• 한국구조물진단유지관리공학회 논문집
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• 제7권2호
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• pp.247-261
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• 2003

The technique of posttensioning has been used successfully to improve the performance of existing concrete structures. However, very few applications of this technique can be found in steel structures. Posttensioning by means of high strength cable or bar can be used to effectively increase the working load capacity of Truss Bridges. The benefits of posttensioning trusses can be achieved in strengthening of existing structures as well as in the design of new structures. In this paper, the elastic behavior of posttensioned trusses with straight and draped tendon profiles is examined. For the analysis of posttensioned trusses in the elastic range of behavior, two methods are presented, namely, the flexibility method and the mixed-method, i.e., a combination of the stiffness and flexibility methods. Using the presented methods, the effects of design variables such as the tendon profile, truss type, prestress force, and tendon eccentricity on the working load and deflection of trusses are studied. The results show that the allowable load of truss increases proportionally with increase in prestress force and eccentricity. Posttesioning enlarges the elastic range, increases redundancy, and reduces deflection and member stresses. Thus, the remaining life of a truss bridge can be increased relatively inexpensively.

• 산업경영시스템학회지
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• 제45권3호
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• pp.31-39
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• 2022

The Army, Navy, and Air Force are currently making various efforts to apply defense IoT technology by reflecting the characteristics of each military. However, there are concerns that comprehensive collection, management, and analysis may be limited because each military has no overlapping system or guaranteed interoperability of data, and there are inefficient aspects in terms of using and investing a limited defense budget. In this study, evaluation items and priorities for pilot projects were selected by applying Delphi technique and AHP method to determine which projects are preferentially effective when commonly applied in terms of Army, Navy, and Air force. As a result of the analysis, the project basis and driving force, project feasibility, performance and ripple effect, redundancy and connection were identified in the order of IoT-based small detachment units and unmanned base construction, intelligent smart unit, smart ground ammunition depot, and smart training management system. According to the comprehensive results reflecting the weights of each evaluation item, the fact that small detachment units and unmanned base construction project are recognized as the first project to be applied to the Army, Navy, and Air Force is a valid approach to be effective while each military is burdened with personnel management because of the reduction of manpower. Through the research results, it is expected that the direction of application to the policy of the defense IoT project can be confirmed in terms of efficient use of limited budgets.

• 한국재난정보학회 논문집
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• 제5권2호
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• pp.108-122
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• 2009

Purpose of this research about reduction the scholastic systematic triangular position of the security guard martial art which repeats a development is insufficient with demand of the while society to recognize and for the philosophic value research of security guard martial art composition principle puts out with the one method and from the reporter to search the aesthetics which appears does. In order to attain the goal of the research which sees the literature which relates with an security guard martial art widly, was an investigation and observed the aesthetics from concept and martial art of aesthetics and this the technical free use ability from actual site of the technical find which leads the practice voluntary repetition practice of security guard martial art with character and the body guard aesthetic integral part experience possibly did, there being will be able to acquire an aesthetic inspiration, confirmed. So the security guard martial art follows the composition principle of maximization central attitude and shock point breath control and mental intensive etc. of reinforcement of direction shock of relativity redundancy mental moral culture body agreement characteristic force and relaxation force and is completed and will be able to embody an aesthetic value with aesthetic elements of technical polishing process inside goes about reduction.

• Corrosion Science and Technology
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• 제11권2호
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• pp.48-55
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• 2012

Clamping force of a high strength bolt is reduced by a certain period of time after the initial set-up. In case of special treatments on faying surfaces such as protective coating, clamping force is relaxed more severely. Tests for slip critical joints subject to various faying surface parameters were conducted. Five different surface treatments were tested including mill scale surface, blast surface, rust surface and coated surfaces. Each specimen was composed of F10T M20 of high strength bolts and steel plates. Based on the result of slip coefficient test, blast treatment surface showed 0.59, rust treatment surface showed 0.54 and inorganic zinc treatment surface exhibited 0.44. Clean mill treatment surface and red lead paint treatment surface were 0.23, 0.21 respectively. It is identified that the slip coefficient in Korean structural design guide should be determined for various surface conditions. Subsequently from long term relaxation test of ASTM A 490 high strength bolts, relaxation of no-coated surfaces such as blast, clean mill, rust treatment, the loss of initial clamping load was 10.5%, 13.6% and 7.9% for 1,000 hours, while the loss of initial clamping force was reached as 15.0%, 18.7% more than the required redundancy 10% in case of inorganic zinc and red lead painted treatment. It is required that the limit of relaxation on coated faying surface should be established separately for various surfaces.

