• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.131-138
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• 2019

In this study, we developed an FSEA(Force-sensing Series Elastic Actuator) composed of a spring and an actuator has been developed to compensate for external disturbance forced. The FSEA has a simple structure in which the spring and the actuator are connected in series, and the external force can be easily measured through the displacement of the spring. And the characteristic of the spring absorbs the shock to the small disturbance and increases the sense of stability. It is designed and constructed to control the stiffness of such springs more flexibly according to the situation. The conventional FSEA uses a fixed stiffness spring and the actuator is not compensated properly when it receives large or small external force. Through this experiment, it is confirmed that FSEA compensates the external force through the proposed algorithm that the variable stiffness compensates well for large and small external forces.

• Structural Engineering and Mechanics
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• v.83 no.6
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• pp.745-756
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• 2022

This study aims to determine the cause of the load resistance loss in storage racks that can be attributed to external forces such as earthquakes and to improve safety by developing reinforcement systems that can prevent load resistance loss. To this end, a static cyclic loading test was performed on pallet racks commonly used in logistics warehouses. The test results indicated that a pallet rack exposed to an external force loses more than 50% of its load resistance owing to the damage caused to column-beam joints. Three reinforcement systems were developed for preventing load resistance loss in storage racks exposed to an external force and for performing differentiated target functions: column reinforcement device, seismic damper, and viscoelastic damper. Shake table testing was performed to evaluate the earthquake response and verify the performance of these reinforcement systems. The results confirmed that, the maximum displacement, which causes the loss of load resistance and the permanent deformation of racks under external force, is reduced using the developed reinforcement devices. Thus, the appropriate selection of the developed reinforcement devices by users can help secure the safety of the storage racks.

• Tribology and Lubricants
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• v.37 no.4
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• pp.136-143
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• 2021

This paper presents the loosening behavior that occurs after the application of an external load to internal and external connection types of dental implants using the finite element method. We use fastening force between an abutment and a fixture to clamp the dental implant system; however, loosening and breakage may occur owing to cyclic external loads. In this study, we considered the initial fastening condition in the pre-load analysis and then investigated the change in stress and contact surface status when applying external loads. After the application of the initial fastening load, we verified that the internal connection-type model exhibited a relatively lower stress distribution than that of the external connection-type one. Moreover, we found that the former model showed a lower stress concentration after the application of the external load. In addition, after the application of this load, we found that the higher the shear load acting on the implant system, the higher the possibility of loosening. The study results showed the change in stress distribution and contact surface according to the connection type of the dental implants and the phenomenon of loosening by cyclic loads. We expect that the results of this study will be useful for the study of reliability and design of dental implant systems.

• Journal of the Korea institute for structural maintenance and inspection
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• v.11 no.5
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• pp.123-134
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• 2007

A method to determine the initial force of external tendon is proposed to improve the load carrying capacity in existing steel-concrete composite bridges. This method is applied to tensioning external tendons prior to and after concrete replacement for strengthening composite girders. A procedure to determine the number of tendon and initial tendon force is described with the proposed rating factor, which considers the increment of tendon force due to live loads. The method is applied to the improvement of rating factor in an existing composite bridge and its validity is confirmed.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.9
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• pp.1-12
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• 1996

In this paper, we propose an adaptive gait by which a quadruped walking robot can walk against external disturbances. This adaptive gait mechanism makes it possible for a quadruped walking robot to change its gait and accommodate external disturbances form various external environmental factors. Under the assumption that external disturbances can be converted to an external force acting on the body of a quadruped walking robot, we propose a new criterion for the stability margin of a waling robot by using an effective mass center based on the zero moment point under unknown external force. And for a solution of an adaptive gait against external disturbances, an method of altitude control and reflexive direction control is suggested. An algorithmic search method for an optimal stride of the quadruped mehtod, the gait stability margin of a quadruped walking robot is optimized in changing its direction at any instance for and after the reflexive direction control. To verify the efficiency of the proposed approach, some simulaton results are provided.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2014.06a
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• pp.253-254
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• 2014

In offshore, various external forces such as wind force, wave force and impulsive breaking wave force act on offshore structures. Many researches about this forces are published. Kim and Cao(2008) published researche on wave force of vertical cylinder. Kim and Go(2013) performed research on the subgrade reaction by external forces. Among this forces, impulsive breaking force is more massive than other forces, especially. Therefore, the studies about impulsive breaking wave forces have been carried out. Chun and Shim(1999) analyzed dynamic behavior of cylindrical pile subjected to impulsive breaking wave force. In this study, when the impulsive breaking wave force acts on the offshore wind turbine, the subgrade reaction acting on the mono-pile of the offshore wind turbine is calculated by p-y curve. The calculation is carried out to the multi-layered.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.3
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• pp.303-314
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• 2010

A study for the nonlinear analysis method of prestressed concrete(PSC) girders with external tendons is presented. The PSC girders with external tendons show the complex nonlinear behavior due to the slip of external tendons at deviator and the change of eccentricity between the girders and external tendons. The external tendon between anchorage-deviator or deviator-deviator is modeled as an assemblage of the curved elements. The slip effect of the external tendon at deviator is taken into account using the force equilibrium relationship between the friction force and the driving force at each deviator. The finite element model and analysis method of the external tendon suggested herein are integrated in the nonlinear analysis program of segmentally erected PSC frames developed by the authors. The proposed analysis method is verified through the comparison of the analysis and experimental results obtained from other investigators. From the ultimate analysis results of PSC beams with external tendons having different number of deviators, the yielding and ultimate loads of PSC beams found to be increased as the number of deviators are increased. In addition, the ultimate capacity of the PSC beam increases according to the increase of friction coefficient between deviator and external tendon, whereas found to decease over the certain value of friction due to the effect of the moment transmitted to the member by the friction force exerted from the external tendon.

• Journal of Korean Society of Steel Construction
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• v.17 no.5 s.78
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• pp.527-536
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• 2005

A method of reinforcement using external tendons has been found to be one of the effective techniques of reinforcement and its application is increasing. In this paper, the method to calculate the initial tendon force is proposed for the improvement of load-carrying capacity in existing steel-concrete composite bridges. An equation for the increment of tendon force was derived for tendon configurations and live load types, and the effect of reinforcement in a composite beam was numerically studied. The method to calculate the number of tendon and initial tendon force was presented by proposing the new method to calculate the rating factor, which considers the increment of tendon force. The method was shown to be effective for an existing steel-concrete bridge.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.311-316
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• 2004

In order to secure the traffic safety especially in the entrance waterway of harbour, it is important that the breakwater and the port facilities should be designed properly considering ship-handling difficulty and traffic flow. In this study, the lateral force acting on ship hull under the external force(wind, current, wave) is investigated quantitatively for the container ship approaching to the Busan and Gamcheon breakwater. The relation of ship-handling difficulty to the breakwater and the arrangement of ship's routine are examined based on the lateral force under the external force. Some of reviews to secure traffic safety on the design of breakwater are discussed.

• Journal of the Korea institute for structural maintenance and inspection
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• v.7 no.1
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• pp.227-238
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• 2003

Due to deterioration of bridge, usually be using the external prestressing method among repair reinforcement method. But, there is much to be desired about a detailed account, almost it has analysed by cambers of girders, deflections of middle span and upper, bottom stresses of girders. Also, it is not examined closely that effect of internal prestress by external prestressing. The purpose of this study is confirmed the effect of internal tendons by external prestressing, estimation of additional external prestressing force and look for exact external prestressing force.