• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.4
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.

• Structural Engineering and Mechanics
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• v.22 no.1
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• pp.85-105
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• 2006

Control of structural response due to seismic excitation in a manner of coupling adjacent buildings has been actively developed, and most attention focused on those buildings of similar height. However, with the rapid development of some modern cities, multi-story buildings constructed with an auxiliary low-rise podium structure to provide extra functions to the complex become a growing construction scheme. Being inspired by the positively examined coupling control approach for buildings with similar height, this paper aims to provide a comprehensive analytical study on control effectiveness of using friction dampers to link the two buildings with significant height difference to supplement the recent experimental investigation carried out by the writers. The analytical model of a coupled building system is first developed with passive friction dampers being modeled as Coulomb friction. To highlight potential advantage of coupling the main building and podium structure with control devices that provide a lower degree of coupling, the inherent demerit of rigid-coupled configuration is then evaluated. Extensive parametric studies are finally performed. The concerned parameters influencing the design of optimal friction force and control efficiency include variety of earthquake excitation and differences in floor mass, story number as well as number of dampers installed between the two buildings. In general, the feasibility of interaction control approach applied to the complex structure for vibration reduction due to seismic excitation is supported by positive results.

• Ocean Systems Engineering
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• v.14 no.1
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• pp.1-16
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• 2024

This paper investigates the impact of local joint flexibility (LJF) on the fatigue life of jacket-type offshore platforms. Four sample platforms with varying geometric properties are modeled and analyzed using the Opensees software. The analysis considers the LJF of tubular joints through the equivalent element and flexible link approaches, and the results are compared to rigid modeling. Initially, modal analysis is conducted to examine the influence of LJF on the frequency content of the structure. Subsequently, fatigue analysis is performed to evaluate the fatigue life of the joints. The comparison of fatigue life reveals that incorporating LJF leads to reduced fatigue damage and a significant increase in the longevity of the joints in the studied platforms. Moreover, as the platform height increases, the effect of LJF on fatigue damage becomes more pronounced. In conclusion, considering LJF in fatigue analysis provides more accurate results compared to conventional methods. Therefore, it is essential to incorporate the effects of LJF in the analysis and design of offshore jacket platforms to ensure their structural integrity and longevity.

• Journal of the Korean Society of Food Science and Nutrition
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• v.38 no.12
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• pp.1815-1819
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• 2009

Based on the soft and rigid extents, tissues are mainly divided into two groups in mammals, soft tissues including heart, lung, kidney and brain, and hard tissues including tendon, cartilage, teeth and bone. Among various tissues, bone, a dynamic rigid organ, is continuously remodeled by the opposing functional activity between bone formation by osteoblasts and bone destruction by osteoclasts. Bone protects the soft tissues and provides mineral reservoirs, which can supply the mineral needs of other soft tissues to normally maintain cellular function. While calcification in bone is an important action to fundamentally support the body and protect the soft tissues, calcification in soft tissues, including the heart, aorta, kidney, lung and spleen, results in severe organ damages, eventually causing sudden death. A growing body of evidence indicates that the osteoporotic patient who are aging, post-menopausal, diabetes and chronic kidney disease simultaneously represent a high clinical incidence of soft tissue calcification, illustrating a link between soft tissue calcification and bone decalcification (osteoporosis). This study will review what is currently known about the connection between bone decalcification and soft tissue calcification.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.3A
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• pp.305-313
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• 2008

A reliability based calibration of dynamic load allowance (DLA) of highway bridge is performed by numerical dynamic analysis of various types of bridges taking into account of the road surface roughness and bridge-vehicle interaction. A total of 10 simply supported bridges with three girder types in the form of prestressed concrete girder, steel plate girder, and steel box girder is analyzed. The cross sections recommended in "The Standardized Design of Highway Bridge Superstructure" by the Korean Ministry of Construction are used for the prestressed concrete girder bridges and steel plate girder bridges while the box girder bridges are designed by the LRFD method. Ten sets of road surface roughness for each bridge are generated from power spectral density (PSD) function by assuming the roadway as "Average Road". A three dimensionally modeled 5-axle tractor-trailer with its gross weight the same as that of DB-24 design truck is used in the dynamic analysis. For the finite element modeling of superstructure, beam elements for the main girder, shell elements for concrete deck, and rigid links between main girder and concrete deck are used. The statistical mean and coefficient of variation of DLA are obtained from a total of 100 DLA results for 10 different bridges with each having 10 sets of road surface roughness. Applying the DLA statistics obtained, the DLA is finally calibrated in a reliability based LRFD format by using the formula developed in the calibration of OHBDC code.

