• Steel and Composite Structures
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• v.32 no.5
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• pp.687-699
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• 2019

In this paper, free and force vibration behaviors of graphene-reinforced composite functionally graded (GRC-FG) cylindrical shells in thermal environments are investigated based on Reddy's third-order shear deformation theory (HSDT). The GRC-FG cylindrical shells are composed of piece-wise pattern graphene-reinforced layers which have different volume fraction. Based on the extended Halpin-Tsai micromechanical model, the effective material properties of the resulting nanocomposites are evaluated. Using the Hamilton's principle and the assumed mode method, the motion equation of the GRC-FG cylindrical shells is formulated. Using the time- and frequency-domain methods, free and force vibration properties of the GRC-FG cylindrical shell are analyzed. Numerical cases are provided to study the effects of distribution of graphene, shell radius-to-thickness ratio and temperature changes on the free and force vibration responses of GRC-FG cylindrical shells.

• Journal of Korean Society of Steel Construction
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• v.25 no.4
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• pp.409-419
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• 2013

A T-stub connection with high-strength bolts under tensile force is affected by prying action force and the contact force, among others, between members. If a design equation that does not consider such prying action force and contact force between members is not proposed, the T-stub under tensile force is liable to be fractured under the strength lower than the estimated design strength. To prevent it, many studies have proposed contact force estimation equations between members as well as the prying action force of the T-stub connection with high-strength bolts. However, no design equations based on such research have been proposed in South Korea. Therefore, this study aims to propose an estimation model for more accurate prying action force and contact force, and improve on previously proposed estimation models by implementing the three-dimensional, nonlinear finite element analysis. Throughout the results of three-dimensional, nonlinear finite element analysis, the prediction model proposed in this research for the prying action force and contact force of a T-stub provided much more accurate estimation than that of a existing prediction model previously suggested.

• Advances in Computational Design
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• v.2 no.1
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• pp.15-28
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• 2017

One of the major developments in seismic design over the past few decades is the increased emphasis for limit states design now generally termed as Performance Based Engineering. Performance Based Seismic Design (PBSD) uses Displacement Based Design (DBD) methodology wherein structures are designed for a target level of displacement rather than Force Based Design (FBD) methodology where force or strength aspect is being used. Indian codes still follow FBD methodology compared to other modern codes like CalTrans, which follow DBD methodology. Hence in the present study, a detailed review of the two most common design methodologies i.e., FBD and DBD is presented. A critical evaluation of both these methodologies by comparing the seismic performance of bridge models designed using them highlight the importance of adopting DBD techniques in Indian Standards also. The inherent discrepancy associated with FBD in achieving 'seismic regularity' is highlighted by assessing the seismic performance of bridges with varied relative height ratios. The study also encompasses a brief comparison of the seismic design and detailing provisions of IRC 112 (2011), IRC 21 (2000), AASHTO LRFD (2012) and CalTrans (2013) to evaluate the discrepancies on the same in the Indian Standards. Based on the seismic performance evaluation and literature review a need for increasing the minimum longitudinal reinforcement percentage stipulated by IRC 112 (2011) for bridge columns is found necessary.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.81-82
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• 2012

• Structural Monitoring and Maintenance
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• v.4 no.2
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• pp.153-173
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• 2017

An improved method is presented to estimate the axial force of a bar member with vibrational measurements based on modified Timoshenko beam theory. Bending stiffness effects, rotational inertia, shear deformation, rotational inertia caused by shear deformation are all taken into account. Axial forces are estimated with certain natural frequency and corresponding mode shape, which are acquired from dynamic tests with five accelerometers. In the paper, modified Timoshenko beam theory is first presented with the inclusion of axial force and rotational inertia effects. Consistent mass and stiffness matrices for the modified Timoshenko beam theory are derived and then used in finite element simulations to investigate force identification accuracy under different boundary conditions and the influence of critical axial force ratio. The deformation coefficient which accounts for rotational inertia effects of the shearing deformation is discussed, and the relationship between the changing wave speed and the frequency is comprehensively examined to improve accuracy of the deformation coefficient. Finally, dynamic tests are conducted in our laboratory to identify progressive axial forces of a steel plate and a truss structure respectively. And the axial forces identified by the proposed method are in good agreement with the forces measured by FBG sensors and strain gauges. A significant advantage of this axial force identification method is that no assumption on boundary conditions is needed and excellent force identification accuracy can be achieved.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.840-845
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• 2010

