• 대한기계학회논문집A
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• 제20권6호
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• pp.1854-1861
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• 1996

A reliable and practical finite element modeling technique to estimate the behavior of complex structures with bolted joints is important for engineeres in the industry. Accordingly, we have examined several simplified modeling techinques which do not require the use of special elements such as a gap eloement. The dynamic and static erxperiments have confirmed that the technique to model the bolted joints with eight-noded three dimensional elemnts which fill the bolt space gdives most satisfactory results.

• 대한기계학회논문집A
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• 제31권8호
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• pp.889-895
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• 2007

Quantifying dynamic stability is important to assessment of falling risk or functional recovery for leg injured people. Human locomotion is complex and known to exhibit nonlinear dynamical behaviors. The purpose of this study is to quantify major joints of the body using chaos analysis during walking. Time series of the chaotic signals show how gait patterns change over time. The gait experiments were carried out for ten young males walking on a motorized treadmill. Joint motions were captured using eight video cameras, and then three dimensional kinematics of the neck and the upper and lower extremities were computed by KWON 3D motion analysis software. The correlation dimension and the largest Lyapunov exponent were calculated from the time series to quantify stabilities of the joints. This study presents a data set of nonlinear dynamic characteristics for eleven joints engaged in normal level walking.

• Earthquakes and Structures
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• 제4권4호
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• pp.429-449
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• 2013

Current Design Codes for Reinforced Concrete (RC) interior beam-column joints are based on limited experimental studies on the seismic behavior of eccentric joints. To supplement existing information, an experimental study was conducted that focused on the effect of eccentricity of the deeper beams with respect to the shallow beams. A total of eight one-third scale interior joints with beams of different depths were subjected to reverse cyclic loading. The primary variables in the test specimens were the amount of joint transverse reinforcement and the cross section of the shallow beams. The overall performance of each test assembly was found to be unsatisfactory in terms of joint shear strength, stiffness, energy dissipation and shear deformation. The results indicated that the vertical eccentricity of spandrel beams in this type of joint led to lower capacity in joint shear strength and severe damage of concrete in the joint core. Increasing the joint shear reinforcement was not effective to alter the failure mode from joint shear failure to beam yielding which is favorable for earthquake resistance design, whereas it was effective to reduce the crack width at the small loading stages. Based on the observed behavior, the shear stress of the joint core was suggested to be kept as low as possible for a safe and practical design of this type of joint.

• Earthquakes and Structures
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• 제25권5호
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• pp.307-323
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• 2023

This study compares two prominent design provisions, National Design Specification (NDS) and Eurocode 5, on load-carrying capacity calculations and failure analysis for mortise-tenon joints. Design procedures of double-shear connection from both provisions were used to calculate load-carrying capacity of mortise-tenon joints with eight different bolt sizes. From this calculation, the result was validated using finite element analysis and failure criteria models. Although both provisions share similar failure modes, their distinct calculation methods significantly influence the design load-carrying capacity values. Notably, Eurocode 5 predicts a 6% higher design load-carrying capacity for mortise-tenon joints with varying bolt diameters under horizontal loads and 14% higher under vertical loads compared to NDS. However, the results from failure criteria models indicate that NDS closely aligns with the actual load-carrying capacity. This indicates that Eurocode 5 presents a less conservative design and potentially requires fewer fasteners in the final timber connection design. This evaluation initiates the potential for the development of a wider range of timber connections, including mortise-tenon joints with wooden pegs.

• 한국산업융합학회 논문집
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• 제20권1호
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• pp.49-55
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• 2017

This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• The Korean Journal of Pain
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• 제20권1호
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• pp.31-39
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• 2007

