• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.3
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• pp.59-64
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• 2008

Spindle units of machine tool are very important part in the manufacturing area. Recently high speed machining has become the main issue of metal cutting. To develop high speed machine tools, a lot of studies have been carried out for high speed spindle. Due to increase of the rotational speed of the spindle, there has been renewal of interest in tooling system of high speed spindle. This paper concerns the static stiffness in the main spindle interface according to variation of clamping force, rotational speed and tool holder shank. Finite element analysis is performed by using a commercial code ANSYS workbench. From the results, it has been shown that the geometry of tool holder shank is mostly influence on the variation of the static stiffness in the main spindle interface.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.5
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• pp.697-704
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• 2019

The public has grown more anxious towards domestic earthquakes that have been taking place since 2000, and regulations on seismic design has been strengthened. Out of 4,605 Air Force installations that require the application of seismic design, 2,982 remain unapplied. By taking budget issues and the time spent to implement seismic retrofit into account, this paper aims to list up seismic reinforcement priorities for airmen dormitories where they can potentially be most vulnerable to earthquakes. The priorities are extracted based on Data Envelope Analysis(DEA). To apply DEA, two sets of variables are set: seismic reinforcement costs as input variable: age of building, number of residents, and seismic load as output variables. At the end, suggestions are made for developing seismic reinforcement plans that can be applied to all Air Force installations.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1262-1269
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• 2003

In structural optimization, static loads are generally utilized although real external forces are dynamic. Dynamic loads have been considered in only small-scale problems. Recently, an algorithm for dynamic response optimization using transformation of dynamic loads into equivalent static loads has been proposed. The transformation is conducted to match the displacement fields from dynamic and static analyses. The algorithm can be applied to large-scale problems. However, the application has been limited to size optimization. The present study applies the algorithm to shape optimization. Because the number of degrees of freedom of finite element models is usually very large in shape optimization, it is difficult to conduct dynamic response optimization with the conventional methods that directly threat dynamic response in the time domain. The optimization process is carried out via interfacing an optimization system and an analysis system for structural dynamics. Various examples are solved to verify the algorithm. The results are compared to the results from static loads. It is found that the algorithm using static loads transformed from dynamic loads based on displacement is valid even for very large-scale problems such as shape optimization.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.8
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• pp.1363-1370
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• 2003

In structural optimization, static loads are generally utilized although real external forces are dynamic. Dynamic loads have been considered in only small-scale problems. Recently, an algorithm for dynamic response optimization using transformation of dynamic loads into equivalent static loads has been proposed. The transformation is conducted to match the displacement fields from dynamic and static analyses. The algorithm can be applied to large-scale problems. However, the application has been limited to size optimization. The present study applies the algorithm to shape optimization. Because the number of degrees of freedom of finite element models is usually very large in shape optimization, it is difficult to conduct dynamic response optimization with the conventional methods that directly threat dynamic response in the time domain. The optimization process is carried out via interfacing an optimization system and an analysis system for structural dynamics. Various examples are solved to verify the algorithm. The results are compared to the results from static loads. It is found that the algorithm using static loads transformed from dynamic loads based on displacement is valid even for very large-scale problems such as shape optimization.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.648-653
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• 2015

The kinematics with the instantaneous motion and statics of a manipulator has generally been proven algebraically. The algebraic solutions give very simple and straightforward results but the solutions do not have any meaning in physics or geometry. Therefore it is not easy to extend the algebraic results to design or control a robotic manipulator efficiently. Recently, geometrical approach to define the instantaneous motion or static relation of a manipulator is popularly researched and the results have very strong advantages to have a physical insight in the solution. In this paper, the instantaneous motion and static relation of a planar manipulator are described by geometrical approach, specifically by an axis screw and a line screw. The mass center of a triangle with weight and a perpendicular distance between the two screws are useful geometric measures for geometric analysis. This study provides a geometric interpretation of the kinematics and statics of a planar manipulator, and the method can be applied to design or control procedure from the geometric information in the equations.

• Structural Engineering and Mechanics
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• v.62 no.2
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• pp.247-258
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• 2017

Beam-like structures such as bridge, high building and tower, pipes, flexible connecting rods and some robotic manipulators are often excited by support motions. These structures are important in machines and structures. So, this study proposes an analytic method to accurately predict the dynamic behaviors of the structures during support motions or an earthquake. Using Timoshenko beam theory which is valid even for non-slender beams and for high-frequency responses, the analytic responses of fixed-fixed beams subjected to a real seismic motions at supports are illustrated to show the principled approach to the proposed method. The responses of a slender beam obtained by using Timoshenko beam theory are compared with the solutions based on Euler-Bernoulli beam theory to validate the correctness of the proposed method. The dynamic analysis for the fixed-fixed beam subjected to support motions gives useful information to develop an understanding of the structural behavior of the beam. The bending moment and the shear force of a slender beam are governed by dynamic components while those of a stocky beam are governed by static components. Especially, the maximal magnitudes of the bending moment and the shear force of the thick beam are proportional to the difference of support displacements and they are influenced by the seismic wave velocity.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.9
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• pp.493-498
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• 2002

Double-side linear pulse motor(DSLPM) has more advantages than single-side linear pulse motor because noise and vibration can be considerably decreased by countervailing the normal forces, which is generated between two stators and mover. However, DSLPM has more complicated magnetic flux path and layout of stator pole toot/mover tooth rather than single-side linear pulse motor In this paper, DSLPM is designed and fabricated by considering the air gap magnetic density, shape of tooth and slot. In order to verify the characteristics of DSLPM, the air gap magnetic flux density is analyzed by 2D FEM and the magnetic flux path is analyzed by 3D FEM. Also the static thrust forces is obtained with the analyzed results.

• Journal of Power System Engineering
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• v.5 no.4
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• pp.82-89
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• 2001

To design a structural or a mechanical system with the best performance, the main procedure of a typical design usually consists of repeated modifications of design parameters and the investigation of the system response for each set of these parameters. But this procedure requires much time, effort and experience. Sensitivity analysis can provide systematic information for improving performance of a system. The author has studied on the development of the structural analysis algorithm and suggested recently the transfer stiffness coefficient method(TSCM). This method is very suitable algorithm to a personal computer because the concept of the TSCM is based on the transfer of the nodal stiffness coefficients which are related to force and displacement vectors at each node. In this paper, a new sensitivity analysis algorithm using the concept of the TSCM is formulated for the computation of state variable sensitivity in static problems. The trust of the proposed algorithm is confirmed through the comparison with the computation results using existent sensitivity analysis algorithm and reanalysis for computation models.

• Journal of the Korea Concrete Institute
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• v.22 no.4
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• pp.489-498
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• 2010

The performance evaluation of reinforcement concrete structure is carried out as a function of the following performance influencing factors: (1) the strength of concrete, (2) longitudinal reinforcement, (3) transverse reinforcement, (4) aspect ratio, and (5) axial force. With various values of the five parameters, eigenvalue analysis and non-linear static analysis were performed to investigate the structural yield displacement, yield basis shear force, and static performance of ductility ratio. In addition, the performance evaluation is carried out according to the modified capacity spectrum method (FEMA-440) using the results of non-linear static analysis, and the effect of each parameter on performance point is analyzed. Based on the result of eigenvalue analysis and non-linear static analysis indicates, that the natural period and the ductility ratio are affected more by the structural properties than the material properties. In case of the analysis of the criterion of performance points, the effect of section shape is one of the important factors together with natural period and ductility ratio.