• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• 전산구조공학
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• 제10권4호
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• pp.143-154
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• 1997

본 연구에서는 지하암반구조물의 구조해석시 불연속암반체의 물성변이를 고려할 수 있는 확률론적 해석기법을 개발하였다. 수치해석적 접근은 몬테칼로모사기법의 단점을 보완한 LHS기법을 사용하였고, 불연속면의 영향은 단층, 벽개 등과 같이 불연속성이 뚜렷한 지역에서 적용성이 높은 절리유한요소모델을 사용하였다. 재료특성에 대한 확률변수는 불연속면의 수직강성과 전단강성을 다확률변수로 사용하였으며, 이들은 확률공간에서 정규분포를 갖는 경우에 대하여 고려하였다. 본 연구에서 개발된 수치해석프로그램은 검증예제를 통하여 타당성을 확인하였으며, 가상의 불연속면군이 존재하는 지하원형공동에 대한 해석을 통하여 프로그램의 적용성을 확인하였다.

• Wind and Structures
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• 제25권3호
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• pp.261-282
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• 2017

The probabilistic information of directional extreme wind speeds is important for precisely estimating the design wind loads on structures. A new joint probability distribution model of directional extreme wind speeds is established based on observed wind-speed data using multivariate extreme value theory with the t-Copula function in the present study. At first, the theoretical deficiencies of the Gaussian-Copula and Gumbel-Copula models proposed by previous researchers for the joint probability distribution of directional extreme wind speeds are analysed. Then, the t-Copula model is adopted to solve this deficiency. Next, these three types of Copula models are discussed and evaluated with Spearman's rho, the parametric bootstrap test and the selection criteria based on the empirical Copula. Finally, the extreme wind speeds for a given return period are predicted by the t-Copula model with observed wind-speed records from several areas and the influence of dependence among directional extreme wind speeds on the predicted results is discussed.

• Geomechanics and Engineering
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• 제28권2호
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• pp.117-133
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• 2022

Determination of the mechanical behaviour of jointed rock masses has been a challenge for rock engineers for decades. This problem is more pronounced for non-persistent jointed rock masses due to complicated interaction of rock bridges on the overall behaviour. This paper aims to study the effect of a non-persistent joint set configuration on the mechanical behaviour of rock materials under both uniaxial and biaxial compression tests using a discrete element code. The numerical simulation of biaxial compressive strength of rock masses has been challenging in the past due to shortcomings of bonded particle models in reproducing the failure envelope of rock materials. This problem was resolved in this study by employing the flat-joint contact model. The validity of the numerical model was investigated through a comprehensive comparative study against physical uniaxial and biaxial compression experiments. Good agreement was found between numerical and experimental tests in terms of the recorded peak strength and the failure mode in both loading conditions. Studies on the effect of joint orientation on the failure mode showed that four zones of intact, transition to block rotation, block rotation and transition to intact failure occurs when the joint dip angle varies from 0° to 90°. It was found that the applied confining stress can significantly alter the range of these zones. It was observed that the minimum strength occurs at the joint dip angle of around 45 degrees under different confining stresses. It was also found that the joint orientation can alter the post peak behaviour and the lowest brittleness was observed at the block rotation zone.

• Computers and Concrete
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• 제27권2호
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• pp.99-109
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• 2021

Experimental and discrete element methods were used to investigate the effects of echelon non-persistent joint on the failure behaviour of joint's bridge area under uniaxial compressive test. Concrete samples with dimension of 150 mm×100 mm×50 mm were prepared. Uniaxial compressive strength and tensile strength of concrete were 14 MPa and 1MPa, respectivly. Within the specimen, three echelon non-persistent notches were provided. These joints were distributed on the three diagonal plane. the angle of diagonal plane related to horizontal axis were 15°, 30° and 45°. The angle of joints related to diagonal plane were 30°, 45°, 60°. Totally, 9 different configuration systems were prepared for non-persistent joint. In these configurations, the length of joints were taken as 2 cm. Similar to those for joints configuration systems in the experimental tests, 9 models with different echelon non-persistent joint were prepared in numerical model. The axial load was applied to the model by rate of 0.05 mm/min. the results show that the failure process was mostly governed by both of the non-persistent joint angle and diagonal plane angle. The compressive strengths of the specimens were related to the fracture pattern and failure mechanism of the discontinuities. It was shown that the shear behaviour of discontinuities is related to the number of the induced tensile cracks which are increased by increasing the joint angle. The strength of samples increase by increasing both of the joint angle and diagonal plane angle. The failure pattern and failure strength are similar in both methods i.e. the experimental testing and the numerical simulation methods.

