• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.35-43
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• 1996

A computer program for automatic deriving the symbolic equations of motion for robots using the programming language MATHEMATICA has been developed. The program, developed based on the Lagrange formalism, is applicable to the closed chain robots as well as the open chain robots. The closed chains are virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints. As a result, the spatial closed chain robot can be considered as a tree structured open chain robot with kinematic constraints. The topology of tree structured open chain robot is described by a FATHER array. The FATHER array of a link indicates the link that is connected in the direction of base link. The constraints are represented by Lagrange multipliers. The parallel robot, DELTA, having three-dimensional closed chains is modeled and simulated to illustrate the approach.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.9 no.3
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• pp.65-73
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• 1989

Continuum formulations for the expressions of dynamic energy release rates and computational methods for dynamic stress intensity factors are developed for the analysis of dynamic fracture problems subjected to stress wave loading. Explicit volume integral expressions for instantaneous dynamic energy release rates are derived by modeling virtual crack extensions with the dynamic Eulerian-Lagrangian kinematic description. In the finite element applications a finite region around a crack-tip is modeled by using quarter-point singular isoparametric elements, and the volume integrals are evaluated for each crack-tip element during virtual crack extensions while the singularity is maintained. It is shown that the use of the present method is more reliable and accurate for the dynamic fracture analysis than that of other path-independent integral methods when the effects of stress waves are significant.

• Structural Engineering and Mechanics
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• v.66 no.1
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• pp.61-73
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• 2018

In this article, a higher shear deformation theory (HSDT) is improved to consider the influence of thickness stretching in functionally graded (FG) plates. The proposed HSDT has fewer numbers of variables and equations of motion than the first-order shear deformation theory (FSDT), but considers the transverse shear deformation influences without requiring shear correction coefficients. The kinematic of the present improved HSDT is modified by considering undetermined integral terms in in-plane displacements and a parabolic distribution of the vertical displacement within the thickness, and consequently, the thickness stretching influence is taken into account. Analytical solutions of simply supported FG plates are found, and the computed results are compared with 3D solutions and those generated by other HSDTs. Verification examples demonstrate that the developed theory is not only more accurate than the refined plate theory, but also comparable with the HSDTs which use more number of variables.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.8
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• pp.703-710
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• 2004

This paper presents discontinuous zigzag gait analysis for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. An articulated spine walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. First, we suggest a kinematic modeling of an articulated spine robot which has new parameters such as a waist-joint angle, a rotate angle of a front and rear body and describe characteristics of gait using an articulated spine. Next, we compared the difference of walking motion of newly modeled robot with that of a single rigid-body robot and analyzed the gait of an articulated spine robot using new parameters. On the basis of above result, we proposed a best walking motion with maximum stability margin. To show the effectiveness of proposed gait planning by simulation, firstly the fastest walking motion is identified based on the maximum stride, because the longer the stride, the faster the walking speed. Next, the gait stability margin variation of an articulated spine robot is compared according to the allowable waist-joint angle.

• Transactions of Materials Processing
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• v.14 no.6 s.78
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• pp.496-501
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• 2005

Precipitates, present in most commercial alloys, can have a strong influence on strength and hardening behavior of a single crystal. The effect of thin precipitates on the anisotropy of initial slip resistance and hardening behavior of crystals is modeled in this article. For the convenience of the computational derivation and implementation, the material formulation is given in the unrelated intermediate configuration mapped by the plastic part of the deformation gradient. Material descriptions for the considered two phased aggregates consisting in lattice hardening as well as isotropic hardening and kinematic hardening are suggested. Numerical simulations of various loading cases are presented to discuss and assess the performance of the suggested model. From the results of the numerical simulation, it is found that the suggested model represents the initial plastic anisotropy at least qualitatively well and that it has an improved representation of various characteristic hardening behaviors in comparison with conventional hardening descriptions where the precipitate structure is not reflected.

• Proceedings of the Korea Water Resources Association Conference
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• 2001.05a
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• pp.25-34
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• 2001

A grid-based KIneMatic wave soil-water EROsion and deposition Model (KIMEROM) that predicts temporal variation and spatial distribution of sediment transport in a watershed was developed. This model uses ASCII-formatted map data supported from the regular gridded map of GRASS (U.S. Army CERL, 1993)-GIS (Geographic Information Systems), and generates the distributed results by ASCIIl-formatted map data. For hydrologic process, the kinematic wave equation and Darcy equation were used to simulate surface and subsurface flow, respectively (Kim, 1798; Kim et al., 1993). For soil erosion process, the physically-based soil erosion concept by Rose and Hairsine (1988) was used to simulate soil-water erosion and deposition. The model adopts sing1e overland flowpath algorithm and simulates surface and subsurface water depth, and sediment concentration at each grid element (or a given time increment. The model was tested to a 162.3 km$^2$ watershed located in the tideland reclaimed area of South Korea. After the hydrologic calibration for two storm events in 1999, the results of sediment transport were presented for the same storm events. The results of temporal variation and spatial distribution of overland flow and sediment areas are shown using GRASS.

