• 한국정밀공학회지
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• 제30권6호
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• pp.650-657
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• 2013

This study uses a muscle activation sensor and elbow joint model to develop an estimation algorithm for human elbow joint torque for use in a human-robot interface. A modular-type MVS (Muscle Volume Sensor) and calibration algorithm are developed to measure the muscle activation signal, which is represented through the normalization of the calibrated signal of the MVS. A Hill-type model is applied to the muscle activation signal and the kinematic model of the muscle can be used to estimate the joint torques. Experiments were performed to evaluate the performance of the proposed algorithm by isotonic contraction motion using the KIN-COM$^{(R)}$ equipment at 5, 10, and 15Nm. The algorithm and its feasibility for use as a human-robot interface are verified by comparing the joint load condition and the torque estimated by the algorithm.

• KCI Concrete Journal
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• 제12권2호
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• pp.23-30
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• 2000

This paper presents behavior of concrete pavement at transverse joint subject to static test load. The test was conducted on 1/10 scale model in the laboratory. Load transfer across the crack is developed either by the interlocking action of the aggregate particles at the faces of the joint or by a combination of aggregate interlock and mechanical devices such as dowel bars. In this study, significant three variables considered to the performance of joints were selected. : (a)diameter of dowel bars(2.5mm, 3.0mm, 4.0mm), (b)presence or absence of dowel bars, (c)aggregate types(crushed stone, round stone). Experimental results were analyzed to find relationships among displacement of discontinuous plane at jointed slab, load transfer efficiency and joint opening, etc. Displacement of discontinuous plane at joint was decreased according to the increase of dowel bar diameter. In addition, it is found that model slabs made using crushed stone had better load transfer characteristics by aggregate interlock than model slabs made using similarly graded round stone. Displacement of discontinuous plane was increased according to the increase of loading. In addition, it was decreased as dowel diameter(2.5mm, 3.0mm, 4.0mm) was increased. In the case of slab without dowel bars, displacement of discontinuous plane was greatly increased and load transfer effciency of slab applied crushed stone was shown 30 percent greater than round stone. In addition, load transfer efficiency of slabs, which were made using crushed and round stone without dowel bars, was decreased to 20 percent and 30 percent, respectively as it was compared with slabs made us-ing dowel bars.

• 한국군사과학기술학회지
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• 제14권5호
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• pp.850-858
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• 2011

The risk analysis plays an important role in weapon system acquisition project due to uncertainties in the acquisition process. But in domestic, studies on risk analysis are insufficient and risk cost is not included in acquisition budget in policy. Therefore, in this study, we suggest a method that measures risk or success probability of project using the stochastic model. In particular, in order to calculate the success probability, we apply the joint probability distribution model of cost and schedule that are critical factors influencing the project risk. And also we verify the applicability of this model in Korean defence industry environment through case studies.

• 대한기계학회논문집A
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• 제27권12호
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• pp.2110-2117
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• 2003

A physics-based material removal model in various scales is described and a feature scale simulation for a chemical mechanical polishing (CMP) process is performed in this work. Three different scales are considered in this model, i.e., abrasive particle scale, asperity scale and wafer scale. The abrasive particle and the asperity scales are combined together and then homogenized to result in force balance conditions to be satisfied in the wafer scale using an extended Greenwood-Williamson and Whitehouse-Archard statistical model that takes into consideration the joint distribution of asperity heights and asperity tip radii. The final computation is made to evaluate the material removal rate in wafer scale and a computer simulation is performed for detailed surface profile variations on a representative feature. The results show the dependence of the material removal rate on the joint distribution, applied external pressure, relative velocity, and other operating conditions and design parameters.

• 한국소음진동공학회논문집
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• 제17권10호
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• pp.907-911
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• 2007

Compliance of joints must be considered when we analyze dynamics of a multi-body system. If the virtual model for CAE(computer aided engineering) analysis does not consider compliance, the result of CAE analysis can be very different from the actual experimental result. Especially in a biped walking robot, the robot may lose walking stability due to the compliance in joints of a walking robot. This paper proposed a method applying a compliance of joints in the biped walking robot to a virtual model. Also, through the 3-D displacement measurement using a laser tracker, it was demonstrated that the virtual model considering the joint compliance could effectively simulate the nonlinear motion of the real model.

