• KSTLE International Journal
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• v.7 no.2
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• pp.51-55
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• 2006

In order to design an effective foot surface which can provide adequate friction for a self-propelled medical microrobot moving inside the small intestine, frictional mechanisms between the small intestine inner wall and the foot surface of the robot must be understood. In this paper, mechanical interlocking effect was considered to design the surface of the foot that can generate the desired frictional force. The concept of the design was derived from the hookworm that lives inside the small intestine. Hookwarms are known to adhere to the small intestine wall by interlocking with villi on the surface of the small intestine. The interlocking mechanism was considered as the main frictional mechanism for the design of the microrobot foot surface in this work. 2 mm and 6 mm diameter solid and hollow cylindrical shaped foot specimens were designed and tested to assess the frictional force between the specimens and the porcine small intestine specimen.

• Proceedings of the KOSOMBE Conference
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• v.1996 no.11
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• pp.103-106
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• 1996

In this paper, we proposed the design and algorithm of force reflection joystick which control mobile robot as a rehabilitation assistance system. The disabled persons are poor at joystick control because of hand vibration and clumsiness in operating it. These problems bring tasks which concerned with operator's safety So there is required technique which prevent collision with wall or obstacles. One of these solution is force reflection joystick which disturb that robot is closed to the wall. To confirm this way, we experimented and simulated with force reflection joystick which attached torque controller.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.05a
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• pp.397-398
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• 2023

To design the shear connections for vertical construction joints of slurry walls, it is necessary to create a force-displacement curve that represents the structural performance of the shear connections. This paper proposes a method for preparing the force-displacement curve of the shear connections including major considerations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.245-246
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.455-456
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• 2011

• Proceedings of the Korea Concrete Institute Conference
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• 2000.10a
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• pp.291-296
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• 2000

In this paper a relatively simple and reliable wall models are investigated, which are suitable to be efficiently incorporated in a practical nonlinear seismic analysis of reinforced concrete shear wall structural systems. Four types of analogous frames have been selected for the elastic stress analysis. Three types of macro-elements model which include wide-column model, truss model and Kabeyasawa model, are chosen for the use in nonlinear analysis. A numerical analysis is carried out for six stories plane coupled wall structure. Analysis results indicate that macro-elements wall model is effective and suitable for simulating stress in elastic analysis. In inelastic analysis, the yielding strength have little effect on different wall model, and the effect on post-yielding stiffness in story shear-drift relationship depend on force-deformation properties of macro-elements.

• Korean Security Journal
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• no.50
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• pp.307-337
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• 2017

The freedom of assembly is the fundamental freedoms guaranteed by the Constitution. However, as far as our reality is concerned, the freedom of assembly is guaranteed only when it is under the control of the police, and otherwise it is perceived as an object to be suppressed. Police say even that they will not tolerate even a small illegal law while referring to the "broken window theory". Therefore, regardless of the peaceful nature of the rally, it is too obsessed with 'compliance'. This attitude is causing the citizens who participated in the assembly to be put to the object to be suppressed. This paper analyzes the requirements and current status of police force, focusing on the vehicle-wall-blocking and water cannon as a means of using the police force, which is a recent problem, and suggests ways to improve it. First of all, the installation of the wall cuts off the essential communication function of the assembly by separating the meeting place from the object of protest. Thus, despite the warning for prevention in the face of illegal acts, other than installing a barrier, it should be allowed only in the 'urgent case where there is a risk of causing damage to the life, body or property of the person'. Without this urgency, the vehicle-wall-blocking should not be allowed to be proactive as well as preventive. Secondly, the water cannon is a police force that is likely to harm people's life and body. Therefore, aiming shots, which could pose a significant risk to the human body, should in principle be prohibited. However, considering its risk, it should be supplementary used only when there is no other alternative, only when the direct risk to the legal interest of the other person or the order of public well-being is 'obvious'. In addition, as for the use standard of such a thing, it is necessary to be specified by law.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.6
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• pp.293-299
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• 2018

Steel truss outriggers can be replaced by reinforced concrete walls to control the lateral drift of tall buildings. When reinforced concrete outrigger walls are connected to perimeter columns, not only axial forces but also shear forces and moments can be induced on the perimeter columns. In this study, the shear force of the perimeter column due to the rotation of the outer edge of the outrigger wall is derived as analytic equations and the result is compared with the finite element analysis result. In the finite element analysis, the effects of connecting beams at each floor and the effect of modeling shear walls and outriggers with beam element and plane stress element was analyzed. The effect of the connecting beam was almost negligible and the plane stress element was determined to have greater stiffness than the beam element. The inter-story rotation and the shear force of the perimeter column due to the rotation of the outer edge of the outrigger wall was considerably smaller than the allowable value. Therefore, even if the outrigger wall made of reinforced concrete is applied to a tall building, it is considered that there is no need to study the shear force and moment induced in the perimeter columns.

• Land and Housing Review
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• v.8 no.3
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• pp.211-221
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• 2017

This study proposed hybrid coupled shear wall in the steel plate insertion method, which is capable of reinforcing the shear strength of the entire wall without increasing wall thickness in the wall-slab apartment buildings. The proposed hybrid coupled shear wall was tested for its effectiveness, shear strength and seismic behavior in experiment. As a test result, the shear strength improvement by the proposed hybrid coupled shear was found effective. Integral-type of steel plate insertion was found more effective than separate-type steel plate insertion. In this case, if the stud enforcement method proposed in this study was used, the shear strength of hybrid coupled shear wall was recommended to calculate using the KBC2016 0709.4.1(3) method. The steel plate inserted in the proposed method was found to have no significant impact on the final fracture behavior and bending strength of hybrid coupled shear wall. The shear strength at the final destruction of the wall was merely about 1/50 of the entire design shear strength. Thus, it is deemed that the wall was over excessively designed regarding the shear force in the existing design method. This finding indicates further study on wall designing to ensure effective and economic designing based on appropriate strength estimation under the destruction mechanism.

• Journal of the Korean Geotechnical Society
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• v.22 no.1
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• pp.15-23
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• 2006

During earthquake, force components acting on quay walls consist of inertia force, earth pressure and water pressure. The earth pressure is largely influenced by the backfill condition such as soil density and the installation of gravel backfill. Therefore, shaking table tests were performed by using four different model sections, which were designed by varying the soil density and the backfill materials. The magnitude and the phase of force components acting on quay wall were analyzed. Test results showed that the gravel backfill and the soil compaction were effective to reduce the excess pore pressure in backfill and the magnitude and phase of backfill thrust were much influenced by the excess pore pressure in backfill. When the input acceleration was 0.10g, the average ratios of the inertia force, the front dynamic water force and the thrust to the total force were $64\%,\;21\%\;and\;16\%$, respectively. As the excess pore pressure increased, the ratio of the thrust to the total force increased.