• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.1
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• pp.115-121
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• 2000

Command shaping is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam in finite time. The command is constructed by solving linear equations. The finite time duration in which the desired motion of joint angle is achieved along with elimination of the residual vibration can be arbitrarily specified. The necessary conditions for using command as a reference input for the joint angle in a closed-loop configuration are also discussed. The effectiveness of Proposed scheme is demonstrated through computer simulation.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.04a
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• pp.283-289
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• 2000

The panel shear and bearing strengths determining the seismic resistance of reinforced concrete column-to-steel beam connections are predicted by various methods for four previously tested exterior beam-column joints. The analytical approach to model the joint deformation is also examined. Several analyses incorporating the deformations of panel shear and bearing in the joint are demonstrated using a analyses incorporating the deformations of panel shear and bearing in the joint are demonstrated using a fairly simple connection model in the commercial packages such as Drain2dx and IDARC. The strength prediction results indicated that the ASCE method with the modifcation of the comprssion strut contribution is th most accurate. It is also considered that the analytical model presented including the joint deformation can be used for the overall analysis

• Journal of the Korea Institute of Building Construction
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• v.4 no.3
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• pp.125-131
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• 2004

Nowadays, it seems we are in the high time of construction design because development of construction technology widen the option of construction exterior closing materials and deepen the high-tech construction method with all various materials. When we see the flow of construction market, the mainstream is the high-rise intelligent building, which makes the best use of the small midtown area efficently. Therefore, Alum curtain wall is becoming the main material of exterior construction, the concept of which is changing from just a simple window frame to an outer wall which has comprehensive function and capability. As we think of the importance of Curtain wall as a comprehensive outer wall, We should do thorough technical examination and verification at the stage of construction design and plan of carrying out construction.

• Proceedings of the Korea Concrete Institute Conference
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• 2004.11a
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• pp.65-68
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• 2004

In the seismical capacity evaluation for RC structure wall-slab joint is very important factor. Because lateral load is resistance element and gravity load resistance element are acted mutually in the wall-slab joint. In this paper, to improve the seismic capacity of the wall-slab joint in the existing wall type apartments experiment which improve and retrofit a seismic capacity by unequal angle bracing and carbon sheet attachment are carried out. These methods are also economic and simple in mitigating seismic hazard, improve earthquake-resistance performance, and reduce risk level of building occupants. From the experimental results, the change of strength, degration of stiffness, and energy dissipation are evaluated. It can be concluded that these methods are effective in improving the seismic performance.

• Journal of the Institute of Convergence Signal Processing
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• v.3 no.1
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• pp.61-66
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• 2002

A fuzzy control strategy is described which is utilized to control the joint angle and tip deflection in single flexible manipulator. In this paper, an existing model for a single flexible manipulator is used for the initial development of an FLC. One FLC is designed to govern the joint angle of the manipulator as it is rotated from one position to another, and the second FLC is designed to attenuate the tip deflection which result from joint angle body motion. Reference Trajectory Command is an important method to reduce vibration in flexible beam. This paper presents a very simple command control shaping which eliminates multiple mode residual vibration in a flexible beam combined parallel fuzzy controller. The effectiveness of proposed scheme is demonstrated through computer simulation.

• Steel and Composite Structures
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• v.31 no.1
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• pp.99-112
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• 2019

