• Journal of Mechanical Science and Technology
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• 제19권8호
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• pp.1554-1567
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• 2005

When multiple robotics systems with several sub-chains grasp a common object, the inherent force redundancy provides a chance of utilizing internal loading. Analysis of grasping space based internal loading is proposed in this work since this method facilitates understanding the physical meaning of internal loadings in some applications, as compared to usual operational space based approach. Investigation of the internal loading for a triple manipulator has been few as ,compared to a dual manipulator. In this paper, types of the internal loading for dual and triple manipulator systems are investigated by using the reduced row echelon method to analyze the null space of those systems. No internal loading condition is derived and several load distribution schemes are compared through simulation. Furthermore, it is shown that the proposed scheme based on grasping space is applicable to analysis of special cases such as three-fingered and three-legged robots having a point contact with the grasped object or ground.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1603-1608
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• 2003

Multiple robotics systems with several sub-chains have a characteristic that grasp a common object with internal loading not to loose the grip. The investigation for the internal loading of a triple manipulator has been few as compared to a dual manipulator. In this paper, type of the internal loading for a triple manipulator system is investigated through analysis of the null space of the system. Several types of the internal loading are shown for general planar and spatial type triple robots, which rigidly grasp the common object. The general scheme is applied to analysis of the internal loading for the three-fingered and three-legged robots having a point contact with the grasped object.

• The Journal of Advanced Prosthodontics
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• 제7권4호
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• pp.288-293
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• 2015

PURPOSE. The aim of this study was to evaluate the effect of cyclic loading and screw retightening on reverse torque value (RTV) in external and internal type implants. MATERIALS AND METHODS. Cement-retained abutments were connected with 30 Ncm torque to external and internal type implants. Experimental groups were classified according to implant connection type and retightening/loading protocol. In groups with no retightening, RTV was evaluated after cyclic loading for 100,000 cycles. In groups with retightening, RTV was measured after 3, 10, 100 cycles as well as every 20,000 cycles until 100,000 cycles of loading. RESULTS. Every group showed decreased RTV after cyclic loading. Before and after cyclic loading, external type implants had significantly higher RTVs than internal type implants. In external type implants, retightening did not affect the decrease in RTV. In contrast, retightening 5 times and retightening after 10 cycles of dynamic loading was effective for maintaining RTV in internal type implants. CONCLUSION. Retightening of screws is more effective in internal type implants than external type implants. Retightening of screws is recommended in the early stage of functional loading.

• 대한치과보철학회지
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• 제46권6호
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• pp.561-568
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• 2008

STATEMENT OF PROBLEM: Currently, many implant systems are developed and divided into two types according to their joint connection: external or internal connection. Regardless of the connection type, screw loosening is the biggest problem in implant-supported restoration. PURPOSE: The purpose of this study is to assess the difference in stability of abutment screws between the external and internal hexagonal connection types under cyclic loading. MATERIAL AND METHODS: Each of the 15 samples of external implants and internal abutments were tightened to 30 N/cm with a digital torque gauge, and cemented with a hemispherical metal cap. Each unit was then mounted in a $30^{\circ}$ inclined jig. Then each group was divided into 2 sub-groups based on different periods of cyclic loading with the loading machine (30 N/ cm - 300 N/cm,14 Hz: first group $1{\times}10^6$, $5{\times}10^6$ cyclic loading; second group $3{\times}10^6$, $3{\times}10^6$ for a total cyclic loading of $6{\times}10^6$) The removal torque value of the screw before and after cyclic loading was checked. SPSS statistical software for Windows was used for statistical analysis. Group means were calculated and compared by ANOVA, independent t-test, and paired t-test with ${\alpha}$=0.05. RESULTS: In the external hexagonal connection, the difference between the removal torque value of the abutment screw before loading, the value after $1{\tims}10^6$ cyclic loading, and the value after $1{\times}10^6$, and additional $5{\times}10^6$ cyclic loading was not significant. The difference between the removal torque value after $3{\times}10^6$ cyclic loading and after $3{\times}10^6$, and additional $3{\times}10^6$ cyclic loading was not significant. In the internal hexagonal connection, the difference between the removal torque value before loading and the value after $1{\times}10^6$ cyclic loading was not significant, but the value after $1{\times}10^6$, and additional $5{\times}10^6$ cyclic loading was reduced and the difference was significant (P < .05). In addition, in the internal hexagonal connection, the difference between the removal torque value after $3{\times}10^6$ cyclic loading and the value after $3{\times}10^6$, and additional $3{\times}10^6$ cyclic loading was not significant. CONCLUSION: The external hexagonal connection was more stable than the internal hexagonal connection after $1{\times}10^6$, and additional $5{\times}10^6$ cyclic loading (t = 10.834, P < .001). There was no significant difference between the two systems after $3{\times}10^6$, and additional $3{\times}10^6$ cycles.

