• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.4
• /
• pp.345-350
• /
• 2002

In recent years, as changing the habit of eating, the pathology in the colon grows up annually. The colonoscopy is generalized, but if requires much time to acquire a dexterous skill to perform an operation and the procedure is painful to the patient. biomedical and robotic researchers are developing a locomotive colonoscope that can travel safe1y in colon. In this paper, we propose a new actuator and concept of semi-autonomous colonoscope. The micro robot comprises camera and LED for diagnosis, steer- ing system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to pass over haustral folds in colon. For locomotion of semi-autonomous colonoscope, we suggest an actuator that is based on impact force between a cylinder and a piston. In order to validate the concept and the performance of the actuator, we carried out the simulation of moving characteristics and the preliminary experiments in rigid pipes and on the colon of pig.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.15 no.4
• /
• pp.675-691
• /
• 2002

The focus of this work is on the development of large-scale numerical optimization methods for optimal control of steady incompressible Navier-Stokes flows. The control is affected by the suction or injection of fluid on portions of the boundary, and the objective function of fluid on portions of the boundary, and the objective function represents the rate at which energy is dissipated in the fluid. We develop reduced Hessian sequential quadratic programming. Both quasi-Newton and Newton variants are developed and compared to the approach of eliminating the flow equations and variables, which is effectively the generalized reduced gradient method. Optimal control problems we solved for two-dimensional flow around a cylinder. The examples demonstrate at least an order-of-magnitude reduction in time taken, allowing the optimal solution of flow control problems in as little as half an hour on a desktop workstation.

• Journal of the Korea Concrete Institute
• /
• v.23 no.6
• /
• pp.765-772
• /
• 2011

The present study summarizes a series of compressive tests on concrete cylinder in order to examine the stressstrain relationship of alkali-activated (AA) slag concrete. The compressive strength and unit weight of concrete tested ranged from 8.6 MPa to 42.2 MPa and from $2,186kg/m^3$ to $2,343kg/m^3$, respectively. A mathematical equation representing the complete stress-strain curve was developed based on test results recorded from 34 concrete specimens. The modulus of elasticity, strain at peak stress, slopes of ascending and descending branches of stress-strain curves were generalized as a function of compressive strength and unit weight of concrete. The mean and standard deviation of the coefficient of variance between measured and predicted curves were 6.9% and 2.6%, respectively. This indicates that the stress-strain relationship of AA slag concrete is represented properly with more accuracy in the proposed model than in some other available models for ordinary portland cement (OPC) concrete.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.9
• /
• pp.1562-1570
• /
• 2003

The prediction of the inelastic behavior of the structure is an essential part of reliability assessment procedure, because most of the failures are induced by the inelastic deformation, such as creep and plastic deformation. During decades, there has been much progress in understanding of the inelastic behavior of the materials and a lot of inelastic constitutive equations have been developed. The complexity of these constitutive equations generally requires a stable and accurate numerical method. The radial return mapping is one of the most robust integration scheme currently used. Nonlinear kinematic hardening model of Armstrong-Fredrick type has recovery term and the direction of kinematic hardening increment is not parallel to that of plastic strain increment. In this case, The conventional radial return mapping method cannot be applied directly. In this investigation, we expanded the radial return mapping method to consider the nonlinear kinematic hardening model and implemented this integration scheme into ABAQUS by means of UMAT subroutine. The solution of the non-linear system of algebraic equations arising from time discretization with the generalized midpoint rule is determined using Newton method and bisection method. Using dynamic yield condition derived from linearization of flow rule, the integration scheme for elastoplastic and viscoplastic constitutive model was unified. Several numerical examples are considered to demonstrate the efficiency and applicability of the present method.