• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• Journal of the Korean Society of Safety
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• v.12 no.3
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• pp.178-184
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• 1997

Many mathematical techniques have been developed to determine the muscle forces and force distribution in biomechanical human model, because it is so important to understand internal forces resisting external loading. However, a three-dimensional mathematical model of wrist joint, which is essential to develop solid modeling and artificial wrist joint, has not been well developed. This study proposed to define three-dimensional mathematical model of distal radius and ulna of the human wrist and to develop a detailed two-dimensional finite element through comparisons to existing analytical models and experimental tests. This mathematical model were accurately recreated, allowing the internal tendon force as well as force transmission and distribution through the distal radios and ulna during dynamic loadings. The results found in this study indicate and support the findings of other investigator that cyclic loading condition results in higher compression force on distal radius and ulna and may be source of wrist disorder.

• Korean Journal of Applied Biomechanics
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• v.25 no.3
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• pp.257-263
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• 2015

Objective : The purpose of this study was to investigate the effect of genu valgum on the body mass index, movement of lower limb joints, and ground reaction force. Methods : Gait patterns of 30 college students with genu valgum were analyzed and the static Q angle of the femur was measured for selecting genu valgum of the subjects. To analyze the kinetic changes during walking, the six-camera Vicon MX motion analysis system was used. The subjects were asked to walk 12 meters using the more comfortable walking method for walking. After they walked 12 meters more than 10 times, their most natural walking patterns were chosen three times and analyzed. Results : As a result of measuring a relationship between genu valgum and Q-angle, as the Q-angle increases, it showed a genu valgum also increased. Body Mass Index showed a significant difference between the groups was higher in the genu valgum group.(p<.001). The analysis result showed that genu valgum had a significant effect on the internal rotation moment in the hip joint(p<.05). Also, genu valgum had a significant effect on the internal rotation moment of the knee joint(p<.05). The comparative analysis of the Medial-Lateral ground reaction force in the genu valgum group showed a tendency to increase the medial ground reaction force(p<.05). The vertical ground reaction forces of the middle of the stance phase(Fz0) showed a significant increase in genu valgum group(p<.05), in particular the results showed a decrease in the early stance phase(p<.001). Conclusion : In conclusion, the change in body mass is considered to be made by proactive regular exercise for improvement of the genu valgum. In addition, the prevention of the deformation caused by secondary of the genu valgum in this study may be used as an indicator of the position alignment rehabilitation for structural and functional improvements. Applying a therapeutic exercise program for the next lap will require changes in posture alignment.

• Steel and Composite Structures
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• v.44 no.3
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• pp.437-450
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• 2022

When the vertical load-bearing members in high-rise structures fail locally, the beam-column joints play an important role in the redistribution of the internal forces. In this paper, a static laboratory test of three full-scale flush flange beam-reinforced connections with side and cover plates (CP-FBSP connection) with double half-span steel beams and single L-shaped columns composed of concrete-filled steel tubes (L-CFST columns) was conducted. The influence of the side plate width and cover plate thickness on the progressive collapse resistance of the substructure was thoroughly analyzed. The failure mode, vertical force-displacement curves, strain variation, reaction force of the pin support and development of internal force in the section with the assumed plastic hinge were discussed. Then, through the verified finite element model, the corresponding analyses of the thickness and length of the side plates, the connecting length between the steel beam flange and cover plate, and the vertical-force eccentricity were carried out. The results show that the failure of all the specimens occurred through the cracking of the beam flange or the cover plate, and the beam chord rotations measured by the test were all greater than 0.085 rad. Increasing the length, thickness and width of the side plates slightly reduced the progressive collapse resistance of the substructures. The vertical-force eccentricity along the beam length reduced the progressive collapse resistance of the substructure. An increase in the connecting length between the beam flange and cover plate can significantly improve the progressive collapse resistance of substructures.

• Steel and Composite Structures
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• v.27 no.2
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• pp.185-192
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• 2018

Fly ash can significantly improve concrete workability and performance, and recycling fly ash in concrete can contribute to a cleaner environment. Since fly ash influences pozzolanic reactions in concrete, mechanical behaviors of concrete containing fly ash differ from traditional concrete. Creep behaviors of fly ash concrete filled steel tube arch were experimentally investigated for 10% and 30% fly ash replacement. The axes of two arches are designed as circular arc with 2.1 m computed span, 0.24 m arch rise, and their cross-sections are all in circular section. Time dependent deflection and strain of loading and mid-span steel tube were measured, and long term deflection of the model arch with 10% fly ash replacement was significantly larger than with 30% replacement. Considering the steel tube strain, compressive zone height, cross section curvature, and internal force borne by the steel tube, the compressive zone height and structural internal forces increased gradually over time due to concrete creep. Increased fly ash content resulted in more significant neutral axis shift. Mechanisms for internal force effects on neutral axis height were analyzed and verified experimentally.