• Wind and Structures
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• 제29권4호
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• pp.235-246
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• 2019

Wind loading is one of important loadings that should be considered in the design of large hyperbolic natural-draught cooling towers. Both external and internal surfaces of cooling tower are under the action of wind loading for cooling circulating water. In the previous studies, the wind loads on the external surface attracted concernedly attention, while the study on the internal surface was relatively ware. In the present study, the wind pressure on the internal surface of a 220 m high cooling tower is measured through wind tunnel testing, and the effect of ventilation rate of the packing layer on internal pressure is a major concern. The characteristics of internal wind pressure distribution and its effect on wind-induced responses calculated by finite element method are investigated. The results indicate that the wind loading on internal surface of the cooling tower behaves remarkable three-dimensional effect, and the pressure coefficient varies along both of height and circumferential directions. The non-uniformity is particularly strong during the construction stage. Analysis results of the effect of internal pressure on wind-induced responses show that the size and distribution characteristics of internal pressure will have some influence on wind-induced response, however, the outer pressure plays a dominant role in the wind-induced response of cooling tower, and the contribution of internal pressure to the response is small.

• 대한토목학회논문집
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• 제39권3호
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• pp.369-380
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• 2019

PSC 구조물에 폭발과 같은 극한하중이 짧은 시간 동안 발생하게 되면 급작스러운 파괴와 그로 인한 수많은 인명 및 재산피해를 발생시킨다. 하지만 원전격납구조물, 가스탱크와 같은 PSC 구조물의 경우 방호 및 방재개념이 포함된 구조설계가 적용되지 않은 실정이며, 특히, 구조물 내부에서 발생하는 폭발압력하중은 피해규모가 외부폭발에 비해 훨씬 크기 때문에 내부폭발하중에 대한 검증은 반드시 필요하다. 따라서, 본 연구에서는 원전격납구조물의 내부폭발에 대한 저항성능을 검토하기 위해 이방향 프리스트레스트 콘크리트 축소모형을 제작하였다. 내부폭발 실험은 22.68, 27.22, 31.75 kg (50, 60, 70 lbs)의 ANFO 폭약을 이용하여 시편으로부터 1,000 mm의 거리에서 폭발시켰으며, 압력하중, 처짐, 변형률, 균열형상, 긴장력 변화 등의 데이터를 분석하였다. 본 연구결과를 이용하여 원전격납구조물의 내부폭발하중 발생 시 손상도 범위 예측이 가능할 것으로 판단된다.

• Geomechanics and Engineering
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• 제11권3호
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• pp.421-438
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• 2016

Explosions inside transportation tunnels might result in failure of tunnel structures. This study investigated the failure mechanisms of circular cast-iron tunnels in saturated soil subjected to medium internal blast loading. This issue is crucial to tunnel safety as many transportation tunnels run through saturated soils. At the same time blast loading on saturated soils may induce residual excess pore pressure, which may result in soil liquefaction. A series of numerical simulations were carried out using Finite Element program LS-DYNA. The effect of soil liquefaction was simulated by the Federal Highway soil model. It was found that the failure modes of tunnel lining were differed with different levels of blast loading. The damage and failure of the tunnel lining was progressive in nature and they occurred mainly during lining vibration when the main event of blast loading was over. Soil liquefaction may lead to more severe failure of tunnel lining. Soil deformation and soil liquefaction were determined by the coupling effects of lining damage, lining vibration, and blast loading. The damage of tunnel lining was a result of internal blast loading as well as dynamic interaction between tunnel lining and saturated soil, and stress concentration induced by a ventilation shaft connected to the tunnel might result in more severe lining damage.

