• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1111-1118
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• 2013

In this paper, the disturbance applied to launcher hatch by ship motions is introduced to identify the vertical ship motion disturbance. Basically, ship motions are comprised of 6 degrees of freedom: roll, pitch, yaw, heave, surge and sway. In the case of the shipboard launcher hatch the coupled pitch, heave and roll are significant motions to be transformed to a vertical direction motion. The maximum acceleration values are obtained from the vertical motion model and the ship motion data in accordance with ship type and hatch location on the ship. We verify that the maximum pitch motion mainly influences the launcher hatch and also present the quantity of the maximum load disturbance by the ship's motion acceleration.

• Steel and Composite Structures
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• v.25 no.1
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• pp.1-17
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• 2017

Seismic performance of hybrid steel frames defined as mixture of rigid and semi-rigid connections is investigated in this paper. Three frames with 10, 15 and 20 stories are designed with fully rigid connections and then with 4 patterns for semi-rigid connection placement, some of beam to column rigid connections would turn to semi-rigid. Each semi-rigid connection is considered with 4 different moment capacities and all rigid and semi-rigid frames consisting of 51 models are subjected to 5 selected earthquake records for nonlinear analysis. Maximum story drifts, roof acceleration and base shear are extracted for those 5 earthquake records and average values are obtained for each case. Based on numerical results for the proposed hybrid frames, story drifts remain in allowable range and the reductions in the maximum roof acceleration of 22, 29 and 25% and maximum base shear of 33, 31 and 54% occur in those 10, 15 and 20-story frames, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Journal of the Earthquake Engineering Society of Korea
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• v.22 no.5
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• pp.261-269
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• 2018

This study examines earthquake-induced sloshing effects on liquid storage tanks using computation fluid dynamics. To achieve this goal, this study selects an existing square steel tank tested by Seismic Simulation Test Center at Pusan National University as a case study. The model validation was firstly performed through the comparison of shaking table test data and simulated results for the water tank subjected to a harmonic excitation. For a realistic estimation of the wall pressure response of the water tank, three recorded earthquakes with similar peak ground acceleration are applied:1940 El Centro earthquake, 2016 Gyeongju earthquake, and 2017 Pohang earthquake. Wall pressures monitored during the dynamic analyses are examined and compared for different earthquake motions and monitoring points, using power spectrum density. Finally, the maximum dynamic pressure for three earthquakes is compared with the design pressure calculated from a seismic design code. Results indicated that the maximum pressure from the El Centro earthquake exceeds the design pressure although its peak ground acceleration is less than 0.4 g, which is the design acceleration. On the other hand, the maximum pressure due to two Korean earthquakes does not reach the design pressure. Thus, engineers should not consider only the peak ground acceleration when determining the design pressure of water tanks.

• Journal of the Earthquake Engineering Society of Korea
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• v.23 no.5
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• pp.269-277
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• 2019

In a seismic design, a structural demand by an earthquake load is determined by design response spectra. The ground motion is a three-dimensional movement; therefore, the design response spectra in each direction need to be assigned. However, in most design codes, an identical design response spectrum is used in two horizontal directions. Unlike these design criteria, a realistic seismic input motion should be applied for a seismic evaluation of structures. In this study, the definition of horizontal spectral acceleration representing the two-horizontal spectral acceleration is reviewed. Based on these methodologies, the horizontal responses of observed ground motions are calculated. The data used in the analysis are recorded accelerograms at the stations near the epicenters of recent earthquakes which are the 2007 Odeasan earthquake, 2016 Gyeongju earthquake, and 2017 Pohang earthquake. Geometric mean-based horizontal response spectra and maximum directional response spectrum are evaluated and their differences are compared over the period range. Statistical representation of the relations between geometric mean and maximum directional spectral acceleration for horizontal direction and spectral acceleration for vertical direction are also evaluated. Finally, discussions and suggestions to consider these different two horizontal directional spectral accelerations in the seismic performance evaluation are presented.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.5
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• pp.477-485
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• 2010

