• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.196-201
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• 2016

This paper analyses the characteristics of a stiffness-based rehabilitation mechanism for improving the function of the elbow joint of a human. We consider an elastic string as a tool for the elbow joint rehabilitation, where the string has been modeled as a linear spring with a stiffness. For effective rehabilitation training by using such a mechanism, we need to analyse the available torque characteristics of the elbow joint according to the stiffness of the string. Through various simulations, the torque pattern and its range of the elbow joint by assigning the stiffness of the string have been identified for a pre-defined trajectory of motion of the elbow joint. Finally, we show that the specified stiffness-based rehabilitation scheme can be used for effective rehabilitation of the elbow joint.

• Structural Engineering and Mechanics
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• v.35 no.1
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• pp.67-82
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• 2010

The beam string structure (BSS) has been widely applied in large span roof structures, while no analytical solutions of BSS were derived for it in the existing literature. In the first part of this paper, calculation formulas of displacement and internal forces were obtained by the Ritz-method for the most commonly used arc-shaped BSS under the vertical uniformly distributed load and the prestressing force. Then, the failure mode of BSS was proposed based on the static equilibrium. On condition the structural stability was reliable, BSS under the uniformly distributed load would fail by tensile strength failure of the string, and the beam remained in the elastic or semi-plastic range. On this basis, the limit load of BSS was given in virtue of the elastic solutions. In order to verify the linear elastic and limit state solutions proposed in this paper, three BSS modal were tested and the corresponding elastoplastic large deformation analysis was performed by the ANSYS program. The proposed failure mode of BSS was proved to be correct, and the analytical results for the linear elastic and limit state were in good agreement with the experimental and FEM results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.1
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• pp.11-21
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• 2004

In this paper, an active vibration control of a tensioned elastic axially moving string is investigated. The dynamics of the translating string ale described by a non-linear partial differential equation coupled with an ordinary differential equation. The time varying control in the form of the right boundary transverse motions is suggested to stabilize the transverse vibration of the translating continuum. A control law based on Lyapunov's second method is derived. Exponential stability of the translating string under boundary control is verified. The effectiveness of the proposed controller is shown through the simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2260-2265
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• 2005

In this paper, an active vibration control of a tensioned elastic axially moving string is investigated. The dynamics of the translating string are described by a non-linear partial differential equation coupled with an ordinary differential equation. A time varying control in the form of right boundary transverse motions is proposed in stabilizing the transverse vibrations of the translating continuum. A control law based on Lyapunov's second method is derived. Exponential stability of the closed-loop system is verified. The effectiveness of the proposed controller is shown through simulations.

• The Journal of the Society of Korean Medicine Diagnostics
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• v.15 no.2
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• pp.159-168
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• 2011

Objectives: The purpose of this study is to develop the pulse wave analysis model with the palpation pressure and the skin effect. Methods: The position of pulse diagnosis was modeled with elastic string system. The skin was modeled with the elastic string, the palpation pressure with tension in the string, and the blood vessel pressure with external force on the string. Using the wave equation in the physics, the simplified pulse model was transformed to the mathematical model. Results: To the verification of the model, the effects of the palpation pressure and the skin effect were tested. Conclusions: There was optimal palpation pressure, describing the exact vessel pressure pattern and maximizing the amplitude of the skin displacement. For the optimal condition, the increased palpation pressure was needed with the increased skin thickness. Therefore, the developed pulse wave analysis model showed the good results.

• Interaction and multiscale mechanics
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• v.4 no.1
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• pp.1-16
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• 2011

The inverse problem about the theoretical analysis of a drill string bending in a channel of an inclined bore-hole with localized geometrical imperfections is studied. The system of ordinary differential equations is first derived based on the theory of curvilinear flexible elastic rods. One can then use these equations to investigate the quasi-static effects of the drill string bending that may occur in the process of raising, lowering and rotation of the string inside the bore-hole. The method for numerical solution of the constructed equations is described. With the proposed method, the phenomenon of the drill column movement, its contact interaction with the bore-hole surface, and the frictional seizure can be simulated for different combinations of velocities, directions of rotation and axial motion of the string. Geometrical imperfections in the shape of localized smoothed breaks of the bore-hole axis line are considered. Some numerical examples are presented to illustrate the applicability of the method proposed.

• Steel and Composite Structures
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• v.35 no.5
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• pp.641-657
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• 2020

A unique lightweight string truss deployable bridge assembled by thin-walled fiber reinforced polymer (FRP) and metal profiles was designed for emergency applications. As a new structure, investigations into the static structural performance under the serviceability limit state are desired for examining the structural integrity of the developed bridge when subjected to unsymmetrical loadings characterized by combined torsion and bending. In this study, a full-scale experimental inspection was conducted on a fabricated bridge, and the combined flexural-torsional behavior was examined in terms of displacement and strains. The experimental structure showed favorable strength and rigidity performances to function as deployable bridge under unsymmetrical loading conditions and should be designed in accordance with the stiffness criterion, the same as that under symmetrical loads. In addition, a finite element model (FEM) with a simple modeling process, which considered the multi segments of the FRP members and realistic nodal stiffness of the complex unique hybrid nodal joints, was constructed and compared against experiments, demonstrating good agreement. A FEM-based numerical analysis was thereafter performed to explore the effect of the change in elastic modulus of different FRP elements on the static deformation of the bridge. The results confirmed that the change in elastic modulus of different types of FRP element members caused remarkable differences on the bending and torsional stiffness of the hybrid bridge. The global stiffness of such a unique bridge can be significantly enhanced by redesigning the critical lower string pull bars using designable FRP profiles with high elastic modulus.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.7
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• pp.98-105
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• 2020

This study deals with the passive control of the dynamic characteristics of a theoretical model which is a string with fixed ends and loaded by two point masses - a main mass (M_o) and a secondary mass (M_s). It has been controlled passively by means of a relocation of a secondary mass. A main mass placed on the string is considered as a vibrating receiver which be forced to vibrate by a vibrating source being positioned on the string. By analyzing the motion of a string, the equation of motion for a string was derived by using a method of variation of parameters. To define the optimal conditions for the vibration reduction, the governing equation, which denotes the dynamic response of a string was derived in the closed form and then evaluated numerically. The possibility of reduction of an amplitude and a power being transmitted to a main mass were found to depend on the location and the magnitude of a secondary mass as well as the range of a forcing frequency.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.601-611
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• 2005

In this paper, an active vibration control of a tensioned, elastic, axially moving string is investigated. The dynamics of the translating string are described with a non-linear partial differential equation coupled with an ordinary differential equation. A right boundary control to suppress the transverse vibrations of the translating continuum is proposed. The control law is derived via the Lyapunov second method. The exponential stability of the closed-loop system is verified. The effectiveness of the proposed control law is simulated.