• 한국정밀공학회지
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• 제26권5호
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• pp.96-103
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• 2009

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

• 한국정밀공학회지
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• 제25권7호
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• pp.79-86
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• 2008

This paper describes the development of wearing intelligent shoe system to measure applied forces and moments (ground reaction forces and moments) on the soles of feet during human walking. In order to walk safely, robot must get the intelligent feet with 6-axis force/moment sensors (Fx sensor (x-direction force sensor), Fy sensor, Fz sensor, Mx sensor (Mx : x-direction moment sensor), My sensor, and Mz sensor) and detect the forces and moments data from the sensors. And the feet must be controlled with the data and controllers. While a human is walking, the forces and moments should be measured and analyzed for robot's intelligent feet. Therefore, the wearing intelligent shoe system should be developed. In this paper, four 6-axis farce/moment sensors and two high speed measuring devices were designed and fabricated, and the wearing intelligent shoe system was made using these. The characteristic tests of the wearing intelligent shoe system were performed, and the forces and moments were detected using it.

• 전산구조공학
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• 제5권4호
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• pp.113-124
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• 1992

토목구조물 설계에 있어서 가장 보편적으로 사용되고 있는 도로교에 대한 하중계수에 기초한 최적신뢰성해석모델을 제안하고, 또 총기대비용 최소화원칙에 기인한 최적하중-저항계수 및 최적 공칭안전율에 대한 이론적 근거를 제시하는 것이 본 연구의 주요내용이다. MFOSM과 AFOSM을 포함하는 주요 2차 모멘트신뢰성 이론을 비교분석함으로써 AFOSM의 근사식과 대수정규포근사식을 본 연구에서 제안하는 최적신뢰성 및 설계규준의 유도에 사용함이 적절하다는 것을 알 수 있었다.

• Structural Engineering and Mechanics
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• 제23권6호
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• pp.599-613
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• 2006

A method for the dynamical analysis of FE discretized uncertain linear and nonlinear structures is presented. This method is based on the moment equation approach, for which the differential equations governing the response first and second-order statistical moments must be solved. It is shown that they require the cross-moments between the response and the random variables characterizing the structural uncertainties, whose governing equations determine an infinite hierarchy. As a consequence, a closure scheme must be applied even if the structure is linear. In this sense the proposed approach is approximated even for the linear system. For nonlinear systems the closure schemes are also necessary in order to treat the nonlinearities. The complete set of equations obtained by this procedure is shown to be linear if the structure is linear. The application of this procedure to some simple examples has shown its high level of accuracy, if compared with other classical approaches, such as the perturbation method, even for low levels of closures.

• 대한전자공학회논문지
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• 제24권6호
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• pp.948-955
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• 1987

The model reduction method of the high order linear time invariant systems is proposed. The continuous fraction expansion of Auxiliary denominator polynomial is used to obtain denominator polynomial of the reduced order model, and the numerator polynomial of the reduced order model is obtained by equating the first some moments of the original and the reduced order model, using simplified moment function. This methiod does not require the calculation of the reciprocal transformation which should be calculated in Routh approximation, furthemore the stability of the reduced order model is guaranted if original system is stable. Responses of this method showed us good characteristics.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2011년 춘계학술대회논문집
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• pp.414-419
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• 2011

Missile am fighter aircraft have been challenged by low restoring nose-down pitching moment at high angle of attach. The consequence of weak nose-down pitching moment can be resulting in a deep stall condition. Especially, the pressure oscillation has a huge effect on noise generation, structure damage, aerodynamic performance and safety, because the flow has strong unsteadiness at high angle of attack. In this paper, the unsteady aerodynamics coefficients were analyzed at high angle of attack up to 60 degrees around two dimensional NACA0012 airfoil. The two dimensional unsteady compressible Navier-Stokes equation with a LES turbulent model was calculated by OHOC (Optimized High-Order Compact) scheme. The flow conditions are Mach number of 0.3 and Reynolds number of $10^5$. The lift, drag, pressure distribution, etc. are analyzed according to the angle of attack. The results at a low angle of attack are compared with other results before a stall condition. From a certain high angle of attack, the strong vortex formed by the leading edge are flowing downstream as like Karman vortex around a circular cylinder. Unsteady velocity field, periodic vortex shedding, the unsteady pressure distribution on the airfoil surface, and the acoustic fields are analyzed. The effects of these unsteady characteristics in the aerodynamic coefficients are analyzed.