In this study, we suggested several approaches to evaluate the collision acceleration of a carbody under the article 16 of the Korean rolling stock safety regulations. There are various methods to evaluate the rigid body accelerations such as the displacement comparison method by double integration of filtered acceleration data, the velocity comparison method by direct integration of filtered acceleration data, and the analysis method of a velocity-time curve. We compared these methods one another using the 1D dynamic simulation model of Korean high-speed EMU composed of nonlinear springs or bars, dampers, and masses. From the simulation results, the velocity-time curve analysis method and the displacement comparison method are recommended to filter high frequency oscillations and evaluate the maximum and average accelerations of a carbody after a train collision.

• Structural Engineering and Mechanics
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• v.42 no.2
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• pp.247-267
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• 2012

Calculating the displacements of retaining walls under seismic loads is a crucial part in optimum design of these structures and unfortunately the techniques based on active seismic pressure are not sufficient alone for an appropriate design of the wall. Using limit analysis concepts, the seismic displacements of retaining walls are studied in present research. In this regard, applying limit analysis method and upper bound theorem, a new procedure is proposed for calculating the yield acceleration, critical angle of failure wedge, and permanent displacements of retaining walls in seismic conditions for two failure mechanisms, namely sliding and sliding-rotational modes. Also, the effect of internal friction angle of soil, the friction angle between wall and soil, maximum acceleration of the earthquake and height of the wall all in the magnitude of seismic displacements has been investigated by the suggested method. Two sets of ground acceleration records related to near-field and far-field domains are employed in analyses and eventually the results obtained from the suggested method are compared with those from other techniques.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.3
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• pp.12-18
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• 2001

Frequency domain has been used to detect chatter vibration and to decide commencing point of chatter for the milling processes. For this, power spectrum of accelerations signal is analyzed in the frequency domain. Also, the power spectrum and surface roughness are measured, compared, and evaluated according to the depth of cut by experimental works. As a results, it is known that the commencing point of chatter can be decided the behavior of the maximum amplitude of the power spectrum of acceleration signal and there is a correlation between the power spectrum of acceleration signal and the surface roughness. In conclusion, the power spectrum of acceleration signal can be used as a useful information for detec-tion and estimation of chatter vibration in machining.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.662-667
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• 2009

In this study, the serviceability of Waffle shaped(WAS) and Double-Tee(DT) precast concrete slabs was evaluated and compared based on the vertical acceleration magnitude induced by walking and heel drop loads. Tests were conducted for practical building structures (a shopping mall in Hanam) of which floor systems used WAS and DT slabs. Natural frequencies of the slabs were similar to those obtained by using analytical models. The measured acceleration level was evaluated by vertical floor acceleration criteria presented by ISO-2631, AIJ(1991, Japan), and a previous study regarding floor vibration limit. Test results showed that both WAS and DT slabs satisfied all the criteria and the maximum acceleration level of WAS slabs was lower than that of DT slabs.

• Structural Engineering and Mechanics
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• v.29 no.6
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• pp.659-671
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• 2008

A procedure to analyse the space frame structure fixed at base as well as resting on sliding bearing using total or absolute displacement in dynamic equation is developed. In the present method, the effect of ground acceleration is not considered as equivalent force. Instead, the ground acceleration is considered as a known value in the acceleration vector at degree of freedom corresponding to base of the structure when the structure is in non-sliding phase. When the structure is in sliding phase, only a force equal to the maximum frictional resistance is applied at base. Also, in this method, the stiffness matrix, mass matrix and the damping matrix will not change when the structure enters from one phase to another. The results obtained from the present method using absolute displacement approach are compared with the results obtained from the analysis of structure using relative displacement approach. The applicability of the analysis is also demonstrated to obtain the response of the structure resting on sliding bearing with restoring force device.