• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.20-25
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• 1998

This paper proposes a new compliant contact control strategy for the robot manipulators accidentally interacting with an unknown environment. The main features of the proposed method are summarized as follows: First, each entry in the diagonal stiffness matrix corresponding to the task coordinate in Cartesian space is adaptively adjusted during con-tact along the corresponding axis based on the contact force with its environment. Second, it can be used for both unconstrained and constrained motions without any switching mechanism which often causes undesirable instability and/or vibrational motion of the end effector. Third, the adjusted stiffness gains are automatically recovered to initially specified stiffness gains when the task is changed from constrained motion to unconstrained motion. The simulation results show the effectiveness of the proposed method by employing a two-link direct drive manipulator interacting with an unknown environment.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.103-108
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• 1999

A problem in the grinding with a small diametric wheel is the decrease of wheel speed. In order to resolve this problem, an accelerating unit which increases the wheel speed is recommended. In this paper, the accelerating effect of an accelerating unit has been investigated through the side-cut grinding experiments performed with a vitrified bonded CBN wheel in a machining center(MC). The static stiffness, normal force, and machining error were measured in the experiments. As the accelerating unit is attached on the column of machining center, the static stiffness of tool system is largely decreased. But as the wheel speed increased by the accelerating unit, this problem is overcome and machining efficiency is improved. The lesser the quill stiffness was, the higher the accelerating effect became.

• Journal of Biomedical Engineering Research
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• v.42 no.1
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• pp.1-6
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• 2021

Recently, various types of pedicle screws have been developed considering the anatomical structure of the spine. The purpose of this study was to evaluate the pullout stiffness and strength of two types of commercial pedicle screws. The design of two type screws were single pitched thread (ST) pedicle screw and dual pitched thread (DT) pedicle screw, respectively. The tests were conducted in accordance with the ASTM standards using polyurethane (PU) test blocks which has anatomical structure of the spine. There was no significant difference in pullout stiffness between two types of screw. However, DT exhibited higher pullout strength than ST (p<0.05). Pedicle screw with dual pitched thread showed higher pullout strength without decrease in pullout stiffness compared to the standard pedicle screw. In conclusion, dual pitched thread design of the pedicle screw is considered to be more suitable than the single pitched thread for the anatomical structure of the spine.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.8
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• pp.727-734
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• 2015

Currently, polyurethane (PU) foam is used in most refrigerators as a thermal insulator, whereby the material contributes to structural stiffness by joining the refrigerator cases; however, refrigerator PU foam induces a low thermal efficiency and results in environmental contamination. To resolve these issues, we applied the vacuum insulated panel (VIP) instead of PU form in the design of a new refrigerator type, whereby the VIP significantly contributes to the rectification of the previously mentioned issues. The VIP structure, however, cannot effectively hold refrigerator cases, so the present study investigated a new frame-structure concept by evaluating the stiffness using the topology optimization of refrigerator cases. Lastly, a refrigerator prototype comprising an optimal frame structure was built and subject to a stiffness test, and a comparison of the test results with those of a conventional refrigerator show that the structural stiffness of the prototype is sufficiently effective.

• Steel and Composite Structures
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• v.45 no.6
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• pp.797-818
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• 2022

Steel-precast ultra-high-performance concrete (UHPC) composite beams with demountable high-strength friction-grip bolt (HSFGB) shear connectors can be used for accelerated bridge construction (ABC) and achieve excellent structural performance, which is expected to be dismantled and recycled at the end of the service life. However, no investigation focuses on the demountability and reusability of such composite beams, as well as the installation difficulties during construction. To address this issue, this study conducted twelve push-out tests to investigate the effects of assembly condition, bolt grade, bolt-hole clearance, infilling grout and pretension on the crack pattern, failure mode, load-slip/uplift relationship, and the structural performance in terms of ultimate shear strength, friction resistance, shear stiffness and slip capacity. The experimental results demonstrated that the presented composite beams exhibited favorable demountability and reusability, in which no significant reduction in strength (less than 3%) and stiffness (less than 5%), but a slight improvement in ductility was observed for the reassembled specimens. Employing oversized preformed holes could ease the fabrication and installation process, yet led to a considerable degradation in both strength and stiffness. With filling the oversized holes with grout, an effective enhancement of the strength and stiffness can be achieved, while causing a difficulty in the demounting of shear connectors. On the basis of the experimental results, more accurate formulations, which considered the effect of bolt-hole clearance, were proposed to predict the shear strength as well as the load-slip relationship of HSFGBs in steel-precast UHPC composite beams.

