposed etching method is effective for producing a tungsten probe having specific stiffness for optimal use with an AFM and certain samples.

• Journal of Korean Society of Steel Construction
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• v.16 no.5 s.72
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• pp.671-682
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• 2004

This study investigated the effects of a shear slip on the deflection of steel-concretecomposite beams with partial shear interaction. Under the guidance of various current design codes, this deflection was related to the strength of shear connectors in the composite beams. In this paper, a shear connector stiffness based on exact solutions, regardless of loading conditions, was developed. The equivalent rigidity of composite beams that considered three different loading types was first derived, based on equilibrium and curvature compatibility, from which a general formula accounting for slips was developed. To validate this approach, the predicted maximum deflection under the proposed method was compared against currently used equations to calculate beam effective stiffness (AISC)Nie's equations, which have recently been proposed. For typical beams that were used in practice, shear slips might result in stiffness reduction of up to 18% for short-span beams. For full composite sections, the effective section modulus with the AISC specifications was larger than that of the present study, which meant that the specifications were not conservative. For partial composite sections, the AISC predictions were more conservative than those in the present study.

• Structural Engineering and Mechanics
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• v.45 no.6
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• pp.741-758
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• 2013

In this study, inelastic displacement ratios are investigated for existing systems with known lateral strength considering soil structure interaction. For this purpose, SDOF systems for period range of 0.1-3.0 s with different hysteretic behaviors are considered for a number of 18 earthquake motions recorded on soft soil. The effect of stiffness degradation on inelastic displacement ratios is investigated. The Modified Clough model is used to represent structures that exhibit significant stiffness degradation when subjected to reverse cyclic loading and the elastoplastic model is used to represent non-degrading structures. Soil structure interaction analyses are conducted by means of equivalent fixed base model effective period, effective damping and effective ductility values differing from fixed-base case. For inelastic time history analyses, Newmark method for step by step time integration was adapted in an in-house computer program. A new equation is proposed for inelastic displacement ratio of system with SSI with elastoplastic or degrading behavior as a function of structural period ($\tilde{T}$), strength reduction factor (R) and period lengthening ratio ($\tilde{T}$/T). The proposed equation for $\tilde{C}_R$ which takes the soil-structure interaction into account should be useful in estimating the inelastic deformation of existing structures with known lateral strength.

• Smart Structures and Systems
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• v.15 no.6
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• pp.1439-1461
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• 2015

Design criteria, modeling rules, and analysis principles of seismic isolation systems have already found place in important building codes and standards such as the Uniform Building Code and ASCE/SEI 7-05. Although real behaviors of isolation systems composed of high damping or lead rubber bearings are nonlinear, equivalent linear models can be obtained using effective stiffness and damping which makes use of linear seismic analysis methods for seismic-isolated buildings possible. However, equivalent linear modeling and analysis may lead to errors in seismic response terms of multi-story buildings and thus need to be assessed comprehensively. This study investigates the accuracy of equivalent linear modeling via numerical experiments conducted on generic five-story three dimensional seismic-isolated buildings. A wide range of nonlinear isolation systems with different characteristics and their equivalent linear counterparts are subjected to historical earthquakes and isolation system displacements, top floor accelerations, story drifts, base shears, and torsional base moments are compared. Relations between the accuracy of the estimates of peak structural responses from equivalent linear models and typical characteristics of nonlinear isolation systems including effective period, rigid-body mode period, effective viscous damping ratio, and post-yield to pre-yield stiffness ratio are established. Influence of biaxial interaction and plan eccentricity are also examined.

• Structural Engineering and Mechanics
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• v.51 no.3
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• pp.487-502
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• 2014

In buildings structures, the flexural stiffness reduction of beams and columns due to concrete cracking plays an important role in the nonlinear load-deformation response of reinforced concrete structures under service loads. Most Seismic Design Codes do not precise effective stiffness to be used in seismic analysis for structures of reinforced concrete elements, therefore uncracked section properties are usually considered in computing structural stiffness. But, uncracked stiffness will never be fully recovered during or after seismic response. In the present study, the effect of concrete cracking on the lateral response of structure has been taken into account. Totally 120 cases of 3 Dimensional Dynamic Analysis which considers the real and accidental torsional effects are performed using ETABS to determine the effective structural system across the height, which ensures the performance and the economic dimensions that achieve the saving in concrete and steel amounts thus achieve lower cost. The result findings exhibits that the dual system was the most efficient lateral load resisting system based on deflection criterion, as they yielded the least values of lateral displacements and inter-storey drifts. The shear wall system was the most economical lateral load resisting compared to moment resisting frame and dual system but they yielded the large values of lateral displacements in top storeys. Wall systems executes tremendous stiffness at the lower levels of the building, while moment frames typically restrain considerable deformations and provide significant energy dissipation under inelastic deformations at the upper levels. Cracking found to be more impact over moment resisting frames compared to the Shear wall systems. The behavior of various lateral load resisting systems with respect to time period, mode shapes, storey drift etc. are discussed in detail.

• Steel and Composite Structures
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• v.36 no.3
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• pp.339-353
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• 2020

This study investigates the seismic performance of steel reinforced concrete (SRC) T-shaped columns under low cyclic loading tests. Based on test results of ten half-scale column specimens, failure patterns, hysteretic behavior, skeleton curves, ultimate strength, ductility, stiffness degradation and energy dissipation capacity were analyzed. The main variables included loading angles, axial compression ratios and steel ratios. The test results show that the average values of the ductility factor and the equivalent viscous damping coefficient with respect to the failure of the columns were 5.23 and 0.373, respectively, reflecting good seismic performance. The ductility decreased and the initial stiffness increased as the axial compression ratio of the columns increased. The strength increased with increasing steel ratio, as expected. The columns displaced along the web had higher strength and initial stiffness, while the columns displaced along the flange had better ductility and energy dissipation capacity. Based on the test and analysis results, a formula is proposed to calculate the effective stiffness of SRC T-shaped columns.