• Tribology and Lubricants
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• v.14 no.1
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• pp.79-84
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• 1998

This paper presents the experimental study of the dynamic internal pressure within a vane pump. The measurement of the dynamic internal pressure acting on the line contact between the vane and the camring in a vane pump with intravanes have been investigated. The variations of the radial acting force of a vane are calculated from previously measured results of dynamic internal pressure in four chambers surrounding a vane, and the variations of the film thickness are estimated in both the rotational speed ranges from 600 to 1200 rpm and the delivery pressure ranges from 1 to 14 MPa. The experimental technic has been established to obtain the data for performance analysis, such as reaction forces between vane and camring, friction wear at the contact regions, leakage characteristics and net forces upon the pump shaft in case of the unsteady load which is forced to the intravane pressure balance type vane pump.

• Proceedings of the KSME Conference
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• 2001.06a
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• pp.776-781
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• 2001

Internal pipes technology for LNG Storage tank developed because of the perceived safety risk of having an opening near the base of the shell. This is because the shell at this point is the most highly stressed component of the primary containment. other, secondary, problems arise because the movement of the tank in this region is also at a maximum. This requires the use of bellows either in the interspace or on the outside of the outer tank. Therefore the internal pipe, through the roof, solves these problems. The loading conditions calculated from design concept are then used to perform a pipe stress analysis. As well as determining the stresses in the internal pipe and checking against allowable stress, it determines the reaction forces at the support positions.

• Journal of Advanced Marine Engineering and Technology
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• v.22 no.4
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• pp.451-459
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• 1998

THe influence of internal acoustic exitation through a square prism on the turbulent wake flow characteristics was investigated. The intermediate wake region where is about ten times the respective length of the body was experimentally investigated using a conditional phase average technique. At first the static base pressures of square prism and the shedding frequencies have been measured at various internal acoustic exciation frequencies. The experiment were performed under the four cases of internal acoustic excitation frequencies 0Hz 30Hz($St_e$=0.09) 65Hz($St_e$=0.20) 120Hz($St_e$=0.38) And velocity vector fields were presented and discussed. The influence of acoustic exvitation frequencies on the structure of intermediate turbulent wake region is evident. As the internal acoustic frequency increased shedding frequency gradually increased and aerodynamic force decreased. Also it was found that the vortex shedding occurs dratically well and shedding frequency reached nearly the same value as the internal acoustic frequency. but above Strouhal number 0.3 the influence disappeared.

• Journal of Korean Society on Water Environment
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• v.31 no.4
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• pp.367-376
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• 2015

The momentum and kinetic turbulent energy carried by the wind to a stratified lake lead to basin-scale motions, which provide a major driving force for vertical and horizontal mixing. A three-dimensional (3D) hydrodynamic model was applied to Lake Tahoe, located between California and Nevada, USA, to simulate the dominant basin-scale internal waves in the deep lake. The results demonstrated that the model well represents the temporal and vertical variations of water temperature that allows the internal waves to be energized correctly at the basin scale. Both the model and thermistor chain (TC) data identified the presence of Kelvin modes and Poincare mode internal waves. The lake was weakly stratified during the study period, and produced large amplitude (up to 60 m) of internal oscillations after several wind events and partial upwelling near the southwestern lake. The partial upwelling and followed coastal jets could be an important feature of basin-scale internal waves because they can cause re-suspension and horizontal transport of fine particles from nearshore to offshore. The internal wave dynamics can be also associated with the distributions of water quality variables such as dissolved oxygen and nutrients in the lake. Thus, the basin-scale internal waves and horizontal circulation processes need to be accurately modeled for the correct simulation of the dissolved and particulate contaminants, and biogeochemical processes in the lake.

• Structural Engineering and Mechanics
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• v.26 no.1
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• pp.43-68
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• 2007

Using the Mindlin-Reissner plate theory, many quadrilateral plate bending elements have been developed so far to analyze thin and moderately thick plate problems via displacement based finite element method. Here new formulation has been made to analyze thin and moderately thick plate problems using force based finite element method called Integrated Force Method (IFM). The IFM is a novel matrix formulation developed in recent years for analyzing civil, mechanical and aerospace engineering structures. In this method all independent/internal forces are treated as unknown variables which are calculated by simultaneously imposing equations of equilibrium and compatibility conditions. In this paper the force based new bilinear quadrilateral plate bending element (MQP4) is proposed to analyze the thin and moderately thick plate bending problems using Integrated Force Method. The Mindlin-Reissner plate theory has been used in the formulation of this element which accounts the effect of shear deformation. Standard plate bending benchmark problems are analyzed using the proposed element MQP4 via Integrated Force Method to study its performance with respect to accuracy and convergence, and results are compared with those of displacement based 4-node quadrilateral plate bending finite elements available in the literature. The results are also compared with the exact solutions. The proposed element MQP4 is free from shear locking and works satisfactorily in both thin and moderately thick plate bending situations.