• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.6A
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• pp.819-825
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• 2008

This paper describes the shaping formation and the erection of SCST structure by cable-tensioning. It could be a fast and economical method for constructing the space structure consisted with uniform pyramids by cable-tensioning of the cable in bottom chords. In the initial layout, the top chords and web members are left at their true length, the bottom chords are given gaps in proportion to the desired final shape. The feasibility of the proposed shaping method and the reliability of the established geometric model were confirmed with nonlinear finite element analysis and an experimental investigation on small scale and full size test models. As a result, the behaviour characteristic of MERO joint is very significant in shaping analysis of space structure. This study suggests the most reasonable modeling technique for the prediction of shaping in practices. And it is shown the characteristic of the behavior in shaping test for practical design purposes.

• Journal of Mechanical Science and Technology
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• v.18 no.4
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• pp.573-581
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• 2004

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.

• Journal of Aerospace System Engineering
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• v.14 no.3
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• pp.10-16
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• 2020

We propose a capture mechanism based on the principles of fishing nets that can be mounted on the drone using cable. The gripper mechanism, mainly proposed for the drone is heavy, and is limited to catch standardized objects. In contrast, the proposed capture device in this paper is light, flexible, and can capture various types of objects from a long distance. The theoretical relationships between cables and mechanisms were analyzed. Finally, the capture device was designed and manufactured to be installed in the drone (DJI S900) to conduct capturing experiments for various objects and verify the validity.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.04c
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• pp.45-49
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• 2008

Polyethylene is widely used as the insulator for power cable. To investigate the conduction mechanism for power cable insulation under ac high field, it is very important to acquire the dissipation current under actual running field. Recently, we have developed the unique system, which make possible to observe the nonlinear dissipation current waveform. In this system, to observe the nonlinear properties with high accuracy, capacitive current component is canceled by using inverse capacitive current signal instead of using the bridge circuit for canceling it. We have already reported that the dissipation currents of $40\;{\mu}m$ thick LDPE film at 10 kV/mm and over 140 Hz, it starts to show nonlinearity and odd number's harmonics were getting large. To investigate the conduction mechanis ms in this region, especially space charge effect, various kinds of estimation, such as time variations of instantaneous resistivity for one cycle, FFT spectra of dissipation current waveforms and so on, has been examined. As the results of these estimations, it was found that the dissipation current will depend on not only the instantaneous value of electric field but also the time differential of applied electric field due to taking a balance between applied field and internal field. Furthermore, two large peaks of dissipation current for each half cycle were observed under certain condition. In this paper, to clarify the reason why it shows two peaks for each half cycle, the film thickness dependences of dissipation current waveforms were observed by using the three different thickness LDPE films.

• Wind and Structures
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• v.23 no.6
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• pp.615-639
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• 2016

Although the underlying mechanism of rain-wind induced vibrations (RWIVs) of stay cables has not been fully understood, some countermeasures have been successfully applied to mitigating this kind of vibration. Among these, installing dampers near the bridge deck was widely adopted, and several field observations have shown its effectiveness. In this study, the effectiveness of dampers to RWIVs of stay cables is numerically investigated comprehensively by means of finite difference method (FDM). Based on the free vibration analysis of a taut string, it is found that the 3-points triangle scheme, which can be easily implemented in FDM, can offer an excellent approximation of the concentrated damping coefficient (expressed as a Dirac delta function) at the location where the damper is installed. Then, free vibration analysis of a 3-D continuous stay cable attached with two dampers is carried out to study the relationship of modal damping ratio and damping coefficient of the dampers. The effects of orientation of the dampers and cable sag on the modal damping ratio are investigated in detail. Finally, the RWIV response of a 3-D continuous stay cable attached with two dampers is examined. The results indicate that 0.5% of damping ratio is sufficient to reduce the RWIV vibration of the Cable A20 on the No.2 Nanjing Bridge over Yangtze River.