• Journal of the Korean Society for Railway
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• v.18 no.1
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• pp.33-42
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• 2015

The vertical static stiffness of rail pads or baseplate pads, which are important components in rail fastening systems for track safety, is a key factor to determine the total track stiffness and a guideline of quality control in the manufacturing process. The vertical static stiffness can be checked by laboratory testing: test methods are EN 13146-9 and KRS TR 0014, which are widely used in the railway field. In this paper, to correct some problems, namely the preloading step, the unloading level, and the holding time in the loading program in the vertical static stiffness test of EN 13146-9 and KRS TR 0014, domestic and foreign test standards of pads were analyzed and then certain schemes for a vertical static stiffness test were proposed. To assess the reliability of the proposed schemes, the vertical static stiffness tests were performed with 4 pads and the validity of the test results was estimated.

• International Journal of Reliability and Applications
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• v.8 no.1
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• pp.111-124
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• 2007

In this paper, we apply insightful statistical reliability tools to manage and seek improvements in the strengths of Oriented Strand Board (OSB). As a part of the OSB manufacturing process, the product undergoes destructive testing at various intervals to determine compliance with customers' specifications. Workers perform these tests on sampled cross sections of the OSB panel to measure the tensile strength, also called internal bond (IB), in pounds per square inches until failure. Additional stiffness strength tests include parallel and perpendicular elasticity indices (EI), which are taken from cross sectional samples of the OSB panel in the parallel and perpendicular directions with respect to the orientation of the wood strands. We explore both graphically and statistically these "pressure-to-failures" of OSB. Also, we briefly comment on reducing sources of variability in the IB and EI of OSB.

• Steel and Composite Structures
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• v.42 no.2
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• pp.257-264
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• 2022

The analysis of the progressive collapse resistance of structures is a well-known issue among structural engineers. Large-span reticulated dome structures are commonly utilized in large public buildings, necessitating research into their progressive collapse resistance to assure user safety. The most significant part of improving the structural resilience of reticulated domes is to evaluate their key elements. Based on a stiffness-based evaluation approach, this work offers a calculating procedure for element importance coefficient. For both original and damaged structures, evaluations are carried out using the global stiffness matrix and the determinant. The Kiewitt, Schwedler, and Sunflower reticulated domes are investigated to explore the distribution characteristic of element importance coefficients in the single-layer dome structures. Moreover, the influences of the load levels, load distributions, geometric parameters and topological features are also discussed. The results can be regarded as the initial concept design reference for single-layer reticulated domes.

• Earthquakes and Structures
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• v.11 no.1
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• pp.1-23
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• 2016

Numerous buildings have been damaged or destroyed in previous earthquakes by developing soft storey. Almost all the seismic codes have provisions to prevent soft storey in structures, most of them have recommended the ratio of stiffness between adjacent storeys, but none of them has proposed the method to calculate the storey stiffness. On the other hand a great number of previous researches on stiffness have been focused on approximate methods and accurate methods by using analytical softwares have been almost neglected. In this study, six accurate methods for calculating the storey stiffness have been studied on 246 two-bay reinforced concrete frames. It is shown with the results of the statistical study and structural analysis that method 3 in which there is no modification of the original model and the forces with triangular distribution similar to seismic forces are applied to the center of mass of all storeys has acceptable accuracy and desirable efficiency for designing and controlling structures.

• Korean Journal of Applied Biomechanics
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• v.27 no.2
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• pp.109-116
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• 2017

Objective: This study aimed to investigate the relationship between leg stiffness and kinematic variables according to load while running. Method: Participants included eight healthy men (mean age, $22.75{\pm}1.16years$; mean height: $1.73{\pm}0.01m$; mean body weight, $71.37{\pm}5.50kg$) who ran with no load or a backpack loaded with 14.08% or 28.17% of their body weight. The analyzed variables included leg stiffness, ground contact time, center of gravity (COG) displacement and Y-axis velocity, lower-extremity joint angle (hip, knee, ankle), peak vertical force (PVF), and change in stance phase leg length. Results: Dimensionless leg stiffness increased significantly with increasing load during running, which was the result of increased PVF and contact time due to decreased leg lengths and COG displacement and velocity. Leg length and leg stiffness showed a negative correlation (r = -.902, $R^2=0.814$). COG velocity showed a similar correlation with COG displacement (r = .408, $R^2=.166$) and contact time (r = -.455, $R^2=.207$). Conclusion: Dimensionless leg stiffness increased during running with a load. In this investigation, leg stiffness due to load increased was most closely related to the PVF, knee joint angle, and change in stance phase leg length. However, leg stiffness was unaffected by change in contact time, COG velocity, and COG displacement.