• 구강회복응용과학지
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• 제21권1호
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• pp.1-14
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• 2005

The purpose of this study was to assess the loading distributing characteristics of implant prosthesis of internal connection system(ITI system) according to position and direction of load, under vertical and inclined loading using finite element analysis (FEA). The finite element model of a synOcta implant and a solid abutment with $8^{\circ}$ internal conical joint used by the ITI implant was constructed. The gold crown for mandibular first molar was made on solid abutment. Each three-dimensional finite element model was created with the physical properties of the implant and surrounding bone. This study simulated loads of 200N at the central fossa in a vertical direction (loading condition A), 200N at the outside point of the central fossa with resin filling into screw hole in a vertical direction (loading condition B), 200N at the centric cusp in a $15^{\circ}$ inward oblique direction (loading condition C), 200N at the in a $30^{\circ}$ inward oblique direction (loading condition D) or 200N at the centric cusp in a $30^{\circ}$ outward oblique direction (loading condition E) individually. Von Mises stresses were recorded and compared in the supporting bone, fixture, and abutment. The following results have been made based on this study: 1. Stresses were concentrated mainly at the ridge crest around implant under both vertical and oblique loading but stresses in the cancellous bone were low under both vertical and oblique loading. 2. Bending moments resulting from non-axial loading of dental implants caused stress concentrations on cortical bone. The magnitude of the stress was greater with the oblique loading than with the vertical loading. 3. An offset of the vertical occlusal force in the buccolingual direction relative to the implant axis gave rise to increased bending of the implant. So, the relative positions of the resultant line of force from occlusal contact and the center of rotation seems to be more important. 4. In this internal conical joint, vertical and oblique loads were resisted mainly by the implant-abutment joint at the screw level and by the implant collar. Conclusively, It seems to be more important that how long the distance is from center of rotation of the implant itself to the resultant line of force from occlusal contact (leverage). In a morse taper implant, vertical and oblique loads are resisted mainly by the implant-abutment joint at the screw level and by the implant collar. This type of implant-abutment connection can also distribute forces deeper within the implant and shield the retention screw from excessive loading. Lateral forces are transmitted directly to the walls of the implant and the implant abutment mating bevels, providing greater resistance to interface opening.

• Structural Engineering and Mechanics
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• 제74권2호
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• pp.283-296
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• 2020

The coupled hydro-mechanical loading conditions commonly occur in the geothermal and petroleum engineering projects, which is significantly important influence on the stability of rock masses. In this article, the influence of flaw inclination angle of fracture behaviors in rock-like materials subjected to both mechanical loads and internal hydraulic pressures is experimentally studied using the 3-D X-ray computed tomography combined with 3-D reconstruction techniques. Triaxial compression experiments under confining pressure of 8.0 MPa are first conducted for intact rock-like specimens using a rock mechanics testing system. Four pre-flawed rock-like specimens containing a single open flaw with different inclination angle under the coupled hydro-mechanical loading conditions are carried out. Then, the broken pre-flawed rock-like specimens are analyzed using a 3-D X-ray computed tomography (CT) scanning system. Subsequently, the internal damage behaviors of failed pre-flawed rock-like specimens are evaluated by the 3-D reconstruction techniques, according to the horizontal and vertical cross-sectional CT images. The present experimental does not only focus on the mechanical responses, but also pays attentions to the internal fracture characteristics of rock-like materials under the coupled hydro-mechanical loading conditions. The conclusion remarks are significant for predicting the rock instability in geothermal and unconventional petroleum engineering.

• The Journal of Advanced Prosthodontics
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• 제8권1호
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• pp.62-69
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• 2016

PURPOSE. The purpose of this study was to evaluate the effects of abutment screw length and cyclic loading on the removal torque (RTV) in external hex (EH) and internal hex (IH) implants. MATERIALS AND METHODS. Forty screw-retained single crowns were connected to external and internal hex implants. The prepared titanium abutment screws were classified into 8 groups based on the number of threads (n = 5 per group): EH 12.5, 6.5, 3.5, 2.5 and IH 6.5, 5, 3.5, 2.5 threads. The abutment screws were tightened with 20 Ncm torque twice with 10-minute intervals. After 5 minutes, the initial RTVs of the abutment screws were measured with a digital torque gauge (MGT12). A customized jig was constructed to apply a load along the implant long axis at the central fossa of the maxillary first molar. The post-loading RTVs were measured after 16,000 cycles of mechanical loading with 50 N at a 1-Hz frequency. Statistical analysis included one-way analysis of variance and paired t-tests. RESULTS. The post-loading RTVs were significantly lower than the initial RTVs in the EH 2.5 thread and IH 2.5 thread groups (P<.05). The initial RTVs exhibited no significant differences among the 8 groups, whereas the post-loading RTVs of the EH 6.5 and EH 3.5 thread groups were higher than those of the IH 3.5 thread group (P<.05). CONCLUSION. Within the limitations of this study, the external hex implants with short screw lengths were more advantageous than internal hex implants with short screw lengths in torque maintenance after cyclic loading.