• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

• Structural Engineering and Mechanics
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• v.89 no.1
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• pp.77-91
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• 2024

During strong seismic events, inelastic shear deformation occurs in beam-column joints. To capture inelastic shear deformation, an analytical model for beam-column joint in reinforced concrete (RC) frame structures has been proposed in this study. The proposed model has been developed using a rotational spring and rigid links. The stiffness properties of the rotational spring element have been assigned in terms of a moment rotation curve developed from the shear stress-strain backbone curve. The inelastic rotation behavior of joint has been categorized in three stages viz. cracking, yielding and ultimate. The joint shear stress and strain values at these stages have been estimated using analytical models and experimental database respectively. The stiffness properties of joint rotational spring have been modified by incorporating a geometry factor based on dimensions of adjoining beam and column members. The hysteretic response of the joint rotational spring has been defined by a pivot hysteresis model. The response of the proposed analytical model has been verified initially at the component level and later at the structural level with the two actually tested RC frame structures. The proposed joint model effectively emulates the inelastic behavior precisely with the experimental results at component as well as at structural levels.

• Tunnel and Underground Space
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• v.11 no.2
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• pp.167-173
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• 2001

The joint model has influence on the results of discontinuum analysis. In this study the results of discontinuum analysis with Barton-Bandis joint model(BB model) and with Mohr-Coulomb joint model(MC model) are compared. The results of continuum analysis under the same condition are compared with the results of discontinuum analysis to investigate the behavior of rockmass around tunnel. The result of continuum analysis and that of discontinuum analysis with BB model show similar distribution of displacement and stress. On the other hand, the discontinuum analysis with MC model shows different displacement distribution and stress distribution. Moreover, the displacement and minor principal stress of the discontinuum analysis with MC model are smaller than those of continuum analysis, although the joints are explicitly considered in the discontinuum analysis. These results are originated from the limitation of MC model in simulating joint deformation behavior, especially the assumption of constant dilation jingle independent of it)int 7hear displacement.

• Geomechanics and Engineering
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• v.35 no.4
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• pp.411-424
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• 2023

Reasonable estimates of tunnel lining dislocations in the operation stage, especially under longitudinal differential settlement, are important for the design of waterproof gaskets. In this paper, a modified shell-joint model is proposed to calculate shield tunnel dislocations under longitudinal differential settlement, with the ability to consider the nonlinear shear stiffness of the joint. In the case of shell elements in the model, an elastoplastic damage constitutive model was adopted to describe the nonlinear stress-strain relationship of concrete. After verifying its applicability and correctness against a full-scale tunnel test and a joint shear test, the proposed model was used to analyze the dislocation behaviors of a shield tunnel in Shanghai Metro Line 2 under longitudinal differential settlement. Based on the results, when the tunnel structure is solely subjected to water-earth load, circumferential and longitudinal joint dislocations are all less than 0.1 mm. When the tunnel suffers longitudinal differential settlement and the curvature radius of the differential settlement is less than 300 m, although maximum longitudinal joint dislocation is still less than 0.1 mm, the maximum circumferential joint dislocation is approximately 10.3 mm, which leads to leakage and damage of the tunnel structure. However, with concavo-convex tenons applied to circumferential joints, the maximum dislocation value reduces to 4.5 mm.

• Korean Journal of Applied Biomechanics
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• v.27 no.1
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• pp.67-74
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• 2017

Objective: The purpose of this study was to apply a general linear model in statistics to marker position vectors used to study human joint rotational motion in biomechanics. Method: For this purpose, a linear model that represents the effect of the center of hip joint rotation and the rotation of the marker position on the response was formulated. Five male subjects performed hip joint functional motions, and the positions of nine markers attached on the thigh with respect to the pelvic coordinate system were acquired at the same time. With the nine marker positions, the center of hip joint rotation and marker positions on the thigh were estimated as parameters in the general linear model. Results: After examining the fitted model, this model did not fit the data appropriately. Conclusion: A refined model is required to take into account specific characteristics of longitudinal data and other covariates such as soft tissue artefacts.

