• Journal of the Korea Concrete Institute
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• v.28 no.4
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• pp.419-426
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• 2016

This study examined the effect of transverse reinforcement and compressive stress on the shear friction performance at the shear interface intersecting two structural elements with various concrete types. From the prepared 12 push-off test specimens, various characteristics at the interface were measured as follows: crack propagation, shear load-relative slip relationship, initial shear cracking strength, ultimate shear friction strength, and shear transfer capacity of transverse reinforcement. The configuration of transverse reinforcement and compressive strength of concrete insignificantly influenced the amount of relative slippage at the shear friction plane. With the increase of applied compressive stress, the shear friction capacity of concrete tended to increase proportionally, whereas the shear transfer capacity of transverse reinforcement decreased, which was insignificantly affected by the configuration type of transverse reinforcement. The empirical equations of AASHTO-LRFD and Mattock underestimate the shear friction strength of concrete, whereas Hwang and Yang model provides better reliability, indicating that the mean and standard deviation of the ratios between measured shear strengths and predictions are 1.02 and 0.23, respectively.

• International Journal of Automotive Technology
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• v.4 no.4
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• pp.165-172
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• 2003

This article deals with the spin loss analysis of friction drive CVTs, especially for the cases of S-CVT and SS-CVT. There are two main sources of power loss resulting from slippage in the friction drive CVT, spin and slip loss. Spin loss, which is also a main design issue in traction drives, results from the elastic contact deformation of rotating bodies having different rotational velocities. The structure and operating principles of the S-CVT and SS-CVT are first reviewed briefly. And to analyze the losses resulting from slippage, we reviewed previous analyses of the friction mechanism. A modified classical friction model is proposed, which describes the friction behavior including Stribeck (i.e., pre-sliding) effect. It is also performed an in-depth study for the velocity fields generated at the contact regions along with a Hertzian analysis of deflection. Hertzian results were employed to construct the geometric parameters and normal pressure distributions of the contact surface with respect to elastic and plastic deformations. With analytic formulations of the relative velocity field, deflection, and friction mechanism of the S-CVT and SS-CVT, quantitative analyses of spin loss for each case are carried out. As a result, explicit models of spin loss were developed.

• Journal of information and communication convergence engineering
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• v.8 no.6
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• pp.709-715
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• 2010

This paper represents a map building and localization system for mobile robot. Map building and navigation is a complex problem because map integrity cannot be sustained by odometry alone due to errors introduced by wheel slippage, distortion and simple linealized odometry equation. For accurate localization, we propose sensor fusion system using encoder sensor and indoor GPS module as relative sensor and absolute sensor, respectively. To build a map, we developed a sensor based navigation algorithm and grid based map building algorithm based on Embedded Linux O.S. A wall following decision engine like an expert system was proposed for map building navigation. We proved this system's validity through field test.

• Journal of the Korea Concrete Institute
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• v.28 no.5
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• pp.555-562
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• 2016

The objective of the present study is to evaluate the shear transfer capacity of transverse reinforcement at the concrete interfaces with smooth construction joint. The transverse reinforcing bars were classified into two groups: V-type for the arrangement perpendicular to the interface and X-type for inclined-crossing arrangement. The transverse reinforcement ratio at the interface varied from 0.0045 to 0.0135 for V-type and 0.0064 to 0.0045 for X-type. The mechanism analysis proposed for monolithic concrete interface, derived based on the upper-bound theorem of concrete plasticity, was modified to evaluate the shear friction capacity of concrete interfaces with smooth construction joint. Test results showed that the specimens with X-type reinforcement had lower amount of relative slippage at the interface and higher shear friction capacity than the companion specimens with V-type reinforcement. This observation was independent of the unit weight of concrete. The mean and standard deviation of the ratios between the experimental shear friction strength of smooth construction joints and predictions obtained from the proposed model are 1.07 and 0.14, respectively.

• Journal of Korean Tunnelling and Underground Space Association
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• v.18 no.1
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• pp.109-117
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• 2016

This paper is focused on the determination of friction parameter which is a predominant factor in the design of inflatable structure system. This inflatable structure system is very valuably used to protect passively and rapidly the possibilities of tunnel damages by flooding threats and unusual leakage to be occurred during and after underground infrastructure construction. In particular, this system should be necessary in subsea tunnel. This study presents the experimental results obtained from the relative friction characteristics tests of the fabric materials that constitute the inflatable structure. In order to evaluate the relative friction behaviour of the inflatable structure system, friction tests and scaled model tunnel friction tests are carried out. The friction tests are carried out to determine the friction coefficient for different surface conditions between tunnel and inflatable structure. These friction coefficients are then evaluated and compared with the result obtained from the model tunnel friction tests. Interaction behaviours between tunnel and system are also reviewed and described in this study. The results clearly show that the friction coefficients derived from scaled model slippage tests are about 12% lower than values obtained from the friction tests. In addition, this study will be necessary to verify the real friction behaviour with prototype tests before applying in practice.

• Steel and Composite Structures
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• v.28 no.6
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• pp.767-778
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• 2018

The purpose of this study is to investigate how a fully restrained bolted beam splice affects the connection behavior as a column-tree connection in steel special moment frames under cyclic loading when located within the plastic hinge zone. The impacts of this attachment in protected zone are observed by using nonlinear finite element analyses. This type of splice connection is designed as slip-critical connection and thereby, the possible effects of slippage of the bolts due to a possible loss of pretension in the bolts are also investigated. The 3D models with solid elements that have been developed includes three types of connections which are the connection having fully restrained beam splice located in the plastic hinge location, the connection having fully restrained beam splice located out of the plastic hinge and the connection without beam splice. All connection models satisfied the requirement for the special moment frame connections providing sufficient flexural resistance, determined at column face stated in AISC 341-16. In the connection model having fully restrained beam splice located in the plastic hinge, due to the pretension loss in the bolts, the friction force on the contact surfaces is exceeded, resulting in a relative slip. The reduction in the energy dissipation capacity of the connection is observed to be insignificant. The possibility of the crack occurrence around the bolt holes closest to the column face is found to be higher for the splice connection within the protected zone.

