• Journal of the Korean Society for Precision Engineering
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• v.30 no.6
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• pp.650-657
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• 2013

This study uses a muscle activation sensor and elbow joint model to develop an estimation algorithm for human elbow joint torque for use in a human-robot interface. A modular-type MVS (Muscle Volume Sensor) and calibration algorithm are developed to measure the muscle activation signal, which is represented through the normalization of the calibrated signal of the MVS. A Hill-type model is applied to the muscle activation signal and the kinematic model of the muscle can be used to estimate the joint torques. Experiments were performed to evaluate the performance of the proposed algorithm by isotonic contraction motion using the KIN-COM$^{(R)}$ equipment at 5, 10, and 15Nm. The algorithm and its feasibility for use as a human-robot interface are verified by comparing the joint load condition and the torque estimated by the algorithm.

• KCI Concrete Journal
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• v.12 no.2
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• pp.23-30
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• 2000

This paper presents behavior of concrete pavement at transverse joint subject to static test load. The test was conducted on 1/10 scale model in the laboratory. Load transfer across the crack is developed either by the interlocking action of the aggregate particles at the faces of the joint or by a combination of aggregate interlock and mechanical devices such as dowel bars. In this study, significant three variables considered to the performance of joints were selected. : (a)diameter of dowel bars(2.5mm, 3.0mm, 4.0mm), (b)presence or absence of dowel bars, (c)aggregate types(crushed stone, round stone). Experimental results were analyzed to find relationships among displacement of discontinuous plane at jointed slab, load transfer efficiency and joint opening, etc. Displacement of discontinuous plane at joint was decreased according to the increase of dowel bar diameter. In addition, it is found that model slabs made using crushed stone had better load transfer characteristics by aggregate interlock than model slabs made using similarly graded round stone. Displacement of discontinuous plane was increased according to the increase of loading. In addition, it was decreased as dowel diameter(2.5mm, 3.0mm, 4.0mm) was increased. In the case of slab without dowel bars, displacement of discontinuous plane was greatly increased and load transfer effciency of slab applied crushed stone was shown 30 percent greater than round stone. In addition, load transfer efficiency of slabs, which were made using crushed and round stone without dowel bars, was decreased to 20 percent and 30 percent, respectively as it was compared with slabs made us-ing dowel bars.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.5
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• pp.850-858
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• 2011

The risk analysis plays an important role in weapon system acquisition project due to uncertainties in the acquisition process. But in domestic, studies on risk analysis are insufficient and risk cost is not included in acquisition budget in policy. Therefore, in this study, we suggest a method that measures risk or success probability of project using the stochastic model. In particular, in order to calculate the success probability, we apply the joint probability distribution model of cost and schedule that are critical factors influencing the project risk. And also we verify the applicability of this model in Korean defence industry environment through case studies.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.12
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• pp.2110-2117
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• 2003

A physics-based material removal model in various scales is described and a feature scale simulation for a chemical mechanical polishing (CMP) process is performed in this work. Three different scales are considered in this model, i.e., abrasive particle scale, asperity scale and wafer scale. The abrasive particle and the asperity scales are combined together and then homogenized to result in force balance conditions to be satisfied in the wafer scale using an extended Greenwood-Williamson and Whitehouse-Archard statistical model that takes into consideration the joint distribution of asperity heights and asperity tip radii. The final computation is made to evaluate the material removal rate in wafer scale and a computer simulation is performed for detailed surface profile variations on a representative feature. The results show the dependence of the material removal rate on the joint distribution, applied external pressure, relative velocity, and other operating conditions and design parameters.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.10
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• pp.907-911
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• 2007

Compliance of joints must be considered when we analyze dynamics of a multi-body system. If the virtual model for CAE(computer aided engineering) analysis does not consider compliance, the result of CAE analysis can be very different from the actual experimental result. Especially in a biped walking robot, the robot may lose walking stability due to the compliance in joints of a walking robot. This paper proposed a method applying a compliance of joints in the biped walking robot to a virtual model. Also, through the 3-D displacement measurement using a laser tracker, it was demonstrated that the virtual model considering the joint compliance could effectively simulate the nonlinear motion of the real model.

• Steel and Composite Structures
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• v.32 no.1
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• pp.111-126
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• 2019

This paper deals with experimental investigation and modeling of the static behavior of a novel RCS beam-column exterior joint. The studied joint detail is a through-column type in which an H steel profile totally embedded inside RC column is directly welded to the steel beam. The H steel profile was covered by two supplementary plates in the joint area in order to avoid the stirrups resisting shear in the joint area. Two full-scale through-column-type RCS joints were tested under static loading. The objectives of the tests were to examine the connection performance and to highlight the contribution of two supplementary plates on the shear resistance of the joint. A reliable nonlinear 3D finite element model was developed using ABAQUS software to predict the response and behavior of the studied RCS joint. An extensive parametric study was performed to investigate the influences of the stirrups, the encased profile length and supplementary plate length on the behavior of the studied RCS joint.

• Journal of the Korean Geotechnical Society
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• v.25 no.10
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• pp.17-30
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• 2009

Underground construction such as tunneling can induce damages on the surrounding rock mass, due to the stress concentration of in situ stresses and excessive energy input during construction sequence, such as blasting. The developed damage on the rock mass can have substantial influence on the mechanical and hydraulic behaviors of the rock masses around a tunnel. In this study, investigation on the generation of damage around an opening in a jointed rock model under biaxial compression condition was conducted. The joint dip angles employed are 30, 45, and 60 degrees to the horizontal, and the synthetic rock mass was made using early strength cement and water. From the biaxial compression test, initiation and propagation of tensile cracks at norm to the joint angle were found. The propagated tensile cracks eventually developed rock blocks, which were dislodged from the rock mass. Furthermore, the propagation process of the tensile cracks varies with joint angle: lower joint angle model shows more stable and progressive tensile crack propagation. The development of the tensile crack can be explained under the hypothesis that the rock segment encompassed by the joint set is subjected to the developing moment, which can be induced by the geometric irregularity around the opening in the rock model. The experiment results were simulated by using discrete element method PFC 2D. From the simulation, as has been observed from the test, a rock mass with lower joint angle produces wider damage region and rock block by tensile cracks. In addition, a rock model with lower joint angle shows progressive tensile cracks generation around the opening from the investigation of the interacted tensile cracks.

• International Journal of Korean Welding Society
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• v.5 no.1
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• pp.60-65
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• 2005

In the field of welding the mechanical behavior of a welded structure under consideration may be predicted via heat transfer and welding residual stress analysis. Usually such numerical analyses are limited to small regular mesh models or test specimens. Nevertheless, there is very few strength assessment of the whole structure that includes the effect of welded residual stress. The present work is based on the specialized finite element codes for the calculation of nonlinear heat transfer details and residual stress including the external load on the welded RHS (Rectangular Hollow Section) T-joint connections of the whole structure. First the thermal history of the combined fillet and butt-welded T-joint equal width cold-formed RHS are calculated using nonlinear finite element analysis (FEA) considering the quarter model of the joint. Then using this thermal history the residual stress around the joints has been evaluated. To validity the FEA result, the calculated residual stresses were compared with the available experimental results. The residual stress obtained from the quarter model is mapped to the full model and then to the whole structure model using FEM codes. The results from the FEM codes were exported to the commercial package for visualization and further analysis applying loads and boundary conditions on the whole structure. The residual stress redistribution along with the external applied load is examined computationally.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.11
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.10
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• pp.1056-1061
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• 2012

FEM analysis is essential to shorten the development time and reduce the cost for developing high-performance machine tools. Mount joint parts play important role to ensure static and dynamic stability of machine tools. This paper suggests a computational modeling of mount joint part of machine tools. MATRIX27 element of ANSYS is adopted to model mount joint parts. MATRIX27 allows the definition of stiffness and damping matrices in matrix form. The matrix is assumed to relate two nodes, each with six degrees of freedom per node. Stiffness and damping values of commercial mount products are measured to build a database for FEM analysis. Jack mounts with rubber pad are exemplified in this paper. The database extracted from the experiments is also used to estimate of stiffness and damping of untested mounts. FEM analysis of machine tools system with the suggested mount computational model is performed. Static and dynamic results prove the feasibility of the suggested mount model.