• 센서학회지
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• 제16권3호
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

• 한국소음진동공학회논문집
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• 제26권3호
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• pp.323-330
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• 2016

This paper describes real-time unbalance moment compensation method for line of sight(LOS) stabilization control systems. The factors of system inertia, frictions and unbalance moment affect the control accuracy of drive systems that are equipped to on the move(OTM) platforms requiring LOS stabilization function. In case of the unbalance moment among those factors is continuously changed as variation of relative angle between gravity vector and drive torque vector. Then, consideration of the effect in real-time is very complicate. Therefore, its effect should be designed to be minimized, however, designing it almost zero is impossible in real condition. In other words, it is hard to achieve target performance overcoming stability issue of highly unbalanced systems. To solve these problems, this paper proposes calculation method of unbalance moment by using measured sensor data for LOS stabilization control and its use for control compensation. Also, kinematical converting process and control structure for compensation are explained. The effectiveness of the proposed method as variation of unbalance moment is verified under simulation circumstance modeled by assuming LOS control system with 2-axis gimbal structure.

• 한국전산구조공학회논문집
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• 제15권3호
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• pp.433-440
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• 2002

본 연구에서는 균일한 인장과 굽힘을 받는 반무한 평판내의 분기균열에 대하여 해석하였다. 중첩의 원리를 이용하여 인장과 굽힘을 받는 분기균열에 대하여 응력 및 모멘트 확대계수를 해석하였다. 응력확대계수는 유한요소법과 J 기저 상호매개적분을 이용하여 해석하였고, 모멘트확대계수는 균열선단의 모멘트로부터 모멘트외삽을 이용하여 계산하였다 무차원화된 응력확대계수와 모멘트확대계수에 대한 수치해석 결과는 분기균열 길이와 주균열의 비, 그리고 분기균열각의 함수로 나타내었다.

• 한국정밀공학회지
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• 제21권3호
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• pp.51-58
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• 2004

This paper describes the development of a small 6-axis force/moment sensor for robot's finger, which measures farces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In order to safely grasp an unknown object using the robot's gripper, and accurately perceive the position of it in the gripper, it should measure the force in the gripping direction, the force in the gravity direction and the moments each direction, and perform the force control using the measured forces and moments. Also, it should detect the moments Mx (x-direction moment), My and Mz to accurately perceive the position of the object in the grippers. Thus, the robot's gripper should be composed of 6-axis force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the small 6-axis force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test for the developed sensor was performed, and the result shows that intereference errors of the developed sensor are less than 4.23％. Thus, the developed small 6-axis force/moment sensor may be used a robot's gripper.

• 한국지진공학회논문집
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• 제18권2호
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• pp.95-103
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• 2014

The current AISC341-10 standard specifiesa value of 0.02 radian for the minimum rotation capacity of connections for the intermediate steel moment frame system. However, despite of the advances realized in the domains of performance evaluation method and analysis method, research onthe minimum rotation capacity of the intermediate steel moment frame systemsatisfying the seismic performance has not been conducted in detail. In this study, the intermediate moment frame systemisdesigned with respect to current standards and the seismic performance in accordance with the rotational capacity of connections is evaluated using the seismic performance evaluation method presented in FEMA-P695. The minimum rotation capacity of intermediate steel moment frames required to satisfy seismic performance as well as the major design values affecting the seismic performance of moment frame areestimated. To that goal, the design parameters are selected and various target frames are designed. The analysis models of the main nonlinear elements are also developed for evaluating seismic performance. The resultsshow that the 20-story structure doesnot meet the seismic performance even if it satisfies the rotation capacity of 0.02 radian.

• Steel and Composite Structures
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• 제6권3호
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• pp.203-219
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• 2006

One of the most promising ways through which a steel moment frame may attain high energy dissipating capability is to trim off a portion of the beam flanges near the column face. This type of moment connection, known as Reduced Beam Section (RBS) connection, has notable superiority in comparison with other moment connection types. As the result of the advantages of RBS moment connection, it has widely being used in practice. In spite of the good hysteretic behaviour, an RBS beam suffers from an undesirable drawback, which is local and lateral instability of the beam. The instability in the RBS beam reduces beam load-carrying capacity. This paper aims to investigate key issues influencing cyclic behaviour of RBS beams. To this end, a numerical analysis was conducted on a series of steel subassemblies with various geometric properties. The obtained results together with the existing experimental data are used to study the instability of RBS beams. A new slenderness concept is presented to control an RBS beam for combined local and lateral instability. This concept is in good agreement with the numerical and experimental results. Finally, a model is developed for the prediction of the magnitude of moment degradation owing to the instability of an RBS beam.

