• Journal of the Korea Computer Graphics Society
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• v.1 no.2
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• Proceedings of the Korean Geotechical Society Conference
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• 2000.11a
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• pp.245-252
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• 2000

Model tests on free standing pile groups and piled footings with varying a pile spacing in two layered soils are carried out. The influence of pile cap on the behaviors of end bearing pile groups is analyzed by comparing the bearing behavior in piled footings with those in a single pile, a shallow footing(cap alone) and free standing pile groups. From the test results, it is found that the bearing characteristics of cap-soil-pile system are related with load levels and pile spacings. Before yield, the bearing resistance by cap is not fully mobilized, however, as the applied load increases, the bearing resistance of cap approaches to that of cap alone and settlement hardening occurs after yield due to the compaction caused by the contact pressure between cap and soil. By the cap-soil-pile interaction, shaft friction and point resistance of piles considerably increase with dependency of pile spacings. In two layered soil, the increasing effect of dilatancy in dense sandy soil adjacent to pile tips, increases the point resistance of pile.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.1083-1087
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• 1997

End milling is available for machining the variable shape of products and has brrn widely applied in many Manufacturing industries. The surface finish of machined parts determines quality and functionality of products. Surface roughness causes friction,noise,fracture, glossiness and seizure, so many research had been performed to precisely. In particular an experimental analysis was carried out to investigate the influence ofsurface roughness on the fractal dimension. This parameter was assumed to contain not only information of roughness but also extra meaning. Experiments which were performed under various cutting conditions to compare fractal dimension with surface roughness R /sab a/ show fractal dimension to be useful parameter for determining of roughness.

• Nuclear Engineering and Technology
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• v.28 no.3
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• pp.280-289
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• 1996

The pressure drop of twelve fuel bundle string in the CANDU-6 fuel channel is equal to the sum of the eleven junction pressure losses, the bundle string entrance and exit pressure losses, the skin friction pressure loss, and other appendage pressure losses, where the junction loss is dependent on the bundle end faces and angular alignments of the junctions. The results of the single junction pressure drop tests in a short rig show that the most probable pressure drop of the eleven junctions was analytically equal to the eleven times of average pressure drop of all the possible single junction pressure drops, and also that the largest and smallest junction pressure drops across the eleven junctions probably occurred only with BA and BB type junctions, respectively, where A and B denote the bundle end sides with an end-plates on which a company monogram is stamped and unstamped, respectively.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.4
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• pp.181-191
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• 2006

The most common kind of vehicular accident is the low-speed rear-end impact that result in high portion of insurance claims and Whiplash Associated Disorders(WAD). The low-speed collisions have specific characteristics that differ from high speed collisions and must be treated differently This paper presents a simple continuous contact force model for the low-speed rear-end impact to simulate the accelerations, velocities and the contact force as functions of time. A smoothed Coulomb friction force is used to represent the effect of braking, which was found to be significant in simulating low-speed rear end impact. The intervehicular contact force is modeled using nonlinear damping and spring elements with coefficients and exponents. This paper presents how to estimate analytically stiffness and damping coefficients. The exponent of the nonlinear contact force model was determined to match the overall acceleration pulse shape and magnitude. The model can be used to determine ${\Delta}Vs$ and peak accelerations for the purpose of accident reconstruction and for injury biomechanics studies.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.7
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• pp.3502-3507
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• 2013

If a sky-bridge is rigidly connected to adjacent buildings, the irregularity of the connected structures is increased resulting in providing a worse seismic behavior. Therefore, a friction pendulum system (FPS) or lead rubber bearing (LRB) is frequently used for the connection system between a sky-bridge and building structures. These connection systems should be carefully designed to prevent a skyfall of a sky-bridge subjected to severe seismic loads. In this paper, the inevitable structural design procedures for a sky-bridge connection system using a friction pendulum system without uplift resistance capacity have been investigated. To this end, Nuri Dream Square building structure is used as a example structure. The structural design process of a friction pendulum system for fail safe of a sky-bridge has been proposed in this paper by evaluating structural responses of the sky-bridge and building structures subjected to earthquake loads.