• Wind and Structures
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• v.26 no.4
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• pp.215-229
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• 2018

The appearance of a rivulet at the upper surface of a stay cable is responsible for rain-wind-induced vibration (RWIV) of cables of cable-stayed bridges. However, the formation mechanism of the upper rivulet and its aerodynamic effects on the stay cable has not been fully understood. Large eddy simulation (LES) method is used to investigate flow around and aerodynamics of a circular cylinder with an upper rivulet at a Reynolds number of 140,000. Results show that the mean lift coefficients of the circular cylinder experience three distinct stages, zero-lift stage, positive-lift stage and negative-lift stage as the rivulet located at various positions. Both pressure-induced and friction-induced aerodynamic forces on the upper rivulet are helpful for its appearance on the upside of the stay cable. The friction-induced aerodynamic forces, which have not been considered in the previous theoretical models, may not be neglected in modeling the RWIV. In positive-lift stage, the shear layer separated from the upper rivulet can reattach on the surface of the cylinder and form separation bubbles, which result in a high non-zero mean lift of the cylinder and potentially induces the occurrence of RWIV. The separation bubbles are intrinsically unsteady flow phenomena. A serial of small eddies first appears in the laminar shear layer separated from the upper rivulet, which then coalesces and reattaches on the side surface of the cylinder and eventually sheds into the wake.

• Smart Structures and Systems
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• v.20 no.3
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• pp.285-301
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• 2017

This paper presents the design and the application of a new self-powered hybrid electromagnetic damper that can harvest energy while mitigating the vibration of a structure. The damper is able to switch between an energy harvesting passive mode and a semi-active mode depending on the amount of energy harvested and stored in the battery. The energy harvested in the passive mode resulting from the suppression of vibration is employed to power up the monitoring and electronic components necessary for the semi-active control. This provides a hybrid control capability that is autonomous in terms of its power requirement. The proposed hybrid circuit design provides two possible options for the semi-active control: without energy harvesting and with energy harvesting. The device mechanism and the circuitry that can drive this self-powered electromagnetic damper are described in this paper. The parameters that determine the device feasible force-velocity region are identified and discussed. The effectiveness of this hybrid damper is evaluated through a numerical simulation study on vibration mitigation of a bridge stay cable under wind excitation. It is demonstrated that the proposed hybrid design outperforms the passive case without external power supply. It is also shown that a broader force range, facilitated by decoupled passive and semi-active modes, can improve the vibration performance of the cable.

• Journal of Korean Society of Steel Construction
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• v.13 no.5
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• pp.599-608
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• 2001

Many papers which deal with the dynamic instability of shell-like structures under the STEP load has been published but there have been few papers related to the dynamic instability of hybrid cable domes. And also there are a few researches which treat the essential phenomenon of the dynamic buckling using the phase for investigating occurrence of chaos. In this study the indirect buckling of hybrid cable domes considering geometric nonlinearity are investigated numerically and compared it with the static critical load The dynamic critical loads are determined by the numerical integration of the geometric nonlinear equation of motion and the mechanism of the indirect buckling is examined by using the phase curves.

• 유체기계공업학회:학술대회논문집
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• 2005.12a
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• pp.158-165
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• 2005

KOGAS(Korea Gas Corporation) has about a hundred of local stations to supply natural gas to the city gas companies and the power stations. As some severe flow fluctuation phenomena are observed in several governor stations, the investigation about the reasons and factors which are relating to flow fluctuation has been started. Some field surveys hav been carried out and experimental studies have been performed to find the fluctuation mechanism. As a result, it is found that the flow fluctuation is related with the length of straight pipe in front of the meter, the size of the header pipe and the variation of demand at the city gas company and the power station. Furthermore. it is also proved that both the length of the transmitter cable and the status of the coating of signal transmission cable do not affect flow fluctuation, but the measurement range of the differential pressure transmitter influences flow fluctuation. On the other hand, as the averaging the flow fluctuation is converged to less than 0.1 % in almost all of the cases, it is concluded that the quantity of flow fluctuation do not relates to metering accuracy directly.