• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.942-949
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• 2014

In this paper, a new steering system for a self-balancing electric scooter is proposed with an intuitive steering command input method, where the steering command is generated from the rider's motion of shifting body to move the center of gravity toward the rotational direction. For the purpose, weight distributions on the rider's feet are measured using force sensors placed beneath the rider's feet, and the difference is applied to a steering control system. Stability of the steering system and resultant radius of gyration is investigated by modeling the steering system in consideration of the rider's motion and centrifugal force. The proposed steering system is applied to experiments, and the results are presented to prove the validity of the proposed method.

• Plant Journal
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• v.13 no.3
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• pp.30-35
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• 2017

Module can be categorized as PAS(Pre-Assembled Steel structure), PAR(Pre-Assembled pipe Rack), PAU(Pre-Assembled Unit), VAU(Vendor Assembled Unit) and VPU(Vendor Package Unit). At the stage of design and fabrication of module, the condition of land and ocean transportation is considered and these conditions are reflected on the module division design. The control of the module's center of gravity is important to transport and install modules safely and the steel structure should have the strength enough to resist the sea acceleration force during the ocean transportation. The transportation condition and the installation method influence the size and weight of module. The size and weight of module are considered for the design of module division.

• Structural Engineering and Mechanics
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• v.73 no.5
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• pp.599-612
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• 2020

A combination of a gravity wall and an anchor beam is widely used to support the high soil deposit on rock mass. In this study, two groups of shaking table test were performed to investigate the responses of such combined retaining structure, where the rock masses were shaped with a flat surface and a curved surface, respectively. Meanwhile, the dynamic numerical analysis was carried out for a comparison or an extensive study. The results were studied and compared between the combined retaining structures with different shaped rock masses with regard to the acceleration response, the earth pressure response, and the axial anchor force. The acceleration response is not significantly influenced by the surface shape of rock mass. The earth pressure response on the combined retaining structure with a flat rock surface is more intensive than the one with a curved rock surface. The anchor force is significantly enlarged by seismic excitation with a main earthquake-induced increment at the first intensive pulse of Wenchuan motion. The value of anchor force in the combined retaining structure with a flat rock surface is generally larger than the one with a curved rock surface. Generally, the combined retaining structure with a curved rock surface presents a better seismic performance.

• Earthquakes and Structures
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• v.26 no.6
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• pp.477-487
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• 2024

The interaction between multiple structures through the supporting soil media, known as structure-soil-structure interaction (SSSI), has become an increasingly important issue due to rapid urbanization. There is a need to investigate the effect of SSSI on the structural response of buildings compared to non-interaction analysis (NIA) and soil-structure interaction (SSI) analysis. In the present study, two identical 4-bay×4-bay, three-story RCC buildings are modeled adjacent to each other with a soil domain beneath it to investigate the effect of SSSI on the forces experienced by footings under gravity and seismic load cases. The ANSYS software is used for modeling various non-interaction and interaction models which work on the principle of FEM. The results indicate that in most of the footings, the SSSI effect causes a significant redistribution of forces compared to SSI and NIA under both gravity and seismic load cases. The maximum interaction effect is observed on the footings that are closer to the adjacent building. The axial force, shear force and bending moment values on these footings show that SSI causes a significant increase in these values compared to non-interaction analysis but the presence of adjacent building relieves these forces significantly.

• Journal of Korean Society of Water and Wastewater
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• v.23 no.6
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• pp.779-788
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• 2009

This study is the result of a field survey of four sewer networks selected from in domestic sanitary sewers. The main purpose of this study is to understand the characteristics of sediment in domestic sanitary sewers and to verify sewer design criteria using minimum Shear Stess for preventing sedimnet. This investigation was carried out at a total of 22 points in the four areas. The characteristics of the sanitary solids that were sampled for suspended solids and bedload matter showed a specific gravity of 1.09, a median particle size of 1.26mm, and 88.9% organic contents. On the other hand, deposited sediment was found at 6 points out of the 22 monitoring points. The analysis results of disposed sediment showed a specific gravity of 2.16, a median particle size of 1.31mm, and 15% organic contents. In flow velocity, the majority of deposited sites have under 0.6m/s. However, one-site which was in large-diameter collector sewers, has recorded over 0.6m/s. The analysis results of tractive force showed that the ability of tractive force has to be $1.5{\sim}2.0N/m^2$ to prevent sediment in domestic Sanitary sewers. In conclusion, to prevent sediment it is necessary to apply a design velocity criteria higher than 0.6m/s in the large diameter collector sewer.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.1
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• pp.43-48
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• 2013

In this paper, magnetic buoyancy force on nonmagnetic solid object submerged in magnetic liquid was simulated and measured. For the evaluation of the force, a multi-physics approach of hydrostatic equilibrium considering magnetic body force as well as gravity is presented. The magnetic body force should be regarded as an additional forcing term in the momentum equation of hydrodynamics. It is also shown that the virtual air-gap based Kelvin's force formula is a useful method for the calculation of force distribution in the magnetic liquid. The experimental result which was performed by a load-cell measurement system agreed quantitatively well with the numerical one.

• Journal of Ocean Engineering and Technology
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• v.22 no.2
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• pp.7-12
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• 2008

A far field solution of the slowly varying force on an offshore structure by gravity ocean waves was shown as a function of the reflection and transmission of the body disturbed waves. The solution was obtained from the conservation of the momentum flux, which simply describes various wave forces, while making it unnecessary to compute complicated integration over a control surface. The solution was based on the assumption that the frequency difference of the bichromatic incident waves is small and its second order term is negligible. The final solution is expressed in term of the reflection and transmission waves, i.e. their amplitudes and phase angles. Consequently, it shows that not only the amplitudes but also the phase differences make critical contributions to the slowly varying force. In a limiting case, the slowly varying force solution gives the one of the mean drift force, which is only dependent on the reflection wave amplitude. An approximation is also suggested in a case where only the mean drift force information is available.

• Journal of the Korea Concrete Institute
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• v.12 no.3
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• pp.31-37
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• 2000

When a crack is produced in a concrete structure, a micro crack zone of fracture process zone (FPZ) appears at the crack tip. To investigate the behaviour of this the micro crack zone, nonlinear fracture mechanics (NLFM) must be applied. However, when a massive concrete structure such as a concrete gravity dam is considered, the micro crack zone can be neglected and the structure can be assumed to have linear elastic fracture mechanics (LEFM) behaviour. This study is divided into two main topics : (1) Calculating stress intensity factor (SIF) at the crack tip by surface integral method and (2) Investigating the propagation of the initial crack. If the initial crack propagates, the angle of the propagation is calculated by using maximum circumferential tensile strength theory. This study, also, contains the effects of body forces and water pressures on the crack face.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2003.04a
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• pp.3-10
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• 2003

The use of frequency-dependent dynamic stiffness matrix (or spectral element matrix) in structural dynamics may provide very accurate solutions, while it reduces the number of degrees-of-freedom to improve the computational efficiency and cost problems. Thus, this paper develops a spectral element model for the thin plates moving with constant speed under uniform in-plane tension and gravity. The concept of Kantorovich method and the principle of virtual displacement is used in the frequency-domain to formulate the dynamic stiffness matrix. The present spectral element model is evaluated by comparing its solutions with the exact analytical solutions. The effects of moving speed, in-plane tension and gravity on the natural frequencies of the plate are numerically investigated.