• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.148-155
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• 2008

This paper proposes a method of adaptively generating a gait pattern of biped robot. The gait synthesis is based on human's gait pattern analysis. The proposed method can easily be applied to generate the natural and stable gait pattern of any biped robot. To analyze the human's gait pattern, sequential images of the human's gait on the sagittal plane are acquired from which the gait control values are extracted. The gait pattern of biped robot on the sagittal plane is adaptively generated by a genetic algorithm using the human's gait control values. However, gait trajectories of the biped robot on the sagittal plane are not enough to construct the complete gait pattern because the biped robot moves on 3-dimension space. Therefore, the gait pattern on the frontal plane, generated from Zero Moment Point (ZMP), is added to the gait one acquired on the sagittal plane. Consequently, the natural and stable walking pattern for the biped robot is obtained, as proved by the experiments.

• Journal of Korean Society of Steel Construction
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• v.23 no.2
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• pp.169-177
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• 2011

This paper presents the results of the systematic finite element analysis of the in-plane bending moment of T-joints subjected to cyclic loadings. T-joints were fabricated using high-strength, circular, hollow sections. Three-dimensional, nonlinear finite element models of the welded T-joints were constructed to investigate the strength, rotational-stiffness characteristics, and failure modes. A wide scope of structural behaviors explain the influence of the joint geometric parameters, such as the chord and brace wall slenderness ratios and the ratio of the brace to the chord diameter, as well as the yield strength ratios and compressive-chord-stress effects on the ultimate in-plane bending moment capacity of the T-joint.

• Journal of Korean Physical Therapy Science
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• v.10 no.1
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• pp.90-101
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• 2003

Gait analysis can provide a better understanding of how the alignment of the lower limb and foot can contribute to force observed at the knee. Anatomic and mechanical factors that affect loading in the knee pint can contribute to pathologic change seen at the knee in degenerative pint disease and should be considered in treatment plan. The purpose of this study is to present the gait analysis data and to determine whether there is any relationships between alignment of the lower limb, foot progression angle and knee pint moments in elderly healthy women with 3-dimensional motion analyzer. The results were as follows; 1. Cadence showed 114.8 steps/min, gait speed showed 1.05 m/s, time per a stride showed 1.06 sec, time per a step showed 0.53 sec, single-supporting phase was 0.41 sec, double-supporting phase was 0.24 sec, stride length was 1.04 m, Step length was 0.56 m. 2. According to the parameters of kinematics, the maximal knee flexion angle through swing phase showed left $46.82^{\circ}$, right $40.19^{\circ}$ and the maximal knee extension angle showed left $-1.32^{\circ}$, right $2.01^{\circ}$. knee varus showed left $26.90^{\circ}$, right $30.93^{\circ}$. 3. Moment, one of kinetic parameters of knee pint the maximal flexion moment showed left 0.363. Nm/kg, right 0.464 Nm/kg and maximal extension moment showed left 0.389 Nm/kg, right 0.463 Nm/kg. The maximal. adduction moment showed left 0.332 Nm/kg, right 0.379 Nm/kg and the maximal internal rotatory moment showed left 0.13 Nm/kg, right 0.140 Nm/kg. 4. On sagittal plane, the maximal power of knee joint showed left 0.571 J/kg, right 0.629 J/kg. On coronal plane, the maximal power of knee joint showed left 0.11 J/kg, right 0.12 J/kg. On transverse plane, the maximal power of knee joint showed left 0.058 J/kg, right 0.072 J/kg. 5. The subject who had varus alignment of the lower extremity had statistically higher in knee adduction moment in mid stance phase. 6. The subject who had large foot progression angle had statistically lower in knee adduction moment in late stance phase. A relationship was observed between the alignment of the lower extremity and the adduction moment of the knee joint during stance phase. Hence, we need some research to figure, out the change of adduction moment according to the sort of knee joint osteoarthritis and the normal geriatrics as well. And we also require more effective, specific therapeutic program by making use of those background of researches.

• Bulletin of the Korean Chemical Society
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• v.17 no.4
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• pp.385-390
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• 1996

It has been well known that the Grad thirteen-moment equations have solutions only when the Mach number is less than a limiting value for the stationary plane shock-waves. The limit of Mach number has been re-examined by including successive terms in the series expansion of distribution function. The method employed is the linear analysis of moment equations near up-streaming and down-streaming flows. For the thirteen moment case, it has been confirmed that equations have solutions only when the Mach number is less than 1.6503, which is consistent with the literature value. For the case of twenty moments, the limit of Mach number is decreased to 1.3416.

• Journal of Korean Society of Steel Construction
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• v.15 no.6 s.67
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• pp.639-648
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• 2003

The objective of this study is to evaluate in-plane and out-of-plane moment transmission capacity of H-shaped beams about design load by stud connector. Four specimens were tested under monotonic moment loading condition in each case to evaluate those. The parameter of tests is the size of the H-shaped beams. The results show that moment transmission capacity of H-shape beams in the serviceability limit state by stud connectors is excellent observing to the design code of steel structures of Architectural Institute of Korea.

• Korean Journal of Applied Biomechanics
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• v.22 no.1
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• pp.25-34
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• 2012

The purpose of this study was to determine the effects of landing height on the lower extremity during a counter movement jump. Fourteen healthy male subjects (age: $27.00{\pm}2.94$ yr, height: $179.07{\pm}5.03$ cm, weight: $78.79{\pm}6.70$ kg) participated in this study. Each subject randomly performed three single-leg jumps after s single-leg drop landing (counter movement jump) on a force platform from a 20 cm and 30 cm platform. Paired t-test (SPSS 18.0; SPSS Inc., Chicago, IL) was performed to determine the difference in kinematics and kinetics according to the height. All significance levels were set at p<.05. The results were as follows. First, ankle and knee joint angles in the sagittal plane increased in response to increasing landing height. Second, ankle and knee joint angles in the frontal plane increased in response to increasing landing height. Third, there were no significant differences in the moment of each segment in the sagittal plane for the jumping height increment. Fourth, ankle eversion moment and knee valgus moment decreased but hip abduction moment increased for the jumping height increment. Fifth, Ankle and knee joint powers increased. In percentage contribution, the ankle joint increased but the knee and hip joints decreased at a greater height. Lastly, as jumping height increased, the power generation at the ankle joint increased. Our findings indicate that the height increment affect on the landing mechanism the might augment loads at the ankle and knee joints.

• Earthquakes and Structures
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• v.2 no.1
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• pp.65-88
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• 2011

A new method for the seismic design of plane steel moment resisting frames is developed. This method determines the design base shear of a plane steel frame through modal synthesis and spectrum analysis utilizing different values of the strength reduction (behavior) factor for the modes considered instead of a single common value of that factor for all these modes as it is the case with current seismic codes. The values of these modal strength reduction factors are derived with the aid of a) design equations that provide equivalent linear modal damping ratios for steel moment resisting frames as functions of period, allowable interstorey drift and damage levels and b) the damping reduction factor that modifies elastic acceleration spectra for high levels of damping. Thus, a new performance-based design method is established. The direct dependence of the modal strength reduction factor on desired interstorey drift and damage levels permits the control of deformations without their determination and secures that deformations will not exceed these levels. By means of certain seismic design examples presented herein, it is demonstrated that the use of different values for the strength reduction factor per mode instead of a single common value for all modes, leads to more accurate results in a more rational way than the code-based ones.

• Journal of the Earthquake Engineering Society of Korea
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• v.26 no.1
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• pp.23-30
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• 2022

This study proposed a simplified finite element analysis procedure for designing the nonstructural masonry wall in the out-of-plane direction. The proposed method is a two-step elastic analysis procedure by bilinearizing the behavior of the masonry wall. The first step analysis was conducted with initial stiffness representing the behavior up to the effective-yield point, and the second step analysis was conducted with post-yield stiffness. In addition, the orthotropic material property of the masonry was considered in the FE analysis. The maximum load was estimated as the sum of the maximum loads in the first and second step analyses. The maximum load was converted into the moment coefficients and compared with those from the yield line method applied in Eurocode 6. The moment coefficients calculated through the proposed procedure showed a good match with those from the yield line method with less than 6% differences.

• Steel and Composite Structures
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• v.49 no.2
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• pp.181-196
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• 2023

Marine structures including offshore wind turbines (OWTs) always work under cyclic loads, which arouses much attention on the fatigue design. The tripod substructure is one of the typical foundation forms for fixed OWTs. The three-planar tubular Y-joint (3Y joint) is one of the important components in fatigue design as it is most likely to have cracks. With the existence of the multiplanar interaction effect, calculating the hot spot stress (HSS) of 3Y joints is complicated. To assist with fatigue design, the distributions of stress concentration factor (SCF) and multiplanar interaction factor (MIF) along weld toe curves induced by the out-of-plane bending moment are explored in this study. An FE analysis method was first developed and verified against experimental results. This method was applied to build a numerical database including 1920 FE models covering common ranges of geometric parameters. A parametric study has been carried out to reveal the distribution patterns of SCF and MIF. After multidimensional nonlinear fittings, SCF and MIF distribution formulas have been proposed. Accuracy and reliability checking prove that the proposed formulas are suitable for calculating the HSS of 3Y joints.

• Journal of the Korean Society of Safety
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• v.20 no.2 s.70
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• pp.18-25
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• 2005

This study performed finite element analysis on the pipe bend with various bend angles under loading conditions of internal pressure and combined pressure and bending, to investigate the effect of bend angle on the collapse behavior of pipe bend and on the stress state in the bend region. In the analysis, the pipe bends with bend angle of $5\~90^{\circ}$ were considered, and the bending moment was applied as in-plane closing and opening modes. From the results of analysis, it was found that the collapse moment of pipe bend increases with decreasing bend angle. As the bend angle decreases, also, the equivalent stress at intrados region increases regardless of bending mode. Under closing mode bending especially, the increase in stress at intrados is significant so that the maximum stress region moves from crown to intrados with decreasing bend angle.