• Korean Journal of Psychosomatic Medicine
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• v.24 no.2
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• pp.125-132
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• 2016

Objectives : The management of disaster should be immediate and sustainable. Further, it is hard to predict where the disaster will occur, using pre-exists governmental and non-governmental organizations are important. In this study, we tried to investigate the associated activities of organizations performed in Ansan city, in Sewol ferry accident. Methods : A total 121 workers in 25 organizations were surveyd about organizations which they worked with, kind of works performed, frequency of meetings, satisfaction in activities and factors associated with dissatisfaction in usual state and in Sewol ferry accident state, respectively. The differences between those two situations were analyzed using paired t-test for continuous variables and Chi-square test or McNemar test for categorical variables. Results : The total number of linkage of institutions were decreased(from n=397 to n=251) and the mean scores of rating satisfaction were significantly lower in most of organizations in disaster state. The rigid policy in performance evaluation was more likely associated with dissatisfaction in disaster state than usual state(p=0.045). Conclusions : For effective linkage of institutions, preparedness, such as understanding the capability of organizations in the communities and developing the protocol for associated activities, is important. The unnecessary and effortful performance evaluation should be sublated.

• Steel and Composite Structures
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• v.26 no.2
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• pp.197-211
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• 2018

The study presents the earthquake performance of the Bosphorus Bridge under multi-point earthquake excitation considering the spatially varying site-specific earthquake motions. The elaborate FE model of the bridge is firstly established depending on the new considerations of the used FEM software specifications, such as cable-sag effect, rigid link and gap elements. The modal analysis showed that singular modes of the deck and the tower were relatively effective in the dynamic behavior of the bridge due to higher total mass participation mass ratio of 80%. The parameters and requirements to be considered in simulation process are determined to generate the spatially varying site-specific ground motions. Total number of twelve simulated ground motions are defined for the multi-support earthquake analysis (Mp-sup). In order to easily implement multi-point earthquake excitation to the bridge, the practice-oriented procedure is summarized. The results demonstrated that the Mp-sup led to high increase in sectional forces of the critical components of the bridge, especially tower base section and tensile force of the main and back stay cables. A close relationship between the dynamic response and the behavior of the bridge under the Mp-sup was also obtained. Consequently, the outcomes from this study underscored the importance of the utilization of the multi-point earthquake analysis and the necessity of considering specifically generated earthquake motions for suspension bridges.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.6
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• pp.720-729
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• 2005

In this paper, we design the indirect adaptive controller using Wavelet Neural Network(WNN) for unknown nonlinear systems. The proposed indirect adaptive controller using WNN consists of identification model and controller. Here, the WNN is used in both Identification model and controller The WNN has advantage of indicating the location in both time and frequency simultaneously, and has faster convergence than MLPN and RBFN. There are several training methods for WNN, such as GD, GA, DNA, etc. In this paper, we present the Extended Kalman Filter(EKF) based training method. Although it is computationally complex, this algorithm updates parameters consistent with previous data and usually converges in a few iterations. Finally, ore illustrate the effectiveness of our method through computer simulations for the Buffing system and the one-link rigid robot manipulator. From the simulation results, we show that the indirect adaptive controller using the EKF method has better performance than the GD method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.5
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• pp.707-713
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• 2013

Coupling bolts have replaced conventional fitted bolts in applications where the operator's safety during assembly/disassembly is of concern or where the cost of process interruption is significant. Coupling bolts have been installed on rotating flange couplings in a wide range of marine and power applications worldwide. Their use has been approved by all leading international and national classification societies and regulatory bodies. A coupling bolt is a hydraulically tensioned fitted bolt that creates a stable and rigid link between coupling flanges and simplifies assembly and disassembly. We measure the bolt dimensions for reverse engineering and study the standard of assembly-load using a mechanical formula in order to localize a coupling bolt for a shaft in a power plant. We experimentally obtain the friction coefficient and confirm the condition of bolt sets through structure analysis. We show the variation of contact pressure for the shape parameter in order to consider the result when redesigning a bolt.

• Journal of the Earthquake Engineering Society of Korea
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• v.3 no.2
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• pp.9-18
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• 1999

The seismic over-strength factor Ω is evaluated for 4-story reinforced concrete buildings in Korea, which has low seismic intensity. For this study, the seismic load suggested in' Aseismic guideline research- phase ll' (in Korea) is used. When 3D study-models are designed, span length and bay number are varied and accidental torsional moment is considered. And the models are analyzed by push-over analysis, in which external and internal frame are connected by rigid-link. As a result of numerical experiments, Ω is increased as the bay number or span length is increased. Because, by the including of accidental torsional moment in designing process, the increased ratio of strength of external columns is larger than the increased ratio of span length or bay number. And this makes the failure mode of model closer or strong-column and weak-beam mechanism.