• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1086-1092
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• 2000

To realize a visual servo control of slender manipulators, two problems to be solved are analysed. The stability problem on so-called noncolocation control and the infinite order problem of the real Jacobian matrix caused by the elastic deformation are discussed. By considering the dynamic relations between rigid and elastic modes, a Jacobian operator is derived and the physical meaning is also explained. Then, for practical control, a simple control scheme using an approximate Jacobian is proposed and its stable conditions are proven by means of the $L_$2$ stability theory. The scheme is structurally similar to the conventional PD control laws, but external sensors(e. g. visual sensor) are used for positioning and internal sensors for damping. A good performance is obtained via control experiments of a slender two link manipulator.

• Steel and Composite Structures
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• v.25 no.5
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• pp.545-556
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• 2017

The tubed steel reinforced concrete (SRC) column is a composite column in which the outer steel tube is mainly used to provide confinement on the core concrete. This paper presents experimental and analytical studies on the behavior of circular tubed SRC (TSRC) columns subjected to axial compression. Eight circular TSRC columns were tested to investigate the effects of length-to-diameter ratio (L/D) of the specimens, diameter-to-thickness ratio (D/t) of the steel tubes, and use of stud shear connectors on the steel sections. Elastic-plastic analysis on the steel tubes was used to investigate the mechanism of confinement on the core concrete. The test results indicated that the tube confinement increased the strength and deformation capacity for both short and slender columns, and the effects on strength were more pronounced for short columns. A nonlinear finite element (FE) model was developed using ABAQUS, in which the nonlinear material behavior and initial geometric imperfection were included. Good agreement was achieved between the predicted results using the FE model and the test results. The test and FE results were compared with the predicted strengths calculated by Eurocode 4 and the AISC Standard. Based on the analytical results, a new design method for this composite column was proposed.

• Journal of the Korean Geosynthetics Society
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• v.7 no.3
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• pp.31-40
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• 2008

The deformation behavior of the excavated behind ground due to the displacement shape of retention walls is predicted by numerical analysis, which can be performed using the artificial displacement method with elasto-plastic constitutive model. The displacement shape of the behind ground around the retention wall is similar to the displacement shape of the retention wall. However, far from the retention wall, it changes to the displacement shape of cantilever. The deformation (the settlement, the lateral movement) of the excavated behind ground can be decreased by restraining the upper displacement of the retention wall. The displacement shape of the retention wall due to excavation affects on the plastic failure zone and decreasing zone of stability of the excavated behind ground.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2001.10a
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• pp.272-276
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• 2001

Multicomponent $Zr_{41.2}Ti_{13.8}Cu_{12.5}Ni_{10}Be_{22.5}$ bulk matallic glass alloy shows good bulk glass forming ability due to its high resistance to crystallization in the undercooled liquid state.1) In this study, DSC and X-ray diffractometry have been performed to confirm the amorphous structure of the master $Zr_{41.2}Ti_{13.8}Cu_{12.5}Ni_{10}Be_{22.5}$ alloy. To investigate the mechanical properties and deformation behaviors of the bulk metallic $Zr_{41.2}Ti_{13.8}Cu_{12.5}Ni_{10}Be_{22.5}$ alloy, a series of compression tests has been carried out at the temperatures ranging from $351^{\circ}C$ to $461^{\circ}C$ and at the various initial strain rates from $2{\times}10^{-4}s^{-1}\;to\;2{\times}10^{-2}s^{-1}$. There are two types of nominal stress-strain curves. The one shows linear stress-strain relationship meaning fracture at maximum stress, the other shows plastic deformation including steady-state flow. Also DSC analysis for the compressed specimens has been performed to investigate the change of thermal stability and crystallization behavior for the various test conditions.

• Tunnel and Underground Space
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• v.14 no.5
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• pp.381-390
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• 2004

In this study, scaled model tests were performed to investigate the deformation behaviors around twin tunnels. Eleven types of test models which had respectively different pillar widths, rock types and loading conditions were mode, where the modelling materials were the mixture of sand, plaster and water. The models with shallower pillar width were cracked under lower pressure than the models with thicker pillar width, and they showed the more tunnel convergences and the clear spatting failures. The models of hard rock were cracked under 50% higher pressure than the models of soft rock and they showed the less tunnel convergences. The failure and deformation behaviors of twin tunnels were also dependent on the loading conditions of models. Futhermore, the results of FLAC analysis were qualitatively coincident with the test results.