• Korean Journal of Applied Biomechanics
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• v.28 no.2
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• pp.127-134
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• 2018

Objective: In a statistical linear model estimating the center of rotation of a human hip joint, which is the parameter related to the mean of response vectors, assumptions of homoscedasticity and independence of position vectors measured repeatedly over time in the model result in an inefficient parameter. We, therefore, should take into account the variance-covariance structure of longitudinal responses. The purpose of this study was to estimate the efficient center of rotation vector of the hip joint by using covariance pattern models. Method: The covariance pattern models are used to model various kinds of covariance matrices of error vectors to take into account longitudinal data. The data acquired from functional motions to estimate hip joint center were applied to the models. Results: The results showed that the data were better fitted using various covariance pattern models than the general linear model assuming homoscedasticity and independence. Conclusion: The estimated joint centers of the covariance pattern models showed slight differences from those of the general linear model. The estimated standard errors of the joint center for covariance pattern models showed a large difference with those of the general linear model.

• Computers and Concrete
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• v.23 no.6
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• pp.377-398
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• 2019

Behavior of RC beam-column joint is very complex as the composite material behaves differently in elastic and inelastic range. The approaches generally used for predicting joint shear strength are either based on theoretical, strut-and-tie or empirical methods. These approaches are incapable of predicting the accurate response of the joint for entire range of loading. In the present study a new generalized RC beam-column joint shear strength model based on hybrid approach i.e. combined strut-and-tie and empirical approach has been proposed. The contribution of governing parameters affecting the joint shear strength under compression has been derived from compressive strut approach whereas; the governing parameters active under tension has been extracted from empirical approach. The proposed model is applicable for various conditions such as, joints reinforced either with or without shear reinforcement, joints with wide beam or wide column, joints with transverse beams and slab, joints reinforced with X-bars, different anchorage of beam bar, and column subjected to various axial loading conditions. The joint shear strength prediction of the proposed model has been compared with 435 experimental results and with eleven popular models from literature. In comparison to other eleven models the prediction of the proposed model is found closest to the experimental results. Moreover, from statistical analysis of the results, the proposed model has the least coefficient of variation. The proposed model is simple in application and can be effectively used by designers.

• Journal of Mechanical Science and Technology
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• v.14 no.11
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• pp.1225-1231
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• 2000

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.1
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• pp.59-68
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• 1997

The modelling techniques of a center pillar-to-roof rail joint for low frequency vibration analysis are examined and some fundamental problems are addressed. To develop a simplified beam-spring model of the joint, the present work is focused on 1) practical shell modelling techniques and 2) joint spring stiffness estimation methods a practical model-updating method to match the calculated natural frequencies to the experimentally determine ones is proposed, particularly focusing on spot welding modelling. In joint spring modelling, the results from the model with one joint spring are compared with those from the model with three coupled springs. Finally, some fundamental problems in beam-spring modelling are addressed.

• Proceedings of the ESK Conference
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• 1994.04a
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• pp.115-123
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• 1994

A man model can be used as an effective tool to design ergomonically sound products and workplaces, and subsequently evaluate them properly. For a man model to be truly useful, it must be integrated with a posture prediction model which should be capable of representing the human arm reach posture in the context of equipments and workspaces. Since the human movement possesses redundant degrees of freedom, accurate representation or prediction of human movemtn was known to be a difficult problem. To solve this redundancy problem, the psychophysical cost function can predict the arm reach posture accurately. But the joint discomfort that human feels at the joint can not be predicted since the effects of external factors on the joint discomfort is not known. In this study a psychophysical experi- ment using the magnitude estimation technique was performed to evaluate the effects of external factors such as joint, joint angle and Perceived Exertion Ratio on the joint discomfort. Results showed that the joint discomfort increased as the Perceived Exertion Ratio increased, but the relation is not linear and was affected not only by the joint but also by the joint angle for the same Perceived Exertion Ratio. The interaction effect of the joint and the joint angle was also significant. From the results it is needed to develope the cost function which can predict the joint discomfort considering the joint, joint angle and external load.