• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.964-969
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• 2012

Robot hands capable of grasping or handling various objects are important for service robots to effectively aid humans. In particular, controlling a contact force and providing a compliant motion are essential when the hand is in contact with objects. Many dexterous robot hands equipped with force/torque sensors have been developed to perform force control, but they suffer from the complexity of control and high cost. In this paper, a low-cost robot hand based on SEA (Series Elastic Actuator), which is composed of compression spring, stretch sensor, and wire, is proposed. The grasping force can be estimated by measuring the compression length of spring, which would allow the hand to perform force control. A series of experimentations are carried out to verify the performance of force control of the proposed robot hand, and it is shown that it can successfully control the contact force without any additional force/torque sensors.

• Structural Engineering and Mechanics
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• v.39 no.2
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• pp.267-285
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• 2011

There can be a significant amount of moment redistribution in composite frames consisting of steel columns and composite beams, due to cracking, creep and shrinkage of concrete. Considerable amount of computational effort is required for taking into account these effects for large composite frames. A methodology has been presented in this paper for taking into account these effects. In the methodology that has been demonstrated for moderately high frames, neural network models are developed for rapid prediction of the inelastic moments (typically for 20 years, considering instantaneous cracking, and time effects, i.e., creep and shrinkage, in concrete) at a joint in a frame from the elastic moments (neglecting instantaneous cracking and time effects). The proposed models predict the inelastic moment ratios (ratio of elastic moment to inelastic moment) using eleven input parameters for interior joints and seven input parameters for exterior joints. The training and testing data sets are generated using a hybrid procedure developed by the authors. The neural network models have been validated for frames of different number of spans and storeys. The models drastically reduce the computational effort and predict the inelastic moments, with reasonable accuracy for practical purposes, from the elastic moments, that can be obtained from any of the readily available software.

• Earthquakes and Structures
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• v.7 no.1
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• pp.17-38
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• 2014

As the desire for high performance buildings increases, it is increasingly evident that engineers require reliable methods for the estimation of seismic demands on both structural and non-structural components. To this extent, improved tools for the prediction of floor spectra would assist in the assessment of acceleration sensitive non-structural and secondary components. Recently, a new procedure was successfully developed and tested for the simplified construction of floor spectra, at various levels of elastic damping, atop single-degree-of-freedom structures. This paper extends the methodology to multi-degree-of-freedom (MDOF) supporting systems responding in the elastic range, proposing a simplified modal combination approach for floor spectra over upper storeys and accounting for the limited filtering of the ground motion input that occurs over lower storeys. The procedure is tested numerically by comparing predictions with floor spectra obtained from time-history analyses of RC wall structures of 2- to 20-storeys in height. Results demonstrate that the method performs well for MDOF systems responding in the elastic range. Future research should further develop the approach to permit the prediction of floor spectra in MDOF systems that respond in the inelastic range.

• Ocean Systems Engineering
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• v.7 no.4
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• pp.413-433
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• 2017

The dynamic and structural responses of a 1000-m long circular submerged floating tunnel (SFT) with both ends fixed under survival irregular-wave excitations are investigated. The floater-mooring nonlinear and elastic coupled dynamics are modeled by a time-domain numerical simulation program, OrcaFlex. Two configurations of mooring lines i.e., vertical mooring (VM) and inclined mooring (IM), and four different buoyancy-weight ratios (BWRs) are selected to compare their global performances. The result of modal analysis is included to investigate the role of the respective natural frequencies and elastic modes. The effects of various submergence depths are also checked. The envelopes of the maximum/minimum horizontal and vertical responses, accelerations, mooring tensions, and shear forces/bending moments of the entire SFT along the longitudinal direction are obtained. In addition, at the mid-section, the time series and the corresponding spectra of those parameters are also presented and analyzed. The pros and cons of the two mooring shapes and high or low BWR values are systematically analyzed and discussed. It is demonstrated that the time-domain numerical simulation of the real system including nonlinear hydro-elastic dynamics coupled with nonlinear mooring dynamics is a good method to determine various design parameters.

• Nuclear Engineering and Technology
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• v.32 no.6
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• pp.566-594
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• 2000

In most LMFBR(Liquid Metal Fast Breed Reactor) design, the operating temperature is very high and the time-dependent creep and stress-rupture effects become so important in reactor structural design. Therefore, unlike with conventional PWR, the normal operating conditions can be basically dominant design loading because the hold time at elevated temperature condition is so long and enough to result in severe total creep ratcheting strains during total service lifetime. In this paper, elevated temperature design of the conceptually designed baffle annulus regions of KALIMER(Korea Advanced Liquid MEtal Reactor) reactor internal strictures is carried out for normal operating conditions which have the operating temperature 53$0^{\circ}C$ and the total service lifetime of 30 years. For the elevated temperature design of reactor internal structures, the ASME Code Case N-201-4 is used. Using this code, the time-dependent stress limits, the accumulated total inelastic strain during service lifetime, and the creep-fatigue damages are evaluated with the calculation results by the elastic analysis under conservative assumptions. The application procedures of elevated temperature design of the reactor internal structures using ASME Code Case N-201-4 with the elastic analysis method are described step by step in detail. This paper will be useful guide for actual application of elevated temperature design of various reactor types accounting for creep and stress-rupture effects.

