• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.4
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• pp.361-367
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• 2015

This paper presents the design concept of an intrinsic continuum robot for safe man-machine interface and characteristic behaviors of its end-effector based on real experiments. Since pneumatic artificial muscles having similar antagonistic actuation to human muscles are used for main backbones of the proposed robot as well as in the role of the actuating devices, variable stiffness of robotic joints can be available in the actual environment. In order to solve the inherent shortcoming of an intrinsic continuum robot due to bending motion of the backbone materials, a Kalman filter scheme based on a triaxial accelerometer and a triaxial gyroscope was proposed to conduct an attitude estimation of the end-effector of the robot. The experimental results verified that the proposed method was effective in estimating the attitude of the end-effector of the intrinsic continuum robot.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.08a
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• pp.129.1-129.1
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• 2013

Atomically-thin graphene is the ideal model system for studying nanoscale friction due to its intrinsic two-dimensional anisotropy. Here, we report the reduced nanoscale friction of epitaxial graphene on SiC, investigated with conductive-probe atomic force microscopy/friction force microscopy in ultra-high vacuum. The measured friction on a buffer layer was found to be 1/8 of that on a monolayer of epitaxial graphene. Conductive probe atomic force microscopy revealed a lower conductance on the buffer layer, compared to monolayer graphene. We associate this difference in friction with the difference in total lateral stiffness. Because bending stiffness is associated with flexural phonons in two-dimensional systems, nanoscale frictional energy should primarily dissipate through damping with the softest phonons. We investigated the influence of hydrogen intercalation on the nanoscale friction. We found that the friction decreased significantly after hydrogen intercalation, which is related to loose contact between the graphene and the substrate that results in a lower bending stiffness.

• Steel and Composite Structures
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• v.28 no.5
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• pp.617-628
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• 2018

Steel shear wall possesses priority over many of the current lateral load-bearing systems due to reasons like higher elastic stiffness, desirable ductility and energy absorption, convenience in construction and implementation technology, and economic criteria. Besides these advantages, this system causes increase in the dimensions of other structural elements due to its high stiffness as one of its intrinsic characteristics. One of the methods for stiffness reduction is perforating the wall panel and creating openings in the wall that can also be used as windows or ducts in buildings service period. The aim of the present study is probing the appropriate geometric shape and location of opening to fulfil economic criterion plus technical and seismic design criteria. In the present research, a number of possible while reasonable opening shapes and locations are defined in various sizes for some steel shear wall specimens. The specimens are modelled in ABAQUS finite elements software and analyzed using nonlinear pushover analysis. Finally, the analyses' results are reported as force-displacement diagrams and the strength, the initial stiffness and the energy absorption are calculated for all specimens and compared together. The obtained results show that both shape and location of the openings affect the seismic parameters of the shear wall. The specimens in which the openings are further from the center and closer to the columns possess higher stiffness and strength while the specimens in which the openings are closer to the center show more considerable changes in their seismic parameters in response to increase in opening area.

• Journal of the Korean Society of Clothing and Textiles
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• v.14 no.4 s.36
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• pp.262-273
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• 1990

The purpose of this study is to investigate the softening effect of cellulase-treated cotton fabric and the damage on the fabric which is accompanied by the treatemnt. Cotton fabric is treated with cellulase under various concentrations and time, and the weight loss, hand values (by KES), surface characteristics, moisture regain, tensile strength, copper number and intrinsic viscosity of the treated samples and untreated samples have been compared. The results are as follows: 1. The weight loss of cotton fabric increased as the concentration of cellulase and the treating time increased. 2. The enzyme treatment had little effect on the stiffness of the treated samples but anti- drape stiffness decreased for the treated samples. Fullness and softness of the treated samples increased and crispness decreased with the lowest level reaching after two hours of the treatment for all concentrations. Scrooping feeling of the treated samples increased and flexibility with soft feeling increased as the treating time and the concentration of cellulase increased. 3. Moisture regain of the samples decreased as the treating time and the concentration of the enzyme increased and the treated fabric showed cracks on the fiber surface, and much surface fibers on the fabric have been removed after the treatment. 4. Tensile strength of the samples decreased as the treating time and as the concentration of cellulase increased, and the copper number increased while the intrinsic viscosity decreased as the treating time increased, but cellulase concentration had a little effect.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.3
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• pp.8-16
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• 2006

This paper discusses design sensitivity analysis and its application to a structural dynamics modification. Eigenvalue derivatives are determined with respect to the element parameters, which include intrinsic property parameters such as Young's modulus, density of the material, diameter of a beam element, thickness of a plate element, and shape parameters. Derivatives of stiffness and mass matrices are directly calculated by derivatives of element matrices. The first and the second order derivatives of the eigenvalues are then mathematically derived from a dynamic equation of motion of FEM model. The calculation of the second order eigenvalue derivative requires the sensitivity of its corresponding eigenvector, which are developed by Nelson's direct approach. The modified eigenvalue of the structure is then evaluated by the Taylor series expansion with the first and the second derivatives of eigenvalue. Numerical examples for simple beam and plate are presented. First, eigenvalues of the structural system are numerically calculated. Second, the sensitivities of eigenvalues are then evaluated with respect to the element intrinsic parameters. The most effective parameter is determined by comparing sensitivities. Finally, we predict the modified eigenvalue by Taylor series expansion with the derivatives of eigenvalue for single parameter or multi parameters. The examples illustrate the effectiveness of the eigenvalue sensitivity analysis for the optimization of the structures.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.12 no.1
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• pp.75-82
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• 1999