• Steel and Composite Structures
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• 제32권1호
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• pp.111-126
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• 2019

This paper deals with experimental investigation and modeling of the static behavior of a novel RCS beam-column exterior joint. The studied joint detail is a through-column type in which an H steel profile totally embedded inside RC column is directly welded to the steel beam. The H steel profile was covered by two supplementary plates in the joint area in order to avoid the stirrups resisting shear in the joint area. Two full-scale through-column-type RCS joints were tested under static loading. The objectives of the tests were to examine the connection performance and to highlight the contribution of two supplementary plates on the shear resistance of the joint. A reliable nonlinear 3D finite element model was developed using ABAQUS software to predict the response and behavior of the studied RCS joint. An extensive parametric study was performed to investigate the influences of the stirrups, the encased profile length and supplementary plate length on the behavior of the studied RCS joint.

• 한국지반공학회논문집
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• 제25권10호
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• pp.17-30
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• 2009

지하에 공동을 건설하는 터널 공사의 경우 초기 응력의 집중 및 발파와 같은 시공단계에서의 과도한 에너지의 적용으로 인하여 주변 암반에 손상을 발생시킨다. 이러한 손상의 발생은 터널에 작용하는 하중 및 터널 주변 암반의 흐름조건에 상당한 영향을 끼친다. 이러한 이유로 터널 주변에 발생하는 손상구간에 대하여 다양한 연구가 수행되었다. 본 연구에서는 유사암석으로 제작된 공동이 존재하는 절리모델의 이축압축실험을 통하여 공동주변의 손상발생을 연구하였다. 절리면은 수평면과 $30^{\circ}$, $45^{\circ}$, $60^{\circ}$의 조건으로 형성되었으며, 초조강시멘트 재료를 이용하여 유사절리모델을 제작하였다. 이축압축 실험결과 공동주변에서는 절리면에 수직한 방향으로 인장균열의 발생이 관측되었으며, 균열의 진행으로 인하여 암반블록이 형성되었으며, 진행하는 인장균열이 다른 절리면에 도달하여 암반블록이 완전히 형성된 경우 탈락하는 과정을 보였다. 이러한 인장균열의 진전은 절리면의 각도에 따라 상이한데 절리면의 각도가 클수록 안정적이며 진행성의 균열 진전 양상이 관측되었다. 이러한 인장균열의 발달은 절리면으로 구성된 암편을 보로 가정 할 경우 공동의 곡률로 인한 기하학적 형상의 불규칙성으로 인하여 모멘트가 작용하는 것으로 판단된다. 이상의 실험결과를 입자요소해석 방법을 기반으로 하는 PFC 2D를 이용하여 모사하였다. 해석결과 실험에서 관측한 바와 같이 절리면 각도가 작을수록 손상대의 폭은 넓어지며 인장균열의 진행에 의한 암반블록의 형성이 관측되었다. 또한 상호작용이 발생하는 균열을 조사한 결과 수치해석에서도 절리면의 각도가 작은 조건에서 진행성의 파괴가 나타났다.

• International Journal of Korean Welding Society
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• 제5권1호
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• pp.60-65
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• 2005

In the field of welding the mechanical behavior of a welded structure under consideration may be predicted via heat transfer and welding residual stress analysis. Usually such numerical analyses are limited to small regular mesh models or test specimens. Nevertheless, there is very few strength assessment of the whole structure that includes the effect of welded residual stress. The present work is based on the specialized finite element codes for the calculation of nonlinear heat transfer details and residual stress including the external load on the welded RHS (Rectangular Hollow Section) T-joint connections of the whole structure. First the thermal history of the combined fillet and butt-welded T-joint equal width cold-formed RHS are calculated using nonlinear finite element analysis (FEA) considering the quarter model of the joint. Then using this thermal history the residual stress around the joints has been evaluated. To validity the FEA result, the calculated residual stresses were compared with the available experimental results. The residual stress obtained from the quarter model is mapped to the full model and then to the whole structure model using FEM codes. The results from the FEM codes were exported to the commercial package for visualization and further analysis applying loads and boundary conditions on the whole structure. The residual stress redistribution along with the external applied load is examined computationally.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• 한국정밀공학회지
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• 제29권10호
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• pp.1056-1061
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• 2012

FEM analysis is essential to shorten the development time and reduce the cost for developing high-performance machine tools. Mount joint parts play important role to ensure static and dynamic stability of machine tools. This paper suggests a computational modeling of mount joint part of machine tools. MATRIX27 element of ANSYS is adopted to model mount joint parts. MATRIX27 allows the definition of stiffness and damping matrices in matrix form. The matrix is assumed to relate two nodes, each with six degrees of freedom per node. Stiffness and damping values of commercial mount products are measured to build a database for FEM analysis. Jack mounts with rubber pad are exemplified in this paper. The database extracted from the experiments is also used to estimate of stiffness and damping of untested mounts. FEM analysis of machine tools system with the suggested mount computational model is performed. Static and dynamic results prove the feasibility of the suggested mount model.