• Structural Engineering and Mechanics
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• 제68권5호
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• pp.621-632
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• 2018

Soft-story buildings have bottom stories much less rigid than the top stories and are susceptible to earthquake damage. Therefore, the seismic design specifications need strict design considerations in such cases. In this paper, a four-story building was investigated as a case study and the effects of X-braces elimination in its lower stories studied. In addition, the possibility of replacement of the X-braces in soft-stories with equivalent moment resisting frame inspected in two different phases. In first phase, the stiffness of X-braces and equivalent moment-resisting frames evaluated using classic equations. In final phase, diagonals removed from the lowest story to develop a soft-story and replaced with moment resisting frames. Then, the seismic stiffness variation of moment-resisting frame evaluated using nonlinear static and dynamic analyses. The results show that substitution of braced frames with an equivalent moment-resisting frame of the same stiffness increases story drift and reduces energy absorption capacity. However, it is enough to consider the needs of building codes, even using equivalent moment resisting frame instead of X-Braces, to avoid soft-story stiffness irregularity in seismic design of buildings. Besides, soft-story development in the second story may be more critical under strong ground excitations, because of interaction of adjacent stories.

• Steel and Composite Structures
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• 제42권6호
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• pp.765-777
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• 2022

Ultra high performance concrete (UHPC) can be used in the UHPC-steel composite structures especially for bridge structures to achieve high stiffness and high fatigue resistance with low self-weight. The structural performances of UHPC-steel composite slabs subjected to hogging moment have a significant influence on the global stiffness and durability of UHPC-steel composite structures. In order to study the structural behaviors of non-steam-cured UHPC-steel composite slabs subjected to negative moment, five composite slabs combined the thin UHPC layers to steel plates via shear stud connecters with the diameter of 16mm were fabricated and tested under negative moment. The test program aimed to investigate the effect of stud spacing and longitudinal reinforcement ratios on the failure mode, load-deflection behaviors, cracking patterns, bond-slips, and carrying capacities of composite slabs subjected to negative moment. In addition, direct tensile tests for the dog-bone UHPC specimens with longitudinal reinforcement bars were carried out to study the effect of reinforcement bars on the tensile strength of UHPC in the thin structure members. Based on the experimental results, analytical models were also developed to predict the cracking load and ultimate load of UHPC-steel composite slabs subjected to negative moment.

• 대한수학회논문집
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• 제39권2호
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• pp.437-460
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• 2024

In this paper we present the weighted shift operators having the property of moment infinite divisibility. We first review the monotone theory and conditional positive definiteness. Next, we study the infinite divisibility of sequences. A sequence of real numbers γ is said to be infinitely divisible if for any p > 0, the sequence γ^p = {γ^p_n}^∞_n=0 is positive definite. For sequences α = {α_n}^∞_n=0 of positive real numbers, we consider the weighted shift operators W_α. It is also known that W_α is moment infinitely divisible if and only if the sequences {γ_n}^∞_n=0 and {γ_n+1}^∞_n=0 of W_α are infinitely divisible. Here γ is the moment sequence associated with α. We use conditional positive definiteness to establish a new criterion for moment infinite divisibility of W_α, which only requires infinite divisibility of the sequence {γ_n}^∞_n=0. Finally, we consider some examples and properties of weighted shift operators having the property of (k, 0)-CPD; that is, the moment matrix M_γ(n, k) is CPD for any n ≥ 0.

• 대한조선학회논문집
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• 제61권4호
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• pp.236-246
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• 2024

The present study aims to identify the effects of the oblique inflow and vertical acceleration on a marine propeller's hydrodynamic force and moment. Computational Fluid Dynamics analysis is performed for a rotating propeller in open water conditions with heave motion after performing validation against experiment in straightforward conditions. The oblique inflow results in a linear increase of the off-axial component of the hydrodynamic force and moment rather than the axial one. Pitch and yaw moments due to the hull motion are dominated by the heave force and the moment arm of the propeller location. Additionally, the vertical acceleration leads to a linear augmentation of off-axial hydrodynamic force and moment, implying the added mass and moment of inertia. Notably, it is found that the off-axial hydrodynamic force and moment are dominated by the oblique inflow velocity rather than the acceleration.