• Journal of the Korean Society for Nondestructive Testing
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• v.34 no.6
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• pp.457-466
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• 2014

This paper presents an analytic and numerical simulation of the generation and propagation of pico-second ultrasound with nano-scale wavelength, enabling the production of bulk waves in thin films. An analytic model of laser-matter interaction and elasto-dynamic wave propagation is introduced to calculate the elastic strain pulse in microstructures. The model includes the laser-pulse absorption on the material surface, heat transfer from a photon to the elastic energy of a phonon, and acoustic wave propagation to formulate the governing equations of ultra-short ultrasound. The excitation and propagation of acoustic pulses produced by ultra-short laser pulses are numerically simulated for an aluminum substrate using the finite-difference method and compared with the analytical solution. Furthermore, Fourier analysis was performed to investigate the frequency spectrum of the simulated elastic wave pulse. It is concluded that a pico-second bulk wave with a very high frequency of up to hundreds of gigahertz is successfully generated in metals using a 100-fs laser pulse and that it can be propagated in the direction of thickness for thickness less than 100 nm.

• Structural Engineering and Mechanics
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• v.73 no.5
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• pp.565-584
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• 2020

The nonlinear thermo-electro-elastic buckling behavior of viscoelastic nanoplates under magnetic field is investigated based on nonlocal elasticity theory. Employing nonlinear strain-displacement relations, the geometrical nonlinearity is modeled while governing equations are derived through Hamilton's principle and they are solved applying semi-analytical generalized differential quadrature (GDQ) method. Eringen's nonlocal elasticity theory considers the effect of small size, which enables the present model to become effective in the analysis and design of nano-sensors and nano actuators. Based on Kelvin-Voigt model, the influence of the viscoelastic coefficient is also discussed. It is demonstrated that the GDQ method has high precision and computational efficiency in the buckling analysis of viscoelastic nanoplates. The good agreement between the results of this article and those available in literature validated the presented approach. The detailed mathematical derivations are presented and numerical investigations are performed while the emphasis is placed on investigating the effect of the several parameters such as electric voltage, small scale effects, elastomeric medium, magnetic field, temperature effects, the viscidity and aspect ratio of the nanoplate on its nonlinear buckling characteristics. It is explicitly shown that the thermo-electro-elastic nonlinear buckling behavior of viscoelastic nanoplates is significantly influenced by these effects. Numerical results are presented to serve as benchmarks for future analyses of viscoelastic nanoplates as fundamental elements in nanoelectromechanical systems.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.3
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• pp.295-300
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• 2021

This study investigated the dominant frequency of the elastic waves from the tensile test. The specimen was rolled with five different rolling degrees (10, 22, 33, 42 and 50%), which was treated subzero. The specimen was rolled at room temperature, which was transformed from austenite to martensite (only α'-martensite). The dominant frequency increased with an increase in the rolling degree regardless of the subzero temperature, and decreased after 33% of the rolling degree. On the other hand, higher frequency band was obtained at lower temperature and long time. The dominant frequency increased when the amount of α'-martensite increased and decreased with the α'-martensite amount between 50-65%. The lower subzero treatment temperature increased the amount of α'-martensite, which resulted in the higher dominant frequency. The longer treatment time at the same subzero temperature led to an increase in the amount of α'-martensite, leading to high dominant frequency.

• Structural Engineering and Mechanics
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• v.77 no.1
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• pp.1-17
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• 2021

The influence of prestress force on the fundamental frequency and static deflection shape of uncracked Prestressed Concrete (PC) beams with a parabolic bonded tendon was examined in this paper. Due to the conflicts among existing theories, the analytical solutions for properly considering the dynamic and static behavior of these members is not straightforward. A series of experiments were conducted for a total period of approximately 2.5 months on a PC beam made with high strength concrete, subsequently and closely to the 28 days of age of concrete. Specifically, the simply supported PC member was short term subjected to free transverse vibration and three-point bending tests during its early-age. Subsequently, the experimental data were compared with a model that describes the dynamic behavior of PC girders as a combination of two substructures interconnected, i.e., a compressed Euler-Bernoulli beam and a tensioned parabolic cable. It was established that the fundamental frequency of uncracked PC beams with a parabolic bonded tendon is sensitive to the variation of the initial elastic modulus of concrete in the early-age curing. Furthermore, the small variation in experimental frequency with time makes doubtful its use in inverse problem identifications. Conversely, the relationship between prestress force and static deflection shape is well described by the magnification factor formula of the "compression-softening" theory by assuming the variation of the chord elastic modulus of concrete with time.

• International Journal of Computer Science & Network Security
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• v.21 no.1
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• pp.119-124
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• 2021

Elastic Optical Networks (EONs) allow to solve the high demand for bandwidth due to the increase in the number of internet users and the explosion of multicast applications. To support multicast applications, network operator computes a tree-shaped path, which is a set of optical channels. Generally, the demand for bandwidth on an optical channel is enormous so that, if there is a single fiber failure, it could cause a serious interruption in data transmission and a huge loss of data. To avoid serious interruption in data transmission, the tree-shaped path of a multicast connection may be protected. Several works have been proposed methods to do this. But these works may cause the duplication of some resources after recovery due to a link failure. Therefore, this duplication can lead to inefficient use of network resources. Our work consists to propose a method of protection that eliminates the link that causes duplication so that, the final backup path structure after link failure is a tree. Evaluations and analyses have shown that our method uses less backup resources than methods for protection of a multicast connection.