• KSCE Journal of Civil and Environmental Engineering Research
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• v.40 no.1
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• pp.43-49
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• 2020

In this study, the stability of the low crested structure armoured by Tripod block has been investigated using two-dimensional hydraulic model tests. The effect of wave steepness and freeboard on the rock stability on crest, front, and the rear slope has been investigated. From the experimental data, the new empirical formula for the stability coefficients of the Tripod block was proposed. But Tripod is not proper to use the armour block of the low crested structure because the uplift force of this block is greater than that of Tetrapod and rock.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.32 no.3C
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• pp.105-111
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• 2012

Bucket foundations, which are used in the foundations of offshore wind turbines, should be able to withstand large amounts of horizontal and moment loads. Tripod bucket foundation, which combines three single buckets, has been used to increase horizontal and moment capacities. This study performed numerical analysis using ABAQUS (2010), to analyze the group effect and the bearing capacity of a tripod bucket in clay. Parametric studies were performed varying the bucket spacing ratio S/D (S=spacing between the centers of the bucket and the tower; D=diameter of the bucket) and depth ratio L/D (L=embedded length of skirt). The applied constitutive models were a linear elastic perfectly plastic model with Tresca yield criteria for normally consolidated clay and an elastic model for buckets. Loading in the vertical, horizontal, and moment directions was simulated with an increase in each movement at a reference point. The bearing behavior and the capacities of a single and a tripod bucket were compared. Capacity evaluation method of the tripod bucket was suggested using the capacity of a single bucket.

• Applied Microscopy
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• v.34 no.2
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• pp.95-102
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• 2004

The TEM samples prepared by ion milling have the advantage that thin area can be obtained from almost any materials. However, it has the disadvantage that the amount of thin area can often be quite limited. For the cross-sectioned samples and grossly heterogeneous materials, the thickness of less than $0.1{\mu}m$ can be achieved by mechanical grinding and polishing (tripod polisher) and then the TEM samples may be ion-milled for final thinning or cleaning. These approaches were described in this paper. Examples of TEM observations were taken from cross-section samples of thin films on silicon and sapphire, from diffusion layers between $Mo_5Si_3\;and\;Mo_2B$, and from rapidly solidified 304 stainless steel powders embedded in electroplated copper.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.6
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• pp.53-63
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• 1997

This study examines the influence of some dimensional errors on the shudder-type disturbance of the tripod joint and vehicle, using an experimental evaluation and related simulation. With the introduction of the concept of influence factor, the sensitivities of shudder-type disturbance can be evaluated as the ratio of the difference between the ideal value without dimensional errors and actual value with them in the tripod joint and vehicle. Futhermore, influence factors calculated in this study can be utilized as a basic design data for the practical application of the tripod joint to an automobile design.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.11
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• pp.979-986
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• 2016

The tripod shafts of constant-velocity joint are used in both the trains KTX and KTX-sanchon. It is an important component that connects the motor reduction unit and the axle reduction unit in a power bogie. The tripod shaft not only transmits drive and brake torque in the rotational direction, but also slides in the axial direction. If the drive system is loaded with an excessive torque, the fuse part of the shaft will be fractured firstly to protect the other important components. In this study, a rig was developed for conducting torsion tests on the tripod shaft, which is a type of mechanical fuse. The tripod shafts were subjected to torsional fracture test and torsional fatigue test on the rig. The weak zone of the tripod shaft was identified, and its fatigue life was predicted using finite element analysis (FEA). After analyzing the FEA results, design solutions were proposed to improve the strength and fatigue life of the tripod shaft. Furthermore, the deterioration trend and time for failure of the tripod shaft were verified using the hysteresis loops which had been changed with the advancement of the torsional fatigue test.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.8
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• pp.585-593
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• 2004

Fault-tolerant gait planning in legged locomotion is to design gaits with which legged robots can maintain static stability and motion continuity against a failure in a leg. For planning a robust and deadlock-free fault-tolerant gait, kinematic constraints caused by a failed leg should be closely examined with respect to remaining mobility of the leg. In this paper, based on the authors's previous results, deadlock avoidance scheme for fault-tolerant gait planning is proposed for a hexapod robot walking over even terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. It is shown that for guaranteeing the existence of the previously proposed fault-tolerant tripod gait of a hexapod robot, the configuration of the failed leg must be within a range of kinematic constraints. Then, for coping with failure situations where the existence condition is not satisfied, the previous fault-tolerant tripod gait is improved by including the adjustment of the foot trajectory. The foot trajectory adjustment procedure is analytically derived to show that it can help the fault-tolerant gait avoid deadlock resulting from the kinematic constraint and does not make any harmful effect on gait mobility. The post-failure walking problem of a hexapod robot with the normal tripod gait is addressed as a case study to show the effectiveness of the proposed scheme.

• Korean Journal of Materials Research
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• v.13 no.9
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• pp.598-605
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• 2003

The optimized conditions for the cross-sectional TEM sample preparation using tripod polisher and ion-beam miller was confirmed by AFM and TEM. For the TEM observation of interfaces including InGaN layers like InGaN/GaN MQW structures, the sample preparation by the only tripod polishing was useful due to the reduction of artifacts. On the other hand, in case of the thick nitride films like ELO, PE, and superlattice, both tripod polishing and controlled ion-beam milling were required to improve the reproducibility. As a result, the ion-beam milling with the $60^{\circ}$modulation showed the minimum height difference between film and sapphire interface and the ion-beam milling of the $80^{\circ}$modulation showed the broad observable width.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.12
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• pp.689-695
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• 2003

Fault-tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This paper addresses the issue of tolerating a locked joint failure in gait planning for hexapod walking machines which have symmetric structures and legs in the form of an articulated arm with three revolute joints. A locked joint failure is one for which a joint cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but hexapod walking machines have the ability to continue static walking. A strategy of fault-tolerant tripod gait is proposed and, as a specific form, a periodic tripod gait is presented in which hexapod walking machines have the maximum stride length after a locked failure. The adjustment procedure from a normal gait to the proposed fault-tolerant gait is shown to demonstrate the applicability of the proposed scheme.

• Journal of Wind Energy
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• v.9 no.4
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• pp.16-23
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• 2018

A damage detection method for the tripod support structure of offshore wind turbines is presented for structural health monitoring. A finite element model of a prototype tripod support structure is established and the modal properties are calculated. The degree and location of the damage are estimated based on the neural network technique using the changes of natural frequencies and mode shape due to the damage. The stress distribution occurring in the support structure is obtained by a dynamic analysis for the wind turbine system to select the output data of the neural network. The natural frequencies and mode shapes for 36 possible damage scenarios were used for the input data of the learned neural network for damage assessment. The estimated damages agreed reasonably well with the accurate ones. The presented method could be effectively applied for damage detection and structural health monitoring of various types of support structures of offshore wind turbines.

• Bulletin of the Korean Chemical Society
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• v.30 no.9
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• pp.1946-1950
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• 2009

Tripod-shaped liquid crystals with $sp^3$ nigrogen at the apex were prepared from triethanolamine. Their physical properties were investigated by using optical microscopy, differential scanning calorimetry, and X-ray diffraction measurements. The XRD study suggests that the tripod-shaped molecules show the 2D-ordered phase of either the frustrated smectic layer structure or discotic columnar phases.