• 한국전산유체공학회지
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• 제18권1호
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• pp.1-6
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• 2013

Missile and fighter aircraft have been challenged by low restoring nose-down pitching moment at high angle of attach. The consequence of weak nose-down pitching moment can be resulting in a deep stall condition. Especially, the pressure oscillation has a huge effect on noise generation, structure damage, aerodynamic performance and safety, because the flow has strong unsteadiness at high angle of attack. In this paper, the unsteady aerodynamics coefficients were analyzed at high angle of attack up to 50 degrees around two dimensional NACA0012 airfoil. The two dimensional unsteady compressible Navier-Stokes equation with a LES turbulent model was calculated by OHOC (Optimized High-Order Compact) scheme. The flow conditions are Mach number of 0.3 and Reynolds number of $10^5$. The lift, drag, pressure, entropy distribution, etc. are analyzed according to the angle of attack. The results of average lift coefficients are compared with other results according to the angle of attack. From a certain high angle of attack, the strong vortex formed by the leading edge are flowing downstream as like Karman vortex around a circular cylinder. The primary and secondary oscillating frequencies are analyzed by the effects of these unsteady aerodynamic characteristics.

• 대한건축학회논문집:구조계
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• 제35권4호
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• pp.135-146
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• 2019

Deep beam has high section modules compared with shallow beam of the same weight. However, deep beam has low rotational capacity and high possibility of brittle failure so it is not possible to apply deep beams with a long span to intermediate moment frames, which should exhibit a ductility of 0.02rad of a story drift angle of steel moment frames. Accordingly, KBC and AISC limit the beam depth for intermediate and special moment frame to 750mm and 920mm respectively. The purpose of this paper is to improve the seismic performance of intermediate moment frame with 1200mm depth beam. In order to enhance vulnerability of plastic deformation capacity of deeper beam, Multi-Reduced Taper Beam(MRTB) shape that thickness of beam flange is reinforced and at the same time some part of the beam flange width is weakened are proposed. Based on concept of multiple plastic hinge, MRTB is intended to satisfy the rotation requirement for intermediate moment frame by dividing total story drift into each hinge and to prevent the collapse of the main members by inducing local buckling and fracture at the plastic hinge location far away from connection. The seismic performance of MRTB is evaluated by cyclic load test with conventional connections type WUF-W, RBS and Haunch. Some of the proposed MRTB connection satisfies connection requirements for intermediate moment frame and shows improved the seismic performance compared to conventional connections.

• Steel and Composite Structures
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• 제7권2호
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• pp.87-103
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• 2007

This paper presents some of the results from an experimental research project on the behavior of extended end-plate connections subjected to moment conducted at the Structural Laboratory of Jordan University of Science and Technology. Since the connection behavior affects the structural frame response, it must be included in the global analysis and design. In this study, the behavior of six full-scale stiffened and unstiffened cantilever connections of HEA- and IPE-sections has been investigated. Eight high strength bolts were used to connect the extended end-plate to the column flange in each case. Strain gauges were installed inside each of the top six bolts in order to obtain experimentally the actual tension force induced within each bolt. Then the connection behavior is characterized by the tension force in the bolt, extended end-plate behavior, moment-rotation relation, and beam and column strains. Some or all of these characteristics are used by many Standards; therefore, it is essential to predict the global behavior of column-beam connections by their geometrical and mechanical properties. The experimental test results are compared with two theoretical (equal distribution and linear distribution) approaches in order to assess the capabilities and accuracy of the theoretical models. A simple model of the joint is established and the essential parameters to predict its strength and deformational behavior are determined. The equal distribution method reasonably determined the tension forces in the upper two bolts while the linear distribution method underestimated them. The deformation behavior of the tested connections was characterized by separation of the column-flange from the extended end-plate almost down to the level of the upper two bolts of the lower group and below this level the two parts remained in full contact. The neutral axis of the deformed joint is reasonably assumed to pass very close to the line joining the upper two bolts of the lower group. Smooth monotonic moment-rotation relations for the all tested frames were observed.

• Korean Chemical Engineering Research
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• 제54권4호
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• pp.487-493
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• 2016

양이온교환 고성능액체크로마토그래피에서 라이소자임을 분석하고, 실험결과인 크로마토그램을 통해 모멘트 분석을 수행하였다. 용리 인산완충용액은 1.0, 0.75, 0.5 M의 소금을 포함하였다. 실험변수는 유량, 용리 완충용액중 소금 농도, 시료의 농도로 하였다. General rate (GR) model을 도입하여 1차와 2차 모멘트를 해석하였다. 1차 모멘트 해석에서 평형상수 K를 구할 수 있으며, 이는 $L/u_0$ vs. $({\mu}_1-t_0)/(1-{\varepsilon}_e)(1-{\varepsilon}_i)$]를 도식화했을 때의 기울기이다. 2차 모멘트 해석에서 입자내 확산계수는 이론단수 실험자료에서 계산하였다. 모멘트 분석결과를 통해 여러 물질전달 현상이 이론단 상당높이(HETP)에 주는 영향을 알아보기 위해 van Deemter plot을 작성하고, 총괄 이론단 상당높이($H_{total}$)에 기여하는 $H_{ax}$, $H_f$, 그리고 $H_d$를 조사하였다. 그 중 입자내 확산계수를 나타내는 $H_d$가 가장 지배적이었고, 외부 물질전달 계수를 나타내는 $H_f$의 영향이 가장 미미했다.