• 한국운동역학회지
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• 제30권2호
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• pp.131-144
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• 2020

Objective: The purpose of this study was to examine the effect of degrees of freedom on the multi-synergies in two hierarchies of human hand system during force production and releasing tasks. Method: In this study, the constrained movements of the aiming and releasing actions using both hands and fingers during archery-like shooting were implemented as experimental tasks. The participants produced a pulling force holding the customized frame (mimicking an archery bow, with a set of force transducers) and kept it consistently for about 5 seconds, and released fingers as quickly as possible in a self-paced manner within the next 5 seconds. An analytical method based on the uncontrolled manifold hypothesis was used to quantify the stability index (synergy index) in two hierarchies including two hands (upper hierarchy) and individual fingers (lower hierarchy). Results: The results confirmed that the positive synergy pattern showed simultaneously at the upper and lower hierarchies, and the kinetic degrees of freedom were associated with the increment of hierarchical synergy indices and the performance indices. Also, the synergy indices of both hierarchies showed significant positive correlations with the performance accuracy during the task. Conclusion: The results of this study suggest that the human control system actively uses extra degrees of freedom to stabilize task performance variables. Further increasing the degree of freedom at one level of hierarchy induces positive interactions across hierarchical control levels, which in turn positively affects the accuracy and precision of task performance.

• 전자공학회논문지B
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• 제31B권1호
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• pp.41-48
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• 1994

The conventional resolved motion control is not applicable for the control of robots on the spacecraft on account of the floating base of the robots. When the robots perform the assembly or repair operations, the position and attitude of the base satellite are disturbed by the reaction force/moment caused by the robot motion. This reaction will cause error on the robot. motion. Therefore, we define a new type of Jacobian(Extended Jacobian) to minimize the effects of reaction on the accuracy of the robot performing assembly or repair operations. In this paper, we utilize the redundancy of the closed chain system to minimize the effects of the robot motion on the position and attitude of spacecraft. This will results in the accurate assembly and repair operations by the robot.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2001년도 Proceedings ICPE 01 2001 International Conference on Power Electronics
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• pp.741-745
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• 2001

Reliability and safety of steer-by-wire concepts can be achieved by redundant designs. This paper discusses the design of a fault tolerant concept for a force feedback actuator with a standard three-phase PMSM. In contrast to usual drives, the phases of the machine are separated electrically. This design allows driving the machine with two instead of three phases in case of a fault. A superimposed torque controller adjusts the influence of fault currents and torque harmonics in two-phase operation and guarantees smooth torque at the steering wheel

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.89-94
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• 1994

This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the. proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to tire operational space dynamic formulation which maps tire joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator's configurations. This is done by using the null space dynamics which does not affect the motion of an end-effector. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effectiveness of the algorithm in reducing both the effects of impact and large torque requirements.

• 제어로봇시스템학회논문지
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• 제5권2호
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• pp.208-219
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• 1999

Springs have been employed in a wide range of mechanical systems. This work deals with the concept of an adaptable spring mechanism which can arbitrarily modulate its spring characteristics. The adaptable spring is desired for enhancing performances of various mechanical systems employing springs. We demonstrate that such adaptable springs can be realized by adapting anthropomorphic musculoskeletal structures of the human upper-extremity, which possesses highly nonlinear kinematic-coupling among redundant muscles existing in its structures. This phenomenon has been explained by several human arm models. Based on the analysis results, we propose multi-degree-of-freedom spring mechanisms resembling the musculoskeletal structure of the human upper-extremity, and verifiy the applicability of these mechanisms through simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.456-459
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• 1995

The problem of compliant motion control using a redundant manipulator is addressed in this article. Specifically, a hybrid-control type and impedance-control type controllers are extended to general redundant manipulators based on the kinematically decomposed and geometrically compatible modeling of its joint space. In the case of the hybrid controller, it leads to the linear and decoupled closed-loop dynamics in the three motion spaces, that is the motion-controlled, force-controlled, and the null motion-controlled spaces of the redundant manipulator. When the proposed impedance controller is applied, the decoupled impedance models in three motion spaces are obtained. The superiority of the proposed controllers is verified with the numerical experiments.