• The Journal of Korea Robotics Society
• /
• v.11 no.4
• /
• pp.256-261
• /
• 2016

An insect-like flapping-wing flying-robot should be able to produce flight forces and control moments at the same time only by flapping wings, because there is no control surface at tail just like an insect. In this paper, design principles for the flapping mechanism and control moment generator are briefly explained, characteristics measured force and moment generations of the robot are presented, and finally controlled flight of the flying robot is demonstrated. The present insect-like robot comprises a lightweight flapping mechanism that can produce a flapping angle larger than $180^{\circ}$ and a control moment generator that produces pitch, roll, and yaw moments by adjusting location of the trailing edges at the wing roots. The measured force and moment data show that the control input angles less than $9^{\circ}$ would not significantly reduce the vertical force generation. It is also observed that the pitch, roll, and yaw control moments are produced only by the corresponding control input. The simple PID control theory is used for the controlled flight of the flying robot, controlling pitch, roll, and yaw motions. The flying robot successfully demonstrated controlled flight for about 40 seconds.

• Structural Engineering and Mechanics
• /
• v.55 no.2
• /
• pp.379-398
• /
• 2015

Confinement is known to have important influence on ductility of high-strength concrete (HSC) members and it may therefore be anticipated that this parameter would also affect notably the moment redistribution in these members. The correctness of this "common-sense knowledge" is examined in the present study. A numerical test is performed on two-span continuous reinforced HSC beams with and without confinement using an experimentally validated nonlinear model. The results show that the effect of confinement on moment redistribution is totally different from that on flexural ductility. The moment redistribution at ultimate limit state is found to be almost independent of the confinement, provided that both the negative and positive plastic hinges have formed at failure. The numerical findings are consistent with tests performed on prototype HSC beams. Several design codes are evaluated. It is demonstrated that the code equations by Eurocode 2 (EC2), British Standards Institution (BSI) and Canadian Standards Association (CSA) can well reflect the effect of confinement on moment redistribution in reinforced HSC beams but the American Concrete Institute (ACI) code cannot.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.5
• /
• pp.484-489
• /
• 2011

Some patients can't use their hands because of inherent and acquired paralysis of their fingers. Their fingers can recover with rehabilitative training, and the extent of rehabilitation can be judged by grasping a cylindrical-object with their fingers. At present, the cylindrical-object used in hospitals is only a cylinder which cannot measure grasping force of the fingers. Therefore, doctors must judge the extent of rehabilitation by watching patients' fingers as they grasp the cylinder. A cylindrical-type finger force measuring system which can measure the grasping force of patients' fingers should be developed. This paper looks at the development of a cylindrical-type finger force measuring system with two-axis force/moment sensor which can measure grasping force. The two-axis force/moment sensor was designed and fabricated, and the high-speed force measuring device was designed and manufactured by using DSP (digital signal processing). Also, cylindrical-type finger force measuring system was developed using the developed two-axis force/moment sensor and the high-speed force measuring device, and the grasping force tests of men were performed using the developed system. The tests confirm that the average finger forces of right and left hands for men were about 186N and 172N respectively.

• Steel and Composite Structures
• /
• v.1 no.2
• /
• pp.187-200
• /
• 2001

Most of the portal frames are designed these days by the application of plastic analysis, with the normal assumption being made that the column bases are pinned. However, the couple produced by the compression action of the inner column flange and the tension in the holding down bolts will inevitably generate some moment resistance and rotational stiffness. Full-scale portal frame tests conducted during a previous research program had suggested that this moment can be as much as 20% of the moment of resistance of the column. The size of this moment of resistance is particularly important for the design of the tensile capacity of the holding down bolts and also the bearing resistance of the foundation. The present research program is aiming at defining this moment of resistance in simple design terms so that it could be included in the design of the frame. The investigation also included the study of the semi-rigid behaviour of the column base/foundation, which, to a certain extent, affects the overall loading capacity and stiffness of the portal frames. A series of column bases with various details were tested and were used to calibrate a finite element model which is able to simulate the action of the holding down bolts, the effect of the concrete foundation and the deformation of the base plate.

• Journal of Advanced Marine Engineering and Technology
• /
• v.5 no.1
• /
• pp.20-27
• /
• 1981

The alignment of propulsion shaft systems by the fair curve method has been developed over the past twenty years and in recent years its basic problems have been almost solved. At the present time, studies on introducing actual conditions are being undertaken. In a fair curve alignment, its aim is to achieve a stable shaft system which will be relatively insensitive to misalignment or the influence of external factors such as thermal variations due to the sunshine, speed change, etc. The key point of fair curve alignment is the calculations of reactions in the straight support and reaction influence numbers. The present authors have developed those calculating method by the matrix method of the three-moment theorem. The fair curve alignment is based on the analysis of propulsion shaft system which is assumed as a continous beam on multiple support points. The propeller shaft is divided into several elements. For each element, the nodal point equation is derived by the three-moment theorem. Reaction of supporting points of straight shaft and reaction influence numbers are calculated by the matrix calculation of each nodal point equation. It has been found that results of calculation for the model shaft agree well with those of experiment which had been measured by the strain gauge method. Results of calculation for the actual propulsion shafting of the steam turbine had been compared also with those of Det norske Vertas.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.6
• /
• pp.1596-1608
• /
• 1993

Low Reynolds number second moment turbulence model which be applicable to the fine gird near the wall region was developed. In this model, turbulence model coefficients in the pressure strain model of the Reynolds stress equation was expressed as functions of turbulence Reynolds number $R_{t}\equivk^{2}/(\nu\varepsilon)).$ In the derivation procedure of the present low Reynolds number algebraic stress model, Laufer's near wall experimental data on Reynolds stresses were curve fitted as functions of R$_{t}$ and the resulting simultaneous equations of the model coefficients were solved by using the boundary conditions at wall and high Reynolds number limiting conditions. Predicted Reynolds stresses and dissipation rate of turbulent kinetic energy etc. in the 2 dimensional parallel, plane channel flow and pipe flow were compared with the preditions obtained by employing the Launder-Shima model, standard algebraic stress model and several experimental data. Results show that all the Reynolds stresses and dissipation rate of turbulent kinetic energy predicted by the present low Reynolds number algebraic stress model agree better with the experimental data than those predicted by other algebraic stress models.

• Computers and Concrete
• /
• v.25 no.4
• /
• pp.293-302
• /
• 2020

Connections play a significant role in strength of structures against earthquake-induced loads. According to the post-seismic reports, connection failure is a cause of overall failure in reinforced concrete (RC) structures. Connection failure results in a sudden increase in inter-story drift, followed by early and progressive failure across the entire structure. This article investigated the cyclic performance and behavioral improvement of shape-memory alloy-based connections (SMA-based connections). The novelty of the present work is focused on the effect of shape memory alloy bars is damage reduction, strain recoverability, and cracking distribution of the stated material in RC moment frames under seismic loads using 3D nonlinear static analyses. The present numerical study was verified using two experimental connections. Then, the performance of connections was studied using 14 models with different reinforcement details on a scale of 3:4. The response parameters under study included moment-rotation, secant stiffness, energy dissipation, strain of bar, and moment-curvature of the connection. The connections were simulated using LS-DYNA environment. The models with longitudinal SMA-based bars, as the main bars, could eliminate residual plastic rotations and thus reduce the demand for post-earthquake structural repairs. The flag-shaped stress-strain curve of SMA-based materials resulted in a very slight residual drift in such connections.

• Journal of Distribution Science
• /
• v.11 no.4
• /
• pp.37-49
• /
• 2013

Purpose - This research identifies the meaning of the core capability level of Car Master and the reason why its service at the Moment of Truth should be demonstrated through empirical cases. It can be seen that this study differs from existing research because it proposes that the recognized core capability level to achieve customer satisfaction should focus on the mediating effect of Moment of Truth quality. This paper examines the effect of Car Master's recognized core capability level on customer satisfaction by using the variables mentioned above. Moreover, this study uses regression analysis to verify that the mediating effect of Moment of Truth quality on Car Master's capability level achieves customer satisfaction. Research design, data, and methodology - First, we present evidence that could apply to Car Master's recognized core capability level by detailing the relationship between customer satisfaction and a structuring factor for Car Master's core capability level. Our proposed research model observes the relationship between the structuring factor of core capability and customer satisfaction. Second, we had an opportunity to define how the core capability and Moment of Truth quality affect customer satisfaction by performing empirical analysis on the partial mediating effect of Moment of Truth quality at a recognized core capability level and Moment of Truth quality affecting customer satisfaction. Results - First, the results indicate that Car Master's recognized core capability level (product professionalism, marketing skill, and reliability) positively affects customer satisfaction. Second, the results show that an ability to listen and a sense of dedication positively affect customer satisfaction, and are among the Moment of Truth quality factors; but performance capability, which is one of the Moment of Truth quality factors, does not positively affect customer satisfaction. These results clearly differ from prior studies focused on Moment of Truth quality and consumer satisfaction. Third, the results show that Moment of Truth quality has a partial mediating effect in terms of the impact of Car Master's recognized core capability level in achieving consumer satisfaction. Conclusions - This research indicates that the company will be able to expand if they investigate and show an interest in more training and education for Car Master. The study verified that outstanding Car Masters show differentiated performance on customer satisfaction at the Moment of Truth in various instances. Thus, we believe that this is the time for a discussion on systematic and empirically recognized core capability levels and the Moment of Truth quality. The study on Car Master's recognized core capability level offers suitable solutions for Car Masters to respond to customers at the Moment of Truth. Further, this study emphasizes the importance of service as a critical factor having a direct relationship with the company's success and failure and contributing to building trust with the customer. Thus, an investment in continuous education and training for Car Master will help the growth of the business.

• East Asian mathematical journal
• /
• v.34 no.1
• /
• pp.59-67
• /
• 2018

We present new recurrence formulas for the raw and central moments of a compound binomial random variable. Our approach involves relating two compound binomial random variables that have parameters with a difference of 1 for the number of trials, but which have the same parameters for the success probability for each trial. As a consequence of our recursions, the raw and central moments of a binomial random variable are obtained in a recursive manner without the use of Stirling numbers.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2002.05a
• /
• pp.897-902
• /
• 2002

The failure of flat plate connection is successive failure process accompanying with stress redistribution, hence it is necessary to compute the contributions of each resistance components at ultimate state. In the present study, the interactions of resultant forces at each faces of connection, i.e. shear, bending moment and torsional moment are considered in the assessment of strength of slab. As a result the strength prediction model for connection is made up as combination of bending resistance, shear resistance and torsional resistance. The proposed method is verified by the experimental data and numerical data of continuous slabs.