• 대한기계학회논문집A
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• 제39권4호
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• pp.361-367
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• 2015

논문에서는 인간과의 안전한 접촉이 가능한 내부형 연속체로봇에 대한 설계개념과 로봇 말단장치의 운동특성실험을 제시한다. 인간의 근육과 유사한 상극구동방식으로 작동하는 공압인공근육을 연속체로봇의 백본 및 구동장치로 사용하기 때문에, 외부환경과의 부드러운 접촉과 강한 접촉을 선택적으로 제어할 수 있는 로봇 관절에서의 가변강성이 가능하다. 그러나 내부형 연속체로봇은 백본소재의 굽힘운동을 예측하기 어렵기 때문에 로봇 말단장치에서의 자세를 추정하기 어렵다. 이를 해결하기 위해 3 축 가속도계와 3 축 자이로스코프를 이용한 칼만필터 방법을 제안하고 개발된 내부형 연속체 로봇의 자세추정에 적용하여 실제 실험을 통해서 제안된 방법의 효율성을 검증하였다.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2013년도 제45회 하계 정기학술대회 초록집
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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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• 제28권5호
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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.

• 한국의류학회지
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• 제14권4호
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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.

• 한국공작기계학회논문집
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• 제15권3호
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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.

• 한국전산구조공학회논문집
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• 제12권1호
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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.

• 한국방재학회 논문집
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• 제11권2호
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• pp.75-80
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• 2011

본 연구의 주목적은 에너지 비율 인자와 위상각을 이용한 연성포장의 피로예측 모델을 개발하는 것이다. 본 연구에서 도입된 에너지 비율 인자와 위상각은 점탄성 재료의 기본적인 성질을 반영하기 위하여 사용되었다. 에너지 비율 인자는 가상 방출 에너지와 시험 중 파괴시 까지의 누적 방출 에너지의 비로 정의된다. 위상각은 아스팔트 혼합물의 응력과 변형률의 차이로부터 발생한다. 아스팔트 콘크리트 혼합물의 실험결과를 이용하여 위상각이 측정 되었으며 초기 stiffness와 초기 위상각의 관계가 제시 되었다. 본 연구 결과 아스팔트 콘크리트 혼합물의 점탄성 재료라는 고유한 성질을 반영할 수 있는 에너지 비율 인자와 위상각을 활용한 연성포장용 피로 예측 모델이 제안되었다.

• 한국식품조리과학회지
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• 제8권2호
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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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• 제12권1호
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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.

• 대한토목학회논문집
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• 제28권2A호
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• pp.187-196
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• 2008

이 연구에서는 단순 트러스 모델을 이용한 철근콘크리트 바닥판의 펀칭전단강도 평가방안을 제안하였다. 철근콘크리트 바닥판의 펀칭전단 해석의 본질적인 어려움을 극복하기 위해 집중하중이 작용하는 바닥판을 펀칭전단 파괴 형태에 기초하여 펀칭콘과 나머지 부분의 소구조체로 구분하였다. 펀칭콘의 강도는 이상화한 트러스의 경사압축부재의 강성도로써 유도되었다. 수평변위를 제어하고 있는 롤러지점의 수평방향 스프링 부재의 강성도는 펀칭콘 내에 포함된 철근에 의하여 결정되었다. 3차원 구조물의 2차원화에 따른 오차와 해석과정에 포함되지 않은 나머지 소구조체의 강성도 등에 기인하는 불확실성들을 포함하기 위하여 경사압축재의 초기각은 실험결과들에 대해 주인장 철근비를 변수로 수행된 회귀분석을 통하여 구하였다. 단순 트러스 모델로부터 구한 펀칭전단강도는 실험결과와의 비교에서 신뢰성이 높은 것으로 나타났다. 단순 트러스 모델의 스냅스로우(snap-through)좌굴해석으로부터 구한 펀칭전단강도는 철근콘크리트 바닥판의 펀칭전단강도의 검토에 유용하게 사용될 수 있을 것이다.