• Journal of the Korea Concrete Institute
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• v.15 no.1
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• pp.17-24
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• 2003

One of the reasons for brittle failure in reinforced concrete structures subjected to severe earthquake is due to large local bond-slippage of bars resulting in fast bond degradation between reinforcing bars and concrete. This study aims to evaluate effects of bar deformation height on bond performance, specially, bond degradation under cyclic loading. Bond test specimens were constructed with machined bars with high relative rib areas. The degree of confinement by transverse bars is also another key parameters in this bond test. From test results, amounts of energy dissipation are calculated and compared for each parameter. Test results show that bond strength and stiffness drops significantly as cycles increases. The confinement and high relative rib area are effective to delay bond degradation, as the reduction of bond strength of cyclic loading compared to monotonic loading decreased for bars with large confinement and high relative rib areas. The energy dissipation also increases as the degree of confinement and relative rib area increases. However, tested bars with very high rib areas show that the bond may be damaged at relatively small slip because of high stiffness. The study will help to understand the bond degradation mechanism due to bar deformation height under cyclic loading and be useful to develop new deformed bars with high relative rib areas.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.8 no.1
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• pp.33-40
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• 1988

The new technique has been used to determine the soil-reinforcement interaction. The testing apparatus is essentially a triaxial cell fitted with the capability to house a hollow cylinderical sample. A hollow cylinderical sand specimen with a concentrical layer of reinfarcing material sandwitched in the middle is used in this investigation. The reinforcement is fastened at the base. The hollow specimen can be viewed as a "unit sheet" of a soil-reinforcement composite system of infinite horizontal extent. Axial load as well as inner and outer chamber pressures can be applied to perform a test. The specimen is first subjected to an isotropic stress state corresponding to the overburden pressure. Next, an extension test by reducing the axial load is carried out. The specimen is "loaded" to failure by either the breakage of reinforcing material (tensile failure) or slippage which takes place at the soil-reinforcement interface (i.e. the overcoming of the bonding capacity). Since the reinforcement is fastened at its lower end to the base, any tendency of relative movement between the reinforcement and the sand during an extension test can induce tensile force in the reinforcement thus forming a "reversed pull-out" test condition. Preliminary test results have demonstrated positively of the new approach to test the soil-reinforcement interaction. Reinforcing elements of different extensibility were used to study the deformbility of reinforced soil. Furthermore, both the breakage and the pull-out modes of failure were observed.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1431-1442
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• 2003

A new method of estimating the pose of a mobile-task robot is developed based upon an active calibration scheme. The utility of a mobile-task robot is widely recognized, which is formed by the serial connection of a mobile robot and a task robot. To be an efficient and precise mobile-task robot, the control uncertainties in the mobile robot should be resolved. Unless the mobile robot provides an accurate and stable base, the task robot cannot perform various tasks. For the control of the mobile robot, an absolute position sensor is necessary. However, on account of rolling and slippage of wheels on the ground, there does not exist any reliable position sensor for the mobile robot. This paper proposes an active calibration scheme to estimate the pose of a mobile robot that carries a task robot on the top. The active calibration scheme is to estimate a pose of the mobile robot using the relative position/orientation to a known object whose location, size, and shape are known a priori. For this calibration, a camera is attached on the top of the task robot to capture the images of the objects. These images are used to estimate the pose of the camera itself with respect to the known objects. Through the homogeneous transformation, the absolute position/orientation of the camera is calculated and propagated to get the pose of a mobile robot. Two types of objects are used here as samples of work-pieces: a polygonal and a cylindrical object. With these two samples, the proposed active calibration scheme is verified experimentally.

• Journal of Korean Medicine Rehabilitation
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• v.32 no.1
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• pp.51-62
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• 2022

Objectives Objective of this study is to investigate the role of paraspinal muscles by examining the correlation between slip percentage (SP) of spondylolisthesis and fatty infiltration of lumbar paraspinal muscle. Methods Retrospective analysis was performed on 45 patients diagnosed with spondylolisthesis based on medical records. Using T2-weighted axial magnetic resonance imaging, cross-sectional areas (CSAs) of psoas major (PM), multifidus (MU) and erector spinae (ES) were calculated and divided by CSA of lower level vertebral body (VB). SP was measured using sagittal T2-weighted images. Correlation of SP with muscle relative cross-sectional area (RCSA) and muscle fatty infiltration by Goutallier classification was respectively analyzed using Spearman correlation. Statistic assessment conducted by Wilcoxon signed rank test and paired t-test using program GraphPad prism 5 (GraphPad Software, Inc., San Diego, CA, USA). Results Spondylolisthesis forward slip percentage by Taillard's method was negatively associated with both side MU RCSAs. No significant correlation was found between PM RCSA, ES RCSA and SP. Forward slippage was significantly correlated with fatty infiltration of lumbar paraspinal muscle measured by Goutallier classification. Conclusions This study is to understand the role of paraspinal muscle affecting spinal instability by investigating correlation between statistical deviation of lumbar muscle characters (RCSA, fatty infiltration of lumbar muscle) and SP. We found that spondylolisthesis SP is positively related to fatty infiltration of lumbar paraspinal muscle. and is negatively associated with both side MU RCSAs.