• Journal of Mechanical Science and Technology
• /
• 제14권11호
• /
• pp.1225-1231
• /
• 2000

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

• Structural Engineering and Mechanics
• /
• 제60권2호
• /
• pp.251-269
• /
• 2016

In common structural systems, there are some limitations to provide adequate lateral stiffness, high ductility, and architectural openings simultaneously. Consequently, the concept of T-Resisting Frame (TRF) has been introduced to improve the performance of structures. In this study, Configuration of TRF is a Vertical I-shaped Plate Girder (V.P.G) which is placed in the middle of the span and connected to side columns by two Horizontal Plate Girders (H.P.Gs) at each story level. System performance is improved by utilizing rigid connections in link beams (H.P.Gs). Plastic deformation leads to tension field action in H.P.Gs and causes energy dissipation in TRF; therefore, V.P.G. High plastic deformation in web of TRF's members affects the ductility of system. Moreover, in order to prevent shear buckling in web of TRF's members and improve overall performance of the system, appropriate criteria for placement of web stiffeners are presented in this study. In addition, an experimental study is conducted by applying cyclic loading and using finite element models. As a result, hysteresis curves indicate adequate lateral stiffness, stable hysteretic behavior, and high ductility factor of 6.73.

• 구강회복응용과학지
• /
• 제29권4호
• /
• pp.377-383
• /
• 2013

이 연구의 목적은 치과임상에서 사용되는 8종의 합착용 시멘트의 방사선불투과성을 디지털 방사선 촬영술로 평가하는 것이었다. BisCem, Clearfil SA Luting, Duolink, Maxcem Elite, Multilink Speed, Panavia F 2.0, RelyX Unicem Clicker, V-link의 8종의 재료를 5개의 원형 시편 (직경: 4 mm, 두께: 1 mm)으로 제작하였고 사람 치아의 법랑질과 상아질 시편을 1 mm 두께로 준비하여 알루미늄 스텝 웨지와 함께 촬영하였다. 관전압 70kVP, 관전류 4 mA, 노출시간 0.156초, 초첨 필름간 거리는 30 cm으로 영상판을 이용하여 촬영하였으며, ImageJ 소프트웨어를 이용하여 평균 회색조 수치를 측정하고, 이를 흡수계수로 환산한 후 검량선(calibration curve)을 이용하여 각 합착용 시멘트의 등가 알루미늄 두께를 구하였다. 합착용 시멘트의 평균 방사선불투과성은 알루미늄 두께 0.71 ~ 5.66 mm로, RelyX Unicem Clicker (0.71 mm Al)을 제외하고는 등가 알루미늄 두께 보다 높은 방사선불투과성을 보여 ISO 규격을 만족하였으며, 법랑질은 1.79 mm, 상아질은 0.19 mm 두께의 알루미늄에 해당하는 방사선불투과성을 나타내었다.

• Steel and Composite Structures
• /
• 제28권6호
• /
• pp.691-708
• /
• 2018

An innovative Hybrid Passive Resistive configuration for Truss Girder Frames (HPR-TGFs) is introduced in the present study. The proposed system is principally consisting of Fluid Viscous Dampers (FVDs) and Buckling Restrained Braces (BRBs) as its seismic resistive components. Concurrent utilization of these devices will develop an efficient energy dissipating mechanism which is able to mitigate lateral displacements as well as the base shear, simultaneously. However, under certain circumstances which the presence of FVDs might not be essential, the proposed configuration has the potential to incorporate double BRBs in order to achieve the redundancy of alternative load bearing paths. This study is extending the modern Direct Displacement Based Design (DDBD) procedure as the design methodology for HPR-TGF systems. Based on a series of nonlinear time history analysis, it is demonstrated that the design outcomes are almost identical to the pre-assumed design criteria. This implies that the ultimate characteristics of HPR-TGFs such as lateral stiffness and inter-story drifts are well-proportioned through the proposed design procedure.