• Journal of the Korean Society for Precision Engineering
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• v.28 no.4
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• pp.446-454
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• 2011

In terms of the anatomy and mechanics of the human foot, a flexible robot foot with toes and heel joints is designed for a bipedal walking robot. We suggest three design considerations in determining foot design parameters which are critical for walking stability. Those include the position of the frontal toe, the stiffness of toes and heels, and the position of the ankle joint. Compared with the conventional foot with flat sale, the proposed foot is advantageous for human-like walking due to the inherent structural flexibility and the reasonable parameter values. Simulation results are provided to determine the design parameters and also show that the proposed foot enables smaller energy consumption.

• Journal of Welding and Joining
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• v.15 no.6
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• pp.85-95
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• 1997

This study is to investigate the optimum conditions of Nd:YAG laser beam welding for Zircaloy-4 end cap closure by optical fiber transmission. Laser welding parameters which affect the penetration depth and bead width were experimentally examined using the various beam radius by the beam quality analyzer, joint geometries of end cap and the laser parameters which mean pulse width, repetition rate and pulse energy. Also, an optimum welding speed and the effect of assistant gas with varying the flow rate of He were investigated. We found that the laser average power for the end cap welding will be 230W and rotation speed must not exceed 8 RPM, the best position of focus using optical fiber with 600.mu.m will be 2 to 3mm below the surface of the material.

• Proceedings of the KWS Conference
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• 2007.11a
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• pp.26-28
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• 2007

This research is concerned with a study of failure strength evaluation on heat element gap at resistance welding. The failure strength of resistance welded joint is changed by welding factor like as current(power level), welding time(total energy), pressure etc. and another heat element factor like as number of element line, element gap etc. Tensile-shear tests were carried out with the single-lap specimen using polypropylene(PP). The failure mechanism and optimization of gap was discussed in order to explain the tensile-shear strength evaluation on heat element gap at resistance welding. Orthogonal array was used by fractional factorial design for efficient experiments.

• Proceedings of the KWS Conference
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• 2007.11a
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• pp.322-324
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• 2007

Nd:YAG laser welding of AZ31B-H24 magnesium alloy was carried out using AZ61 filler wire(Mg-6wt%Al-1wt%Zn). Microstructure and mechanical properties of welded joint were examined by optical microscopy, scanning electronic microscopy(SEM), energy dispersive spectroscopy(EDS), electron probe micro analyzer(EPMA) and victors hardness, tensile test at the room and elevated temperature. Test results indicate that the specimens welded with AZ61 filler wire have better tensile strength, elongation and victors hardness at room temperature than those of welded without filler wire. However tensile strength are similar but elongation are quite different at elevated temperature.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.50 no.1
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• pp.10-14
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• 2001

The superconducting transmission cable is one of interesting part in power application using high temperature superconducting wire. One important parameter in HTS cable design is transport current sharing because it is related with current transmission capacity and loss. In this paper, we calculate self inductances of each layer and mutual inductances between two layers from magnetic field energy, and current sharing of each layer for 4-layer cable using the electric circuit model which contain inductance and resistance (by joint and AC loss). Also, transport current losses which are calculated by monoblock model and Norris equation are compared. As a results, outer layer has always larger transport current than inner layer, and current capacity of each layer is largely influenced by resistance per unit cable length. As a conclusion, for high current uniformity and low AC loss, we have to decrease inductances themselves or those differences.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1990.10a
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• pp.55-60
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• 1990

The objective of this study is to predict the nonlinear behavior of reinforced concrete shear walls, with the reinforcement uniformly distributed, under reversed cyclic loads. This study introduces joint Element Model which formulates the pulling out of rebars, slipping and intrusion of junction planes. The applicability of this study was experimental verfied by specimens SW1, SW2 and SW3 tested by authors, Wall1 by Paulay, SW16 and SW19 by Sheu. In almost specimen, the ratio of analytical to experimental maximum shear stress is within approximately 5%. In case of energy dissipation and maximum drift, the analytical results fully coincide with those of experiment.

• Journal of Distribution Science
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• v.10 no.5
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• pp.19-28
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• 2012

The study examines the performance and its relationship with capital structure and agency cost with respect to the industrial configurations and economic groups of Pakistan Economy. The study employs data set of 334 listed joint stock companies from the nonfinancial sectors for the period of 1999-2009 from cotton and textile, engineering, chemical, sugar, cement, fuel and energy, paper and board, transport and communication, and miscellaneous economic groups. Pooled data from the Panel data methodology has been applied to observe the significance of different performance measures through determinant of capital structure and agency costs with special focus on the leverage and cash flows as the direct determinant and interactive variables. The empirical test results using redundant variable tests demonstrate support for agency theory in the context of Pakistan's industrial configurations. The implications of the study point towards more investigations on the subject using industrial configurations as control and moderating variables.

• Proceedings of the Korea Concrete Institute Conference
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• 2005.05a
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• pp.239-242
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• 2005

The purpose of this research was focused on substantiating an effects of tendon-layouts and compressed stress($=f_{pc}$) induced by post-tensioning on seismic performance of post-tensioned flat plate slab-column connection designed as non-participating system. To accomplish this purpose, an experimental research of flat plate exterior slab-column connections subjected to gravity load and reversed lateral displacement history are presented. As a result, tendon-layout is a main variable to influence failure mechanism, dissipated energy and lateral deformation capacity. Furthermore, compressed stress ($=f_{pc}$) induced by post-tensioning enhanced the seismic performance of flat plate slab.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.373-381
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• 2009

In this paper, a humanoid robot is simulated and implemented to walk up a staircase using the blending polynomial and genetic algorithm. Using recently developed kinematics for a biped robot, four schemes for walking up a staircase are newly proposed and simulated separately. For the two schemes of landing a swaying leg on the upper stair, the joint trajectories of seven motors are particularly optimized to generate an energy-minimal motion with the guarantee of walking stability. The proposed scheme of walking upstair is validated by an experiment with a small humanoid robot.

• ETRI Journal
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• v.36 no.6
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• pp.960-967
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• 2014

In this paper, an analytical framework is proposed for the optimization of network performance through joint congestion control, channel allocation, rate allocation, power control, scheduling, and routing with the consideration of fairness in multi-channel wireless multihop networks. More specifically, the framework models the network by a generalized network utility maximization (NUM) problem under an elastic link data rate and power constraints. Using the dual decomposition technique, the NUM problem is decomposed into four subproblems - flow control; next-hop routing; rate allocation and scheduling; power control; and channel allocation - and finally solved by a low-complexity distributed method. Simulation results show that the proposed distributed algorithm significantly improves the network throughput and energy efficiency compared with previous algorithms.