• 로봇학회논문지
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• 제12권3호
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• pp.322-331
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• 2017

In this paper we present a novel robotic palpation method for the lump shape estimation using contact pressure distribution. Many previous researches about the robotic palpation have used a stiffness map, which is not suitable to obtain geometrical information of a lump. As a result, they require a large data set and long palpation time to estimate the lump shape. Instead of using the stiffness map, the proposed palpation method uses the difference between the normal force direction and the surface normal to detect the lump boundary and estimate its normal. The palpation trajectory is generated by the normal of the lump boundary to track the lump boundary in real-time. The proposed approach requires small data set and short palpation time for the lump shape estimation since the shape can be directly estimated from the optimally generated palpation trajectory. An experiment result shows that our method can find the lump shape accurately in real-time with small data and short time.

• Tribology and Lubricants
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• 제11권2호
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• pp.44-55
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• 1995

Frictional characteristics with the change of dynamic parameters, such as stiffness, inertia and damping, in the friction measurement at dry sliding surfaces were experimentally and theoretically investigated throughout the study. Dynamic frictional force and the variation in the normal load were mainly measured at the various conditions of system dynamic parameters with which stiffness in the normal direction, loading mechanisms and test materials were varied. For the normal load, mechanisms using both a dead weight and a pneumatic cylinder were applied, which resulted in change of the inertia and damping of the test rig. Test materials were steel, rosin and PTFE, which have different types of intrinsic frictional characteristics. Test results showed that frictional characteristics under different dynamic parameters could be different even though the operating variables were the same and also they could result in the variation in the normal load, which could consequently affect the wear mechanism.

• 한국운동역학회지
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• 제23권4호
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• pp.357-367
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• 2013

The purposes of this study were investigated physical compensation for gait on induced knee stiffness in normal subjects. Ten subjects were participated in the experiment(age: $26.0{\pm}6.3$ yrs, height: $175.5{\pm}5.3$ cm, weight: $69.1{\pm}6.1$ kg). The study method adopted 3D analysis with five cameras and ground reaction force with two force-plate. Induced knee stiffness level were classified as gait pattern on ROM of knee(free level, $30^{\circ}$ restriction level, fix level). The results were as follows; In angular displacement of hip joint, left hip joint was the more extended in mid-stance on induced right knee stiffness. In angular displacement of knee joint, there was no physical compensation on induced right knee stiffness, but free knee level gait was more flexed in swing phase of right knee joint. In angular displacement of ankle joint, right ankle joint was the more dorsiflexed on induced right knee stiffness, and $30^{\circ}$ restriction level and fix level gait were less plantarflexed in TO2. In trunk tilt, free and $30^{\circ}$ restriction level gait was more backward tilt on induced right knee stiffness. In ROM of each joint, right knee joint was more larger and trunk tilt was more lower on induced right knee stiffness. In GRF, Fx was more bigger lateral force in free and $30^{\circ}$ restriction level gait, and was more bigger medial force in fix level gait. Fy was more bigger propulsion force in free level gait, and was was more bigger braking force in $30^{\circ}$ restriction level gait. Left braking force in $30^{\circ}$ restriction level gait was more bigger. Fz was no significant.

• 한국지반공학회논문집
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• 제20권1호
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• pp.5-12
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• 2004

본 연구는 암반에 근입된 현장타설말뚝의 화강암과 콘크리트의 부착면에서의 전단거동을 이해하려는 데 있다. 암반에 근입된 현장타설말뚝의 전단거동을 실내에서 실험하기 위해서는 현장에서의 전단거동을 모델링 해야 한다. 따라서, 말뚝의 축방향 대칭성을 고려해 암반에 근입된 전단면을 2차원으로 모델링함으로써 일정수직강성도(conctant normal stiffness; CNS) 조건의 전단시험을 실시할 수 있다. 본 논문에서는 국내 화강암을 대상으로 거칠기, 암의 강도, 응력경계조건 등을 고려하여 암-콘크리트 접촉부에 대한 일정수직강성도 전단시험을 수행하였다. 실험결과 각 변수(요철부의 경사각 및 높이, 수직강성도)에 따른 전단특성(첨두전단강도, 전단응력, 수직응력)은 물론 팽창현상(dilation) 등을 관찰할 수 있었다. 시험결과에 따르면 첨두 전단강도는 요철부의 경사각이 증가할수록, 그리고 수직강성도가 증가할 수록 증가하는 것으로 나타났으며, 팽창량은 요철부의 각도가 클수록 수직강성도가 작을수록 크게 나타났다.

• 한국지반공학회논문집
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• 제22권7호
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• pp.23-35
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• 2006

본 연구에서는 암반에 근입된 현장타설말뚝의 주면하중전이특성을 분석하기 위하여, 주요 영향요소(일축압축강도, 거칠기, 수직강성, 초기구속응력, 재료성질)에 따라 일정수직강성(Constant Normal Stiffness, CNS)조건의 직접전단시험을 수행하였다. 그 결과 암반에 근입된 현장타설말뚝의 주변하중전이특성을 3구간으로 이상화할 수 있었으며, 각 구간에서의 거동을 지배하는 주요 요소의 영향 및 그에 따른 거동을 파악할 수 있었다. 이를 토대로 암반의 절리 및 풍화상태를 나타내는 GSI(Geological Strength Index)를 이용한 Hoek-Brown 파괴기준(1997)을 적용하여, 암반에 근입된 현장타설말뚝의 굴착면 거칠기를 고려한 새로운 주면 하중전이함수를 제안하였다. 제안된 하중전이함수는 기존 7본의 말뚝 재하시험 결과와 비교분석을 수행하였으며, 그 결과 본 제안식이 암반 굴착면의 거칠기 및 암반특성을 적절히 반영함을 알 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.308-310
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• 1994