• Journal of Ocean Engineering and Technology
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• v.9 no.1
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• pp.101-110
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• 1995

In SMA(Shape Memory Alloy), the degradation by fatigue is one of the most important problems to be overcome, when SMA is used for robot-actuator materials. The actuator is operated repetitively for long time and its repeating operation develops the fatigue degradation of SMA. The fatigue degradation changes the transformation temperature and deformation behavior and results in inaccurate operation and deformation which results form repeating operation is to be investigated in advance and the scheme to resolve those problems have to be made for the design of actuator. In this paper, for the improvement of the fatigue degradation by repetive movement and better control of the correct movement by the stability of martensite transformation in the development of Robots actuator, Pre-strain(0, 1.5, 5, 8%) are loaded in the specimens and fatigue testing were carried out by the method of heating and cooling in direct condition. From the results of these experiments, the effect on pre-strain which affect the transformation characteristic and fatigue degradation phenomena were correctly investigated.

• Structural Engineering and Mechanics
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• v.70 no.3
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• pp.325-337
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• 2019

In the present article, cross ply laminated composite plates are considered and a simple sinusoidal shear deformation model is tested for analyzing their flexural, stability and dynamic behaviors. The model contains only four unknown variables that are five in the first order shear deformation theory (FSDT) or other higher order models. The in-plane kinematic utilizes undetermined integral terms to quantitatively express the shear deformation influence. In the proposed theory, the conditions of zero shear stress are respected at bottom and top faces of plates without considering the shear correction coefficient. Equations of motion according to the proposed formulation are deduced by employing the virtual work principle in its dynamic version. The analytical solution is determined via double trigonometric series proposed by Navier. The stresses, displacements, natural frequencies and critical buckling forces computed using present method are compared with other published data where a good agreement between results is demonstrated.

• Journal of the korean Society of Automotive Engineers
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• v.9 no.4
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• pp.61-68
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• 1987

The Bellows Joint which was used as a absorber or safety equipment to prevent the deformation or fracture of a structure, have been analyzed by the F.E.M using axi-symmetric conical frustum element. Using the F.E.M the general behavior of Bellows Joint corrugation can be investigated easily, and the stability of the analysis be guaranteed. In annular type corrugation, the F.E.M results were agreed with those of other theoretical analyses, but in the U type corrugation, the F.E.M results were more acceptable than those of others.

• Tunnel and Underground Space
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• v.5 no.1
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• pp.1-10
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• 1995

The behavior of a jointed rock mass depends mainly on the geometrical and mechanical properties of joints. The failure mode of a rock mass and kinematics of rock blocks are governed by the orientation, spacing, and persistence of joints. The mechanical properties such as dilation angle, shear strength, maximum closure, strength of asperities and friction coeffiient play important roles on the stability and deformation of the rock mass. The normal and shear behaviour of a joint are coupled due to dilation, and the joint deformation depends also on the boundary conditions such as stiffness conditons. In this paper, the joint constitutive law including the dilatant behaviour of a joint is numerically modelled using the edge-to-edge contact logic in distinct element method. Also, presented is the method to quantify the input parameters used in the joint law. The results from uniaxial compression and direct shear tests using the numeical model of the single joint were compared to the analytic results from them. The boundary effect on the behaviour of a joint is verified by comparing the results of direct shear test under constant stress boundary condition with those under constant stiffness boundary condition. The numerical model developed is applied to a complex jointed rock mass to examine its performance and to evaluate the effect of joint dilation on tunnel stability.

• Journal of the Korean GEO-environmental Society
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• v.8 no.6
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• pp.77-83
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• 2007

In this study, deformation behavior of existing concrete face rockfill dam, which is raised to a certain height to enhance storage capacity or to improve hydraulic and hydrologic stability, is examined using numerical analysis method. The results obtained from FEM analysis show a possibility that additional fill at downstram slope of existing CFRD dam body may lead undesirable deformations and stresses in existing dam body, especially in face concrete, such as settlements in upper part and bulging in lower part, excessive bending moments, and eventualy tensile cracks. Therefore, in designing multi-staged raising construction of CFRD, it is essential to consider deformations and stresses to be developed within and between exisiting dam body and added parts due to additional fill, and to prepare a proper measure to prevent abnormal deformations and stresses in the dam body including added parts.