일반 해양 구조물이나 해저면에 설치되는 해저 관로는 외력에 의한 변형이 발생된다. 구조물 형상이 복잡하거나, 구성 요소의 개수가 많을 경우 응력해석 시 많은 초기값이 필요하고 해석 시간 또는 장 시간 소요된다. 해양 구조물에 작용하는 대표적인 외력은 파도, 조류, 바람이고 이런 외력은 구조물의 사용 기간(operation life)동안 계속적으로 작용하기 때문에 구조물의 변형율은 항상 허용치 안에서 발생되도록 설계되어야 한다. 허용 변형은 탄성범위 내에 존재해야 하며, 비교적 큰 변형을 일으키는 구조물이나 해저파이프라인의 응력해석을 수치적으로 접근하는 방법을 고찰하였다. 평행상태의 하중 벡터값만 직각 좌표계에서 인트린직(intrinsic) 좌료로 변환시킬 때 변형이 발생함으로, 본 논문에서 소개하는 이차 요소(quadratic element)방법을 사용할 경우 수치해석 시 많은 장점이 있다는 것을 보여준다. 본 방법을 도입함으로써 비교적 큰 변형이 발생되는 구조물 해석 시 일반 수치해석 방법과 그 결과는 같으나 해석 시간을 단축시킬 수 있다는 장점이 있다. 응력 해석 시 국부 강도 행열(element stiffness matrix)은 방향과 무관하며 이차요소 방법을 사용하여 각 요소 벡터를 발생시켰다. 해저관로 일점 상승 시 관로에 작용하는 변형과 상승력에 따른 휨 모멘트를 산출하여 일반적으로 사용되는 선형이론과 비교하였다.

• Journal of the Korean Society of Hazard Mitigation
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• v.11 no.2
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• pp.75-80
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• 2011

The main objective of this research is to develop fatigue prediction model for flexible pavements using energy ratio factor and phase angle. The two parameters are considered as fundamental properties of time and temperature dependent viscoelastic asphalt concrete materials. The energy ratio factor is defined as the ratio of the pseudo-total cumulative dissipated energy to the cumulative dissipated energy to failure during the test. The phase angle between the stress and strain ware signals stems from the intrinsic the dependent asphalt mixture behavior. The phase angle was computed and the relationship between the initial mixture stiffness and the initial phase angle is presented. As a result, fatigue prediction model for flexible pavements was proposed using intrinsic properties of viscoelastic asphalt concrete materials.

• Korean journal of food and cookery science
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• v.8 no.2
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• pp.155-163
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• 1992

Rhamsan gum produced by Alcaligenes was rheologically characterized, and compared to that of xanthan gum. The rheological properties were derermined from the change in the value of intrinsic viscosity with pH and salt concentration. at the range of pH 2~11 and salt concentration of 0~1.0 M KCl, the intrinsic viscosties of rhanisan gum were in the range of 8.2 to 36.2 dl/g and those of xanthan gum 8.19 to 44 dl/g. In the absence of salt, the intrinsic viscosity of rhamsan gum and Xanthan gum increased as the pH of solution increased up to neutral pH, and then decreased at alkaline pH. The intrinisc viscosities of rhamsan and anthan gum were not affec6ted by the increment of salt concentration. the chain stiffness paramenter for the rhamsan gum was 0.016. The overlap paramoeters of rhamsan and xanthan gum were 0.025 and 0.022 g/dl, respectively. rhamsan and xanthan gum were shear rate dependent or pseudoplastic. The yield stress of rhamsan gum increased slightly, but the shear index decreased as the concentration increased. The apparent viscosityes of rhamsan and xanthan gum decreased as the temperature increased. The salt effect of divalent cations (calcium, magnesium) was lower than monovalent cations (sodium, potassium).

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.376-386
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• 2020

The aim of this study was to develop a new efficient strategy that uses the Vector form Intrinsic Finite-element (VFIFE) method to conduct the static and dynamic analyses of marine pipes. Nonlinear problems, such as large displacement, small strain, and contact and collision, can be analyzed using a unified calculation process in the VFIFE method according to the fundamental theories of point value description, path element, and reverse motion. This method enables analysis without the need to integrate the stiffness matrix of the structure, because only motion equations of particles established according to Newton's second law are required. These characteristics of the VFIFE facilitate the modeling and computation efficiencies in analyzing the nonlinear dynamic problem of flexible pipe with large deflections. In this study, a three-dimensional (3-D) dynamical model based on 3-D beam element was established according to the VFIFE method. The deep-sea flexible pipe was described by a set of spatial mass particles linked by 3-D beam element. The motion and configuration of the pipe are determined by these spatial particles. Based on this model, a simulation procedure to predict the 3-D dynamical behavior of flexible pipe was developed and verified. It was found that the spatial configuration and static internal force of the mining pipe can be obtained by calculating the stationary state of pipe motion. Using this simulation procedure, an analysis was conducted on the static and dynamic behaviors of the flexible mining pipe based on a 1000-m sea trial system. The results of the analysis proved that the VFIFE method can be efficiently applied to the static and dynamic analyses of marine pipes.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.2A
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• pp.187-196
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• 2008

The punching shear strength of RC slabs is estimated analytically by the simple truss model. To avoid intrinsic difficulties in punching shear analysis of reinforced concrete slabs, the slabs were divided into three sub-structures as the punching cone and the remaining parts. The strength of the punching cone was evaluated by the stiffness of inclined strut. The stiffness of springs which control lateral displacement of the roller supports consists of the steel reinforcement which passed through the punching cone. Initial angle of struts was determined by curve fitting method of the experimental data with variable reinforcement ratio in order to compensate for uncertainties in the slab's punching shear, the simplification errors and the stiffness of the remaining sub-structures. The validity of computed punching shear strength by simple truss model was shown by comparing with experimental results. The punching shear strength, which was determined by snap-through critical load of shallow truss, can be used effectively to examine punching shear strength of RC slabs.