Semi-rigid joints have been widely studied in literature in recent decades because they affect greatly the structural response of frames. In literature, the behavior of semi-rigid joints is commonly assumed to be identical under positive and negative moments which are obviously incorrect in many cases where joint details such as bolt arrangement or placement of haunch are vertically asymmetrical. This paper evaluates two common types of steel frames with asymmetrical beam-to-column joints by Direct Analysis allowing for plasticity. A refined design method of steel frames using a proposed simple forth order curved-quartic element with an integrated joint model allowing for asymmetrical geometric joint properties is presented. Furthermore, the ultimate behavior of six types of asymmetrical end-plate connections under positive and negative moment is examined by the Finite Element Method (FEM). The FEM results are further applied to the proposed design method with the curved-quartic element for Direct Analysis of two types of steel frames under dominant gravity or wind load. The ultimate frame behavior under the two different scenarios are examined with respect to their failure modes and considerably different structural performances of the frames were observed when compared with the identical frames designed with the traditional method where symmetrical joints characteristics were assumed. The finding of this research contributes to the design of steel frames as their asymmetrical beam-to-column joints lead to different frame behavior when under positive and negative moment and this aspect should be incorporated in the design and analysis of steel frames. This consideration of asymmetrical joint behavior is recommended to be highlighted in future design codes.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.1
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• pp.10-17
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• 2016

In general, articulated robot control technology is limited to the design of robot arm control systems considering each joint of the robot joint as a simple servomechanism. This method describes the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. The changes of the parameters in the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pock and place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and sustaining desirable dynamic performance for variations of payload and parameter uncertainties. In many servo control applications the linear control scheme proposes unsatisfactory, therefore, a need for nonlinear techniques that increasing. for Forging process automation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.127-132
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• 1992

To relize the future intelligent robot the development of a special-purpose processor for a coordinate transformation is evidently challenging task. In this case the complexity of a hardware architecture strongly depends on the adopted algorithm. In this paper we have used an inverse kinemetics algorithm based on incremental unit computation method. This method considers the 3-axis articulated robot as the combination of two types of a 2-axis robot: polar robot and 2-axis planar articulated one. For each robot incremental units in the joint and Cartesian spaces are defined. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Futhermore, the incremental computation of the DDA integrator can be used to solve the direct kinematics. We have also designed a hardware architecture to implement the proposed algorithm. The architecture consists of serveral simple unitsl. The operative unit comprises several basic operators and simple data path with a small bit-length. The hardware architecture is realized byusing the EPLD. For the straight-line motion of the KAIST arm we have obtained maximum end effector's speed of 12.6 m/sec by adopting system clock of 8 MHz.

• Journal of the Korean Society of Radiology
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• v.11 no.4
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• pp.253-262
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• 2017

In lateral projection imaging method of knee joint, a method that adjusts the incidence angle of central X-ray toward the head side to $5{\sim}7^{\circ}$ in true lateral position which is existing recommended is called imaging method A, Method of imaging the central X-ray perpendicular to the horizontal plane of the examination table toward the knee is called imaging method B, and a method in which the central X-ray is perpendicularly applied to the joints while the lateral side of the distal tibia is compensated by radiolucent materials is called as method C. After tests each imaging method to classified study subject respectively, the joint space distance and the distance between lateral and medial condyle of femur were measured and compared as the quantitative index from the three imaging methods. In addition, the convenience of each imaging method was confirmed through questionnaires to practician. According to the result of the quantitative index, there is no statistically significant difference in imaging method A and C(p>0.05). However, imaging method B showed a significant difference in both A and C(p<0.05). As a result of evaluating the convenience of the imaging method, imaging method A was relatively assessed lower in all items than imaging methods B and C, and as a small difference, imaging method B is assessed higher than C. In this study suggested new knee joint lateral projection imaging method, by using a simple support device, could describe joint space as not much different as existing recommended method without some complex process, and could increase convenience of the practician in the process of the imaging.

• Proceedings of the Korea Concrete Institute Conference
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• 2000.10b
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• pp.1007-1012
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• 2000

This study is to present a design method using continuous tendons in IPC girders. Present design methods use just concrete to make continuity between girders. In these design methods cracks occur in almost every joint area of girders. This means that these girders act as simple beam instead of continuous beams. The design method which is presented here uses continuous tendons between girders. In this method the cracks could be restrained. So the girders behave as continuous beams, which this method allows the span length gets longer than simple girders and also the section height could get lower. In this way the number of piers and the weight of super structure could be reduced which means the construction cost could also be reduced.