Background: Cervical radicular pain can arise fromvarious structures, including spinal nerves, discs, zygapophyseal joints, ligaments, and myofascial connective tissue. However, no adequate experiments have been found regarding methods for the microadhesiolysis of adhesional connective tissue around the zygapophyseal joints and nerves. The first objective of this study was to ascertain the effect of fluoroscopy guided interventional microadhesiolysis and nerve stimulation (FIMS) on chronic cervical radicular pain caused by zygapophyseal joint dysfunction. The second objective was to identify the duration of pain alleviation, as well as commonly occurring regions for zygapophyseal joint dysfunction. Methods: Twenty-eight patients were diagnosed with cervical radicular pain. The cervical zygapophyseal joints and adhesional structures around the cervical zygapophyseal joints were stimulated by adhesiolysis with a rounded needle; the procedure was performed once every second week. A visual analogue scale (VAS) for pain and neck range of motion (ROM) were used as indices for evaluating the degree of pain 1 and 3 months after completion of the procedures. A relief effect of FIMS was accepted when the VAS index decreased 50% compared with a previous VAS, and when there was absence of limitation of ROM. Results: Among the patients, 52% showed zygapophyseal joint dysfunction in C5-6, 38% in C4-5, 7% in C2-3, and 3% in C6-7. After performing FIMS, the VAS index decreased in most of the patients after 1 and 3 months (92.8% and 75%, respectively), and treatment frequency was $2.7{\pm}1.2$. There was no correlation between the number of FIMS procedures and the degree of VAS. Conclusions: FIMS is considered an effective modality in patients suffering from cervical radicular pain.

• 국제강구조저널
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• 제18권5호
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• pp.1525-1540
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• 2018

A test rig with multi-functional purposes was specifically designed and manufactured to study the behavior of multi-planar welded tubular joints subjected to multi-planar concurrent axial loading. An experimental investigation was conducted on full-scale welded tubular joints with each consisting of one chord and eight braces under monotonic loading conditions. Two pairs or four representative specimens (two specimens for each joint type) were tested, in which each pair was reinforced with two kinds of different internal stiffeners at the intersections between the chords using welded rectangular hollow steel sections (RHSSs) and the braces using rolled circular hollow steel sections (CHSSs) and welded RHSSs. The effects of different internal stiffeners at the chord-brace intersection on the load capacity of joints under concurrent multi-planar axial compression/tension are discussed. The test results of joint strengths, failure modes, and load-stress curves are presented. Finite element analyses were performed to verify the experimental results. The study results show that the two different joint types with the internal stiffeners at the chord-brace intersection under axial compression/tension significantly increase the corresponding ultimate strength to far exceed the usual design strength. The load carrying capacity of welded tubular joints decreases with a higher degree of the manufacturing imperfection in individual braces at the tubular joints. Furthermore, the interaction effect of the concurrent axial loading applied at the welded tubular joint on member stress is apparent.

• 콘크리트학회논문집
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• 제18권6호
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• pp.729-736
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• 2006

적절한 내진상세로 설계되지 않은 철근콘크리트 구조물은 보-기둥 접합부내에서 취약한 전단파괴에 노출되고 큰 변형이 일어나, 구조적인 붕괴가 일어날 수 있다. 본 연구는 CFRP로 보강한 철근콘크리트 외부 보-기둥 접합부를 반복 횡력을 적용하여 보강된 보-기둥 접합부의 내진성능을 알아보았다. 보-기둥 접합부의 구조적 성능을 향상시키기 위해 CFRP의 부착 위치나 두께를 달리하여 효과적인 보강방법을 관찰하고자 하였다. 비내진상세로 배근된 실험체 1개와 내진상세로 배근된 실험체 1개 그리고 비내진상세를 가진 실험체를 CFRP로 보강한 실험체 6개, 총 8개의 보-기둥 접합부 실험체에 반복횡력을 가하여 내진보강의 효과를 조사하였다. 반복 횡력을 적용하였다. 본 연구에서는 비내진상세를 가진 콘크리트 보-기둥 접합부에 대한 CFRP의 보강방법은 구조물의 강도와 연성을 증가시켜 구조물의 내진성능을 향상시키는데 효과적임을 보여 주었다.

• 한국구조물진단유지관리공학회 논문집
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• 제18권6호
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• pp.72-81
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• 2014

이 논문은 고강도 콘크리트를 사용한 철근콘크리트 외부 보-기둥 접합부의 실험결과를 보고한 것이다. 실험체의 주요 실험변수는 접합부 파괴모드, 콘크리트 압축강도, 철근의 정착 방법이다. 모든 실험체는 ACI 352R-02 기준에 바탕을 두어 J파괴와 BJ파괴가 되도록 계획하였다. 주철근은 90도 표준갈고리로 하거나 확대머리철근으로 하였다. 실험결과는 콘크리트 압축강도에 제한되는 현행 ACI 설계 기준식이 고강도 콘크리트를 사용한 보-기둥 접합부의 강도를 다소 과소평가하고 있음을 보여준다. 또한 확대머리철근을 가진 J파괴형 보-기둥 접합부의 강도는 표준갈고리를 가진 접합부보다 약 10% 이상 높게 평가되었다.