This paper proposes the method indirectly measuring the operating force of the end-effect tip of surgical robot instrument which conducts the surgical operation in the body on behalf of the surgeon's hand. Due to the size and safety obligation to the surgical robot instrument, it is difficult to measure the operation force of its tip like grasping force. However the instrument is driven by cable-pulley torque transmission mechanism and when some force is occurred at the tip, then the reaction force appears on the cable as additional tension. Based on this phenomenon, this paper proposes a method to estimate the operating force from measuring reaction force against the driving motor by using a loadcell. And it induces mathematical equation to calculate the force from loadcell by approaching the modulus of elasticity to high order polynomial. And this paper proves the validity of proposed mechanism by experimental test.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.357-360
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• 1997

Abstract: In teleoperation field robotic system such as hydraulically actuated robotic excavator, the maneuverability and convenience is the most important part in the operation of robotic excavator. Particularly the force information is important in dealing with digging and leveling operation in the teleoperated excavator. Excavators are also subject to a wide variation of soil-tool interaction forces. This paper presents a new force reflecting joystick in a velocity-force type bilateral teleoperation system. The master system is electrical joystick and the slave system IS hydraulically actuated cylinder with linear position sensor. Particularly Pneumatic motor is used newly in the master joystick for force reflection and the information of the pressure of salve cylinder is measured and utilized as the force feedback signal. Also force-reflection gain greatly affects the excavation performance of a hydraulically actuated robotic system and it is very difficult to determine it appropriately since slave excavator contacts with various environments such as from soft soil to rock. To overcome this, this paper proposes a force-reflection gain selecting algorithm based on artificial neural network and fuzzy logic.

• Structural Engineering and Mechanics
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• v.65 no.3
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• pp.263-274
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• 2018

In this study, we propose a frequency domain spectral element method (SEM) for the vibration analysis of a multi-span beam subjected to a moving point force. This study is an extension of the authors' previous study for a single-span beam subjected to a moving point force, where the two-element model-based SEM was applied. In this study, each span of a multi-span beam is represented by the Timoshenko beam model and the moving point force is transformed into the frequency domain as a series of each stationary point force distributed on the multi-span beam. The span at which a stationary point force is located is represented by two-element model, but all other spans are represented by one-element models. The vibration responses to a moving point force are obtained by superposing all individual vibration responses generated by each stationary point force. The high accuracy and computational efficiency of the proposed SEM are verified by comparing the solutions by SEM with exact analytical solutions by the integral transform method (ITM) as well as the solutions by the finite element method (FEM).

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• Journal of Electrical Engineering and information Science
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• v.2 no.4
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• pp.66-71
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• 1997

The dielectrophoretic(DEP) force acting on a cell in an electric field is experimentally determined. A cell is accelerated by the DEP force in an electric field generated between micro planar electrodes. the position of the cell is measured and the velocity and acceleration of the cell are calculated based on the measured position data. The DE force is determined from the motion equation of a moving cell in suspension. The electrode structure is fabricated by micromachining technology and the height of electrodes is 1 $\mu\textrm{m}$. Radish cell and yeast are used in th experiments. In the case of radish cell, the DEP force increases as voltage or frequency(1MHz∼3MHz) increases. The voltage dependence can be explained that the DEP force increases when ▽│E│$^2$increases. The frequency dependence means that Re[x\ulcorner] of radish cell is maximized in a certain frequency. In the case of yeast, the DEP force increases only as voltage increases. The reason for the voltage dependence is the same with the case of radish. The DEP force increases only as voltage increases. The reason for the voltage dependence is the same with the case of radish. The DEP force on a yeast does not vary when the frequency varies from 1MHz to 3MHz. This result coincides with the fact that the value of calculated Re[x\ulcorner] is constant in the test frequency range.