• Journal of the Korean Geotechnical Society
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• v.21 no.1
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• pp.93-103
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• 2005

Both static pile load test with load transfer measuring system and the pile dynamic load test are performed to estimate the skin friction and behavior characteristics of a large drilled shaft. And the numerical modeling of large drilled shaft is performed by applying the FDM program. Since the magnitude of friction resistance depends on the relative displacement between soil and shaft, load and displacement at the arbitrary depth along the large drilled shaft are estimated to analyze the correlation. According to the measuring results of load transfer, unit skin friction along the large drilled shaft was fully mobilized at gravel layer in the middle of shaft and the frictional resistance transmitted to bedrock was relatively small. Also, even for the same drilled shaft, the results of PDA and static load test are different with each other and the difference is discussed.

• Earthquakes and Structures
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• v.7 no.4
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• pp.511-525
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• 2014

The main object of this study is to determine and compare the structural behavior of base isolated long span highway bridge, $G\ddot{u}lburnu$ Highway Bridge, using single concave friction pendulum (SCFP) and triple concave friction pendulum (TCFP). The bridge is seismically isolated in the design phase to increase the main period and reduce the horizontal forces with moments using SCFP bearings. In the content of the paper, firstly three dimensional finite element model (FEM) of the bridge is constituted using project drawings by SAP2000 software. The dynamic characteristics such as natural frequencies and periods, and the structural response such as displacements, axial forces, shear forces and torsional moments are attained from the modal and dynamic analyses. After, FEM of the bridge is updated using TCFP and the analyses are performed. At the end of the study, the dynamic characteristics and internal forces are compared with each other to extract the TCFP effect. To emphasize the base isolation effect, the non-isolated structural analysis results are added to graphics. The predominant frequencies of bridge non-isolated, isolated with SCFP and isolated with TCFP conditions decreased from 0.849Hz to 0.497Hz and 0.338Hz, respectively. The maximum vertical displacements are obtained as 57cm, 54cm and 44cm for non-isolated, isolated with SCFP and isolated with TCFP conditions, respectively. The maximum vertical displacement reduction between isolated with TCFP bearing and isolated with SCFP bearing bridge is %23. Maximum axial forces are obtained as 60619kN, 18728kN and 7382kN, maximum shear forces are obtained as 23408kN, 17913kN and 16249kN and maximum torsional moments are obtained as 24020kNm, 7619kNm and 3840kNm for non-isolated, isolated with SCFP and isolated with TCFP conditions, respectively.

• Tribology and Lubricants
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• v.23 no.5
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• pp.201-206
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• 2007

The bent-axis type piston pump which is driven by the piston rod works on the way that the piston rod drives the cylinder block, so the taper angle of the piston rod and the swivel angle between the cylinder block and the shaft are very important design factors. If the above factors cannot satisfy the conditions of optimum design, the friction loss between the cylinder bore and the piston increases, and the pump can even fail to work under conditions of severe friction and wear. Since the piston reciprocates in the cylinder bore with high velocity, and at the same time it rotates on its own axis and revolves on the center of the cylinder block, the decrease of the volume efficiency generated on account of the leakage between the cylinder bore and the piston. Therefore, to prevent this case, the piston ring is designed at the end of the piston, and the friction characteristics between the piston ring and the cylinder bore are in need of research due to its great influence on the performance of piston pump. Thus, in this paper, the elastic hydraulic oil's lubrication analyses of the film thickness, the pressure distribution, and the friction force, and so on, have been performed, and the lubrication characteristics between the piston ring and the cylinder bore are explored by the results of the numerical analysis, and it is contributed to realize the higher efficiency and the more advanced performance of the bent-axis type piston pump.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.3
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• pp.39-46
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• 2011

The automotive air conditioning hose is used for connecting the components of air conditioner in a vehicle. The hose is usually manufactured by the swaging process to connect the rubber hose with the metal fitting at the end of the hose. In case that the clamping force is small, the refrigerant gas in the hose can leak locally under the severe operating circumstances. The practical test of clamping force is performed by means of the measurement of separation force. In this study, the swaging process of a hose is simulated with the finite element method, to investigate the effect of friction coefficient on the clamping force. The contact condition is used in consideration of real manufacturing process, and the material properties for the Mooney-Rivlin model is obtained by the experimental results. The result interpretations are focused on the contact forces, which is displayed graphically with respect to friction coefficient, on the surfaces between the hose and the metal fittings.