Position control for robot manipulator may not suffice when any contacts are made between the end-effector and various environments. Therefore interaction forces must be controlled in tasks performed by robot manipulator. In general, there are two types of force control for robot manipulator. One is a stiffness control and the other is a hybrid position/force control. Stiffness control is that environment can be modeled as a spring and utilizes the desired normal force to determine the desired normal position. Hybrid position/force control, however, can be used for robot manipulator to track position and force trajectories simultaneously. This paper will compare the result of the hybrid position/force control method with that of the stiffness control method.

• 터널과지하공간
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• 제13권3호
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• pp.169-179
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• 2003

암석의 절리면 전단강도의 이방성을 연구하기 위하여 인공절리면을 형성한 시편에 대한 실험을 실시하고 그 결과를 분석하였다. 즉 낮은 수직응력 상태에서 전단 방향에 따른 전단강도, 전단강성 및 마찰각을 구하기 위한 실험을 실시하였다 그 결과 낮은 수직응력하에서 전단 강도 및 강성은 전단 방향에 따라 이방성을 보이며, 특히 수직응력 2.45 MPa미만에서 뚜렷하였다. 그리고 수직응력이 증가할수록 절리면의 이방성 효과는 감소하였다. 따라서 낮은 수직응력 하에서 전단강도 및 강성값을 보다 정확히 구하기 위해서 Barton의 식에 전단방향을 고려한 보정함수 F(a)를 반영하여 새로이 수정식을 제안한다.

• 한국운동역학회지
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• 제28권2호
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• pp.135-141
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• 2018

Objective: The purpose of this study was to investigate the effect of functional ankle instability (FAI) and surgical treatment (ST) on postural stability and leg stiffness during vertical-drop landing. Method: A total of 21 men participated in this study (normal [NOR]: 7, FAI: 7, ST: 7). We estimated dimensionless leg stiffness as the ratio of the peak vertical ground reaction force and the change in stance-phase leg length. Leg length was calculated as the distance from the center of the pelvis to the center of pressure under the foot. Furthermore, the analyzed variables included the loading rate and the dynamic postural stability index (DPSI; medial-lateral [ML], anterior-posterior [AP], and vertical [V]) in the initial contact phase. Results: The dimensionless leg stiffness in the FAI group was higher than that of the NOR group and the ST group (p = .018). This result may be due to a smaller change in stance-phase leg length (p = .001). DPSI (ML, AP, and V) and loading rate did not show differences according to the types of ankle instability during drop landing (p > .05). Conclusion: This study suggested that the dimensionless leg stiffness was within the normal range in the ST group, whereas it was increased by the stiffness of the legs rather than the peak vertical force during vertical-drop landing in the FAI group. Identifying these potential differences may enable clinicians to assess ankle instability and design rehabilitation protocols specific for the impairment.

• Steel and Composite Structures
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• 제42권2호
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• pp.221-241
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• 2022

Perfobond rib connectors are widely used in composite structures to achieve the composite action between the steel and the concrete, and empirical expressions for their strength and secant stiffness have been obtained by numerical simulations or push-out tests. Since perfobond connections are generally in an elastic state in the service process and the structural analysis are always based on the elastic properties of the members, the secant stiffness is not applicable for the normal structural analysis. However, the tangent stiffness of perfobond connections has not been introduced in previous studies. Moreover, the perfobond connections are bearing tension and shear force simultaneously when the composite beams subjected to torque or local loads, but the current studies fail to arrive at the elastic stiffness considering the combined effects. To resolve these discrepancies, this paper investigates the initial elastic stiffness of perfobond connections under combined forces. The calculation method for the elastic stiffness of perfobond connections is analyzed, and the contributions of the perfobond rib, the perforating rebar and the concrete dowel are investigated. A finite element method was verified with a high value of correlation for the test results. Afterwards, parametric studies are carried out using the reliable finite element analysis to explore the trends of several factors. Empirical equations for predicting the initial elastic stiffness of perfobond connections are proposed by the numerical regression of the data extracted by parametric studies. The equations agree well with finite element analysis and test results, which indicates that the proposed empirical equations reflect a high accuracy for predicting the initial elastic stiffness of perfobond connections.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1996년도 가을 학술발표회 논문집
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• pp.95-102
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• 1996

In this study, a stochastic finite element model is proposed with a view to consider the uncertainty of physical properties of discontinuous rock mass in the analysis of structural behavior on underground caverns. In so doing, the LHS(Latin Hypercube sampling) technique has been applied to make up weak points of the Crude Monte Carlo technique. Concerning the effect of discontinuities, a joint finite element model is used that is known to be superior in explaining faults, cleavage, things of that nature. To reflect the uncertainty of material properties, the variables such as the the elastic modulus, the poisson's ratio, the joint shear stiffness, and the joint normal stiffness have been used, all of which can be applicable through normal distribution, log-normal distribution, and rectangulary uniform distribution. The validity of the newly developed computer program has been confirmed in terms of verification examples. And, the applicability of the program has been tested in terms of the analysis of the circular cavern in discontinuous rock mass.