• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2654-2659
• /
• 2003

In this paper, we present biomimetic hopping strategy which is more human-like for legged robot through stiffness modulation. Stiffness value is calculated from the motion of body center of gravity. This method enable to reduce impact force on touch-down, adaption on ground stiffness change and height modulation. Simple selected models will be used to validate this method. For general model, singular perturbation is used for control and simulation using stiffness modulation is presented.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.19 no.3 s.73
• /
• pp.303-312
• /
• 2006

This paper presents the equivalent nodal load for the element stiffness which represents the influence of the stiffness change such as the addition of elements, the deletion of elements, and/or the partial change of element stiffness. The reanalysis of structure using the equivalent load improves the efficiency very much because the inverse of the structural stiffness matrix, which needs a large amount of computation to calculate, is reused in the reanalysis. In this paper, the concept of the equivalent load for the element stiffness is described and some numerical examples are provided to verify it.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2006.05a
• /
• pp.314-317
• /
• 2006

In the present study, design methodologies for effective width of slabs in slab-column connections were evaluated in comparison with the experimental results on the full-scale slab-column connections. The design methodologies are as follows: the methodology proposed by Jacob S. Grossman and the methodology proposed by Choi & Song. The former does not predict the stiffness change of the slab-column connection due to the change in the column section shape and the latter overestimates the stiffness when edge length of the column section in the loading direction is long. Accordingly, the equation to calculate the effective width of slabs should be modified to reflect the effect of the change in the column section shape.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.10 no.6
• /
• pp.8-14
• /
• 2001

We develop a method to analyze dynamic behavior off multi-stage gear train system. The example system consists of three shafts supported by ball bearings at the ends of them and two pairs of spur gear set. For exact analysis, the meshing tooth pair of gear set is modeled as spring and damper having time-dependent meshing stiffness and damping. The bearing is modeled as spring. The result of this analysis is compared to that of other model having mean mesh stiffness. The effect of the excitation force by the unbalance off rotor off motor is also analyzed. Finally, the change ova natural frequency of the whole system due to the change of an angle between three shafts is compared in each case, and from this analysis, the avoiding angle for design is advised.

• Proceedings of the KSR Conference
• /
• 2007.05a
• /
• pp.351-357
• /
• 2007

The transition zone between railway embankment and structures, or different track types is known to be an area in which problems often arise and where extra care needs to be taken with maintenance. Differences in track stiffness have dynamic effects and these increase the force in the track and the extent of deformation. In this study, the criteria for the change ratio of track stiffness along transition area, and proper transition length are presented through train/track interaction analyses. Those are derived on the basis of permissible limitations of train and track performances such as rail stress, uplift force of fastener, reduction of dynamic wheel force, and acceleration of car body. A feasible method of evaluation of track stiffness which is necessary when a designer reviews whether the criteria are satisfied or not is also presented.

• Proceedings of the KSR Conference
• /
• 2008.06a
• /
• pp.1628-1636
• /
• 2008

Construction of concrete slab track is trending to increase gradually in national and international for reduction in track maintenance cost and secure of ride comfort. But elastic pad becomes superannuated due to repeated train operation. After all, it brings change of pad stiffness and it could directly act on track and bridge as load transmission and impact force. In this study, we carried out laboratory test changing pad stiffness after making a model of 15m bridge and laying concrete slab track. Also, we carried out static and dynamic behaviors test(stress, natural frequency, damping ratio, vibrational acceleration, deflection) of bridge and track and experimentally analyzed them by change of elastic pad stiffness on rail fastener.

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.786-791
• /
• 2004

This study proposed the analysis of mass position detection and modified stiffness due to the change of the mass and stiffness of structure by using the original and modified dynamic characteristics. The method is applied to examples of a cantilever and 3 degree of freedom by modifying the mass. The predicted detection of mass positions and magnitudes are in good agreement with these from the structural reanalysis using the modified mass.

• Journal of the Architectural Institute of Korea Structure & Construction
• /
• v.34 no.2
• /
• pp.3-10
• /
• 2018

Damage location and extent of structure could be detected by the inverse analysis on dynamic response properties such as frequencies and mode shapes. In practice the measured difference of natural frequencies represent the stiffness change reliably, however the measured mode shape is insensitive for stiffness change, but provides spatial information of damage. The damage detection index on shear building structures is formulated in this study. The damage detection index could be estimated from mode shape and srory stiffness of undamaged structure and frequency difference between undamaged and damaged structure. For the verification of the observed damage detection method, the numerical analysis of Matlab and MIDAS and shacking table test were performed. In results, the damage index of damaged story was estimated so higher than undamaged stories that indicates the damaged story apparently.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.05a
• /
• pp.1311-1312
• /
• 2012

• Structural Engineering and Mechanics
• /
• v.26 no.3
• /
• pp.315-341
• /
• 2007

A sudden change of stiffness in a structure, associated with the events such as weld fracture and brace breakage, will cause a discontinuity in acceleration response time histories recorded in the vicinity of damage location at damage time instant. A new damage index is proposed and implemented in this paper to detect the damage time instant, location, and severity of a structure due to a sudden change of structural stiffness. The proposed damage index is suitable for online structural health monitoring applications. It can also be used in conjunction with the empirical mode decomposition (EMD) for damage detection without using the intermittency check. Numerical simulation using a five-story shear building under different types of excitation is executed to assess the effectiveness and reliability of the proposed damage index and damage detection approach for the building at different damage levels. The sensitivity of the damage index to the intensity and frequency range of measurement noise is also examined. The results from this study demonstrate that the damage index and damage detection approach proposed can accurately identify the damage time instant and location in the building due to a sudden loss of stiffