• 대한기계학회논문집A
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• 제32권10호
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• pp.882-889
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• 2008

A humanoid is a robot with its overall appearance based on that of the human body. When the humanoid moves or walks, dynamic forces act on the body structure. Although the humanoid keeps the balance by using a precise control, the dynamic forces generate unexpected deformation or vibration and cause difficulties on the control. Generally, the structure of the humanoid is designed by the designer's experience and intuition. Then the structure can be excessively heavy or fragile. A humanoid design scenario for a systematic design is proposed to reduce the weight of the structure while sufficient strength is kept. Lower parts of the humanoid are selected to apply the proposed design scenario. Multi-body dynamics is employed to calculate the external dynamic forces on the parts and structural optimization is carried out to design the lower parts. Because structural optimization using dynamic forces directly is fairly difficult, linear dynamic response structural optimization using equivalent static loads is utilized. Topology and shape optimizations are adopted for two steps of initial and detailed designs, respectively. Various commercial software systems are used for analysis and optimization. Improved designs are obtained and the design results are discussed.

• International Journal of Precision Engineering and Manufacturing
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• 제8권4호
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• pp.56-62
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• 2007

An analytical method to predict the post-weld deformation at the heat-affected zone (HAZ) is presented in this paper. The method was based on the assumption that the post-weld deformation is caused by external forces resulting from the inherent strain, which is defined as the irrecoverable strain after removing structural restraints and loadings. In general, the equivalent loading method can be used to analyze distortions in welding areas because it is efficient and effective. However, if additional loads are applied after welding, it is difficult to determine the final strain on a welded structure. To determine the final strain of a welded structure at the HAZ more accurately, we developed a modified equivalent loading method based on the inherent strain that incorporated hardening effects. The proposed method was applied to calculate the residual stress at the HAZ. Experiments were also conducted on welded plates to evaluate the validity of the proposed method.

• 한국자동차공학회논문집
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• 제2권1호
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• pp.116-127
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• 1994

A method using the linear matrix algebra is developed in order to determine unknown external forces in linear structural analyses. The method defines a matrix which represents the linearity of the vibrational analysis for a structural system. The unknown external forces are determined by the operations of the matrix. The method is applied to find an engine motion in an automobile system. For a simulation process, an exhaust system is modeled and analyzed by the finite element method. The validity of the simulation is verified by comparing with the experimental results the free vibration. Also, an experiment on the forced vibration is performed to determine the damping ratio of the exhaust sysetm. Estimated model parameters(natural frequency, mode shape) are in accord with the experimental results. Because the method merely repeats the transpose and inverse operations of a matrix, the solution is extremely easy and simple. Moreover, it is more accurate than the existing methods in that there is no artificial assumptions in the calculation processes. Therefore, the method is found to be reliable for the analysis of the exhaust system considering the characteristics of vibrations. Although the suggested method is tested by only the exhaust system here, it can be applied to general structures.

• Structural Engineering and Mechanics
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• 제63권1호
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• pp.23-35
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• 2017

A nonlinear static procedure considering work-energy principle and global failure mechanism to estimate base shears of reinforced concrete (RC) frame-type structures is presented. The relative energy equation comprising of elastic vibrational energy, plastic strain energy and seismic input energy is obtained. The input energy is modified with a factor depending on damping ratio and ductility, and the energy that contributes to damage is obtained. The plastic energy is decreased with a factor to consider the reduced hysteretic behavior of RC members. Given the pre-selected failure mechanism, the modified energy balance equality is written using various approximations for modification factors of input energy and plastic energy in scientific literature. External work done by the design lateral forces distributed to story levels in accordance with Turkish Seismic Design Code is calculated considering the target plastic drift. Equating the plastic energy obtained from energy balance to external work done by the equivalent inertia forces considering, a total of 16 energy-based base shears for each frame are derived considering different combinations of modification factors. Ductility related parameters of modification factors are determined from pushover analysis. Relative input energy of multi degree of freedom (MDOF) system is approximated by using the modal-energy-decomposition approach. Energy-based design base shears are compared with those obtained from nonlinear time history (NLTH) analysis using recorded accelerograms. It is found that some of the energy-based base shears are in reasonable agreement with the mean base shear obtained from NLTH analysis.

• 소성∙가공
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• 제27권5호
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• pp.289-295
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• 2018

The profile ring rolling process can realize various ring shapes unlike conventional rectangular cross-sectional ring products. In this paper, the defective groove in the bottom surface of L-shaped ring products was analyzed. Grooves are generated by non-uniform external forces due to profile main roll and initial blank shape. Process parameters such as the motion of dies and working temperature were determined. Mechanism of groove formation was analyzed by FE simulation on the basis of local external forces acting on the blank. Analysis results were similar to the groove actually occurring in the production line. Based on results of the analysis, two solutions were proposed for the groove. The position of the base plate supporting the blank was adjusted and edge length of the main roll was extended to suppress growth of grooves. It has been verified that groove was improved by applying two proposed methods in the shop-floor.

• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.1029-1038
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• 2009

This paper proposes a gain switching algorithm for joint position control of a hydraulic humanoid robot. Accurate position control of the lower body is one of the basic requirements for robust balance and walking control. Joint position control is more difficult for hydraulic robots than it is for electric robots because of an absence of reduction gear and better back-drivability of hydraulic joints. Backdrivability causes external forces and torques to have a large effect on the position of the joints. External ground reaction forces therefore prevent a simple proportional-derivative (PD) controller from realizing accurate and fast joint position control. We propose a state feedback controller for joint position control of the lower body, define three modes of state feedback gains, and switch the gains according to the Zero Moment Point (ZMP) and linear interpolation. Dynamic equations of hydraulic actuators were experimentally derived and applied to a robot simulator. Finally, the performance of the algorithm is evaluated with dynamic simulations.

• The Journal of Korean Physical Therapy
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• 제24권3호
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• pp.171-180
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• 2012

Purpose: The purpose of this study was to investigate the clinical decision making (CDM) development process throughout the comparison between novice and expert physical therapist as well as develop a CDM model for physical therapists under the fee-for-service (FFS) and physicians' prescriptions. Methods: Purposive sampling techniques were used to select 10 clinical physical therapists paired into five groups (each pair consisted of 1 novice and 1 expert physical therapist). The coding schemes were extracted from interviews and through within- and across-case analyses, cases were summarized. The reliability of coding schemes was confirmed by checking of case summaries by the participants. Results: Novice and expert physical therapists were influenced by two themes, internalized theme and external forces or information. Novice clinicians depended more on external forces or information. Although clinicians should care patients under the FFS and physician's prescription, expert clinicians were more likely to rely on internalized knowledge. Conclusion: The findings of the present study may be used by educators or association officials enhance CDM abilities and knowledge pools of student or novices as well as develop a guide to suitable novices or students under the specific context limiting the development of their CDM.

• Journal of Welding and Joining
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• 제19권3호
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• pp.285-291
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• 2001

Large steel water pipes are joined prevalently by the bell end method, and are welded both at inside and outside of lapped parts. In practice, welded joints of water pipes are very critical, because in most cases failure of pipes causing leakage occurs at the welded joint. Therefore some methods have been developed to ensure the soundness of welded joints of water pipes, like leakage tests and nondestructive tests (NDTs). But one of the major characteristics that affects the soundness of welded Joints is the stress distribution caused by welding and external forces. Some studies have been carried out on the residual stress of steel water popes, but complex stress distributions by welding and external forces are rarely studied. In this study, temperature and stress distributions in steel water pipes produced by welding are predicted by a three-dimensional finite element method(FEM). Also, stress values are measured from real steel water pipes by the hole-drilling methods, and compared with predicted ones. The influence of some typical post weld treatments on residual stress distribution was also investigated by residual stress measurements.

• 대한조선학회논문집
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• 제44권6호
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• pp.666-674
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• 2007

It is very important to estimate static squeezing pressure distributions for lining material of sterntube after bearing at dry dock stage since the maximum squeezing pressure value can be one of the significant characteristics representing coming navigation performances of the propulsion system. Moderate oil film pressure between lining material and propulsion shaft is also essential for safe ship service. In this paper, Hertz contact theory is explained to derive static squeezing pressure. Reynolds equation simplified from Navier-Stokes equation is centrally differentiated to numerically obtain dynamic oil film pressures. New shaft alignment technology of nonlinear elastic multi-support bearing elements is also used in order to obtain external forces acting on lining material of bearing. For 300K DWT class VLCC with synthetic bush of sterntube after bearing, static squeezing pressures are calculated using derived external forces and Hertz contact theory. Optimum partial slope of the after bush is presented by parametric shaft alignment analyses. Dynamic oil film pressures are comparatively evaluated for partially bored and unbored after bush. Finally it is proved that the partial slope can drastically reduce oil film pressure during engine running.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2001년도 춘계학술대회 논문집
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• pp.254-259
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• 2001

There are advantages in the installation of dual subsea pipelines over two separate single lines. In many case it can reduce the cost for trench, back-filling and installation. However the installation of dual pipelines often requires technical challenges. Dual Pipelines should be placed to be stable to external loading not only during the installation but also in the design life. Dual pipelines in trench can reduce the influence of external forces. To investigate applied forces as slope changes, number of experiments are conducted with PIV (Particle Image Velocimetry) in a circulating water channel. Numerical approaches are also made to compare with experimental results. The velocity fields around dual pipelines in trench are investigated and analysed. Comparison of both results show similar pattern of flow around dual pipelines. it is proved that the trench slope affects the pipeline stability significantly. The results can be applied in the stability design of dual pipelines in trench section. The complex flow patterns can be referenced effectively linked in the understanding of fluid around circular bodies in trench.