• Computers and Concrete
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• 제31권3호
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• pp.207-221
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• 2023

In this investigation, the interaction between opening space and neighboring joint has been examined by experimental test and Particle flow code in two dimension (PFC2D) simulation. Since, firs of all PFC was calibrated using Brazilian experimental test and uniaxial compression test. Secondly, diverse configurations of opening and neighboring joint were provided and tested by uniaxial test. 12 rectangular sample with dimension of 10 cm*10 cm was prepared from gypsum mixture. One quarter of tunnel and one and or two joint were drilled into the sample. Tunnel diameter was 5.5 cm. The angularities of joint in physical test were 0°, 45° and 90°. The angularities of joint in numerical simulation were 0°, 30°, 60°, -30°, -45°, -60° and its length were 2cm and 4cm. Loading rate was 0.016 m/s. Tensile strength of material was 4.5 MPa. Results shows that dominant type of crack which took place in the model was tensile cracks and or several shear bands develop within the model. The Final stress is minimum in the cases where oriented angle is negative. The failure stress decrease by decreasing the joint angle from 30° to 60°. In addition, the failure stress decrease by incrementing the joint angle from -30° to -60°. The failure stress was incremented by decreasing the number of notches. The failure stress was incremented by decreasing the joint length. The failure stress was incremented by decreasing the number of notches. Comparing experimental results and numerical one, showed that the failure stress is approximately identical in both conditions.

• Advances in concrete construction
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• 제13권 2호
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• pp.199-213
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• 2022

Experimental and discrete element approaches were used to examine the effects of F shape non-persistent joints on the failure behaviour of concrete under uniaxial compressive test. concrete specimens with dimensions of 200 cm×200 cm×50 cm were provided. Within the specimen, F shape non-persistent joint consisting three joints were provided. The large joint length was 6 cm, and the length of two small joints were 2 cm. Vertical distance between two small joints change from 1.5 cm to 4.5 cm with increment of 1.5 cm. In constant joint lengths, the angle of large joint change from 0° to 90° with increments of 30°. Totally 12 different models were tested under compression test. The axial load rate on the model was 0.05 mm/min. Concurrent with experimental tests, numerical simulation (Particle flow code in two dimension) were performed on the models containing F shape non-persistent joint. Distance between small joints and joint angles were similar to experimental one. the results indicated that the failure process was mostly governed by both of the Distance between small joints and joint angles. The axial loading rate on the model was 0.05 mm/min. The compressive strengths of the samples were related to the fracture pattern and failure mechanism of the discontinuities. Furthermore, it was shown that the compressive behaviour of discontinuities is related to the number of the induced tensile cracks which are increased by increasing the joint angle. In the first, there were only a few acoustic emission (AE) hits in the initial stage of loading, and then AE hits rapidly grow before the applied stress reached its peak. Furthermore, a large number of AE hits accompanied every stress drop. Finally, the failure pattern and failure strength are similar in both approaches i.e., the experimental testing and the numerical simulation approaches.

