• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1832-1835
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• 1997

Off-line programming systems are widely spread in assembly lines of minute electronic products to huge offshore structures. Any OLP system has to be calibrated before the on-line robot tasks are performed because there are inherent differences between the CAD model on OLP and the real robot workspace. This paper uses simple geometric expressions to propose a calibration method applicable to an OLP for SCARA robots. A positioning task on the two-dimensional horizontal surface was used in the error analysis of a SCARA robot and the anaysis shows that the inaccuracy results from the two error sources non-zero offset angles of two rotational joints at the zero return and differences in link lengths. Pen marks on a sheet of plotting paper are used to determine the accurate data on the joint centers and link dimensions. The calculated offset angles and link lengths are fed back to the OLP for the calibration of the CAD model of the robot and task environments.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1994.10a
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• pp.87-94
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• 1994

During the construction of externally prestressed 7-span continuous segmental bridge, cracks beyond permissible limit were found at anchor zone of expansion joint segment. To eliminate this problem, tension side of diaphragm was prestressed by post-tensioning bars in vertical and horizontal direction. To investigate this remedy is acceptable, stresses of reinforcing bars and concrete surface were measured for the real structure in the field. The measurement was performed through each step of prestressing sequence during construction. Also to investigage stresses induced by live load, static load test was performed and the results was analyzed. In this paper it will be presented the procedure and results for this experimental study along with comparison with analytical study.

• Smart Structures and Systems
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• v.20 no.4
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• pp.415-426
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• 2017

Traditional experimental verification for nonlinear system identification often faces the problem of experiment model repeatability. In our research, a steel frame experimental model is developed to imitate the behavior of a single story steel frame under horizontal excitation. Two adjustable rotational dampers are used to simulate the plastic hinge effect of the damaged beam-column joint. This model is suggested as a benchmark model for nonlinear dynamics study. Since the nonlinear form provided by the damper is unknown, a Morlet wavelet based method is introduced to identify the mathematical model of this structure under different damping cases. After the model identification, earthquake excitation tests are carried out to verify the generality of the identified model. The results show the extensive applicability and effectiveness of the identification method.

• Proceedings of the Korea Concrete Institute Conference
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• 1992.10a
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• pp.179-184
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• 1992

Four 3-story 1/2 scaled large concrete panel structures were designed and tested to estimate the seismic resistance capacity of large concrete panel high rise building systems, Test specimens were modeled three story of 24 or 15 story buildings and set up to represent the actural stress of the building . The axial force was constant and the horizontal force was loaded by ductility ratio. Results indicated that the joints of specimens were behavied monolithically to maximum strength. It was shown that the joint box connecting system had lower maximum strength and energy dissipation capacity than welding connection system, but had better deformation capacity.

• Journal of Korean Foot and Ankle Society
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• v.19 no.4
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• pp.197-200
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• 2015

The Akin osteotomy is a complimentary procedure in hallux valgus surgery. Surgical techniques may vary depending on the operators or fixation devices. Suture fixation, for which a removal procedure is not necessary, can often be recommended. However, there is a risk of failure due to the thin cortex of the phalanx. We describe a new technique using Ethibond suture fixation in Akin osteotomy, which can lower the risk of phalangeal cortical failure and articular cartilage irritation. First, the Akin osteotomy was performed on the proximal phalanx 5 to 6 mm distal to the first metatarsophalangeal joint. Then bone holes were drilled from dorsum to plantar parallel to osteotomy with the Kirschner wire. The final procedure involved passing the Ethibond sutures connected to a straight needle through the holes and tying it. This fixation method offers an effective and easy technique for performance of Akin osteotomy.

• Transactions of the Korean Society of Mechanical Engineers
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• v.5 no.3
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• pp.199-206
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• 1981

This paper presents a method of calculation of the stresses, the strains and the deflections due to welding in L shape and in T shape. Using step by step method of plasticity and establishing the equilibrium conditions in section, we calculated thermal stresses and strains during welding and in the final step of calculation we got the residual stresses, strains and the deflections due to welding. Also we measured the stresses and the strains with hole-drilling method and compared the results with the method of calculation presented in this paper. Because of its symmetry of section, the deflection due to welding in T shape is generally much less than that in L shape. The residual stresses are tensile in welded joints and HAZ, and compressive in base metal as butt welding of plates, but the compressive stresses in base metal decrease repidly as the points are away from welded joint except horizontal plates of T shape. The theoretical method of calculaiton presented in this paper coincides faily well with the experiment.

• Journal of the Korean Society of Safety
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• v.9 no.4
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• pp.85-91
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• 1994

In this thesis, the fracture tests and structural analysis were performed on a series of temporary scaffolding to investigate the variation of strength and the safety of temporary scaffolding. The specimens were of height 270cm and width 50cm and their span was 120cm. The joint loading and member loading were used in the tests, respectively. In these tests, the fracture mode of temporary scaffolding, relationships between the loading and the flexural strain of the specimens were observed. According to the comparison between the test results and the structural analysis results, the effects of the vertical loads and horizontal loads on temporary scaffolding and the safety of temporary scaffolding were studied.

• Computers and Concrete
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• v.8 no.1
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• pp.59-70
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• 2011

A theoretical model known as the modified rotating-angle softened-truss model (MRA-STM), which is a modification of Rotating-Angle Softened-Truss Model and Modified Compression Field Theory, is presented for the analysis of reinforced concrete membranes in shear. As an application, shear strength and behaviour of reinforced concrete exterior beam-column joints are analysed using the MRA-STM combining with the deep beam analogy. The joints are considered as RC panels and subjected to vertical and horizontal shear stresses from adjacent columns and beams. The strut and truss actions in a beam-column joint are represented by the effective transverse compression stresses and a softened concrete truss in the proposed model. The theoretical predictions of shear strength of reinforced concrete exterior beam-column joints from the proposed model show good agreement with the experimental results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.20-24
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• 1997

In general, pantograph type manipulators are used for carrying heavy payloads with positional accuracy. In this paper, a double pantograph type manipulator, activated by two slider joints, is studied for applying to file handing machine in atomic power plant. In order to realize the stable horizontal movement of a heavy fuel rod whit good positional accuracy, methods for allocating slider and finding constant joint rates are proposed. In addition, the static deflection of the proposed mechanism was studied using transfer-stiffness matrix method. A neural network control algorithm which compensates static deflections is explored with computer simulations.