• Earthquakes and Structures
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• v.8 no.1
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• pp.101-132
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• 2015

This research formulates a closed-form equation to predict a glass panel cracking failure drift for several curtain wall and storefront systems. An evaluation of the ASCE 7-10 equation for Dclear, which is the drift corresponding to glass-to-frame contact, shows that the kinematic modeling assumed for formulation of the equation is sound. The equation proposed in this paper builds on the ASCE equation and offers a revision of that equation to predict drift corresponding to cracking failure by considering glazing characteristics such as glass type, glass panel configuration, and system type. The formulation of the proposed equation and corresponding analyses with the ASCE equation is based on compiled experimental data of twenty-two different glass systems configurations tested over the past decade. A final comparative analysis between the ASCE equation and the proposed equation shows that the latter can predict the drift corresponding to glass cracking failure more accurately.

• Safety and Health at Work
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• v.13 no.3
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• pp.315-325
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• 2022

Background: Firefighters are required to carry self-contained breathing apparatus (SCBA), which increases the risk of musculoskeletal disorders. This study assessed the newly recruited firefighters' internal forces and potential musculoskeletal disorders when carrying SCBA. The effects of SCBA strap lengths were also evaluated. Methods: Kinematic parameters of twelve male subjects running in a control condition with no SCBA equipped and three varying-strapped SCBAs were measured using 3D inertial motion capture. Subsequently, motion data and predicted ground reaction force were inputted for subject-specific musculoskeletal modeling to estimate joint and muscle forces. Results: The knee was exposed to the highest internal force when carrying SCBA, followed by the rectus femoris and hip, while the shoulder had the lowest force compared to the no-SCBA condition. Our model also revealed that adjusting SCBA straps length was an efficient strategy to influence the force that occurred at the lumbar spine, hip, and knee regions. Grey relation analysis indicated that the deviation of the center of mass, step length, and knee flexion-extension angle could be used as the predictor of musculoskeletal disorders. Conclusion: The finding suggested that the training of the newly recruits focuses on the coordinated movement of muscle and joints in the lower limb. The strap lengths around 98-105 cm were also recommended. The findings are expected to provide injury interventions to enhance the occupational health and safety of the newly recruited firefighters.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.4
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• pp.129-135
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• 1996

The area of gear vibration and noise, has recently been the focus of many studies. The proper kinematic and geometric design of gears, the mathematical modeling of gear system are essential for a good design. This work present a gear disign for reducing noise, and practical approaches used for machinery noise reduction slong with the summary of methods available for predicting gear noise in terms of the transmis- sion error, and show a comparative study with other methods. A new tooth profile modification is proposed for reducing vibration and noise of involute gears. The method is based on the use of cubic spline curves. The tooth profile is constrained to assume an involute shape during the loaded operation. Thus the new gear profile assures conjugate motion at all points along the line of action. The new profile is found to result in a more uniform static transmission error compared to not only standard involute profile but also modificated profile therby contributing to the improvement of vibration and noise characteristics of the gear.

• Steel and Composite Structures
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• v.42 no.5
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• pp.657-669
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• 2022

Structural materials can experience large plastic deformation under extreme cyclic loading that is caused by events like earthquakes. To evaluate the seismic safety of a structure, accurate numerical material models should be used. For a steel structure, the cyclic strain hardening behavior of structural steel should be correctly modeled. In this study, a combined hardening model, consisting of one isotropic hardening model and three nonlinear kinematic hardening models, was used. To determine the values of the combined hardening model parameters efficiently and accurately, the improved opposition-based particle swarm optimization (iOPSO) model was adopted. Low-cycle fatigue tests were conducted for three steel grades commonly used in Korea and their modeling parameters were determined using iOPSO, which was first developed in Korea. To avoid expensive and complex low cycle fatigue (LCF) tests for determining the combined hardening model parameter values for structural steel, empirical equations were proposed for each of the combined hardening model parameters based on the LCF test data of 21 steel grades collected from this study. In these equations, only the properties obtained from the monotonic tensile tests are required as input variables.