• Imaging Science in Dentistry
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• 제54권1호
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• pp.71-80
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• 2024

Purpose: This study aimed to evaluate age-stratified radiographic features in temporomandibular joint osteoarthritis using cone-beam computed tomography. Materials and Methods: In total, 210 joints from 183 patients(144 females, 39 males, ranging from 12 to 88 years old with a mean age of 44.75±19.97 years) diagnosed with temporomandibular joint osteoarthritis were stratified by age. Mandibular condyle position and bony changes (flattening, erosion, osteophytes, subchondral sclerosis, and subchondral pseudocysts in both the condyle and articular eminence, thickening of the glenoid fossa, joint space narrowing, and joint loose bodies) were evaluated through cone-beam computed tomography. After adjusting for sex, the association between age groups and radiographic findings was analyzed using both a multiple regression model and a multinomial logistic regression model(α=0.05). Results: The prevalence of joint space narrowing and protruded condyle position in the glenoid fossa significantly increased with age (P<0.05). The risks of bony changes, including osteophytes and subchondral pseudocysts in the condyle; flattening, erosion, osteophyte, and subchondral sclerosis in the articular eminence; joint loose bodies; and thickening of the glenoid fossa, also significantly rose with increasing age (P<0.05). The number of radiographic findings increased with age; in particular, the increase was more pronounced in the temporal bone than in the mandibular condyle (P<0.05). Conclusion: Increasing age was associated with a higher frequency and greater diversity of bony changes in the temporal bone, as well as a protruded condyle position in the glenoid fossa, resulting in noticeable joint space narrowing in temporomandibular joint osteoarthritis.

• 한국산학기술학회논문지
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• 제19권4호
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• pp.138-142
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• 2018

본 연구에서는 플랜트 기자재 중 수충격에 매우 취약한 신축관 이음을 대상으로 수충격 발생 시 신축관 이음의 신축량의 변화를 현장에서 취득한 후 HIL 시뮬레이터의 작동데이터로 적용한 HILS 기법을 적용한 진동내구 시험을 수행하였다. 또한 진동내구 시험 시 내구수명의 주요 스트레스 인자로 신축관 내부압력을 가정하였다. 진동내구 시험은 신축관 내부 설정압 따라 진행되었으며 수명데이터를 이용, 수명데이터를 잘 따르는 곡선을 접합하여 수명예측 모델식을 유도하였고 특정 내부 설정압에서의 시험 및 수명결과를 통하여 이를 검증하였다. 한편, 시험 중 발생 된 신축관의 고장모드는 모두 벨로우즈 부 표면에 발생된 크랙과 크랙을 통한 누수 등이 있었다. 본 연구에서 유도한 수명에측 모델식은 설정압력을 스트레스 인자로 따르는 전형적인 역승모형이며 특정환경에서만 적용될 수 있는 한계를 지니고 있다. 이에 본 연구는 진동내구 수명의 가속요인인 압력 외 온도상태 등을 다양한 수명변수가 적용 가능한 복합수명예측 모델식을 개발할 예정이다.

• 응용통계연구
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• 제29권1호
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• pp.113-122
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• 2016

경시적 자료는 반복적으로 측정된 다변량 자료의 한 형태로 임상학, 보건학, 경제학에서 자주 발생된다. 시계열자료와 구분되는 가장 큰 특징은 표본수와 공변량 효과의 추정에 있다. 경시적 자료는 일반적으로 시계열 자료보다 더 큰 표본 개체로 이루어져 있으며 연구의 주 관심은 특정 공변량의 효과를 추정하는 데 있다. 또한 시계열 자료보다 반복 측정 횟수가 짧으며 개체마다 다른 관측 횟수와 다른 관측 중단 시점을 가질 수 있다. 본 연구에서는 관측 시점과 관측 종료 원인이 경시자료와 서로 연관된 경우에 결합 모형을 적용함으로써 이들간의 연관성을 분석하고자한다. 따라서 이들 변량간의 연관성을 모형화하기 위해 이변량 랜덤효과가 적용된다. 실제 자료 분석에서는 간경변증 환자의 핼액 응고 수치 시간을 관심 있는 경시적 자료로 환자가 병원 방문시점과 관측 중단원인들간의 상호 연관관계를 규명하고자 하였다. 특히, 중도 절단원인은 사망이나 간이식을 받는 사건일 때 발생하는데 본 연구에서는 사망 사건과의 연관성이 고려되었다. 결과를 통해 혈액 응고 시간이 길고 병원 방문 시점이 빈번할수록 사망할 가능성이 높음을 알수 있었다. 또한 혈액응고 시간이 길수록 병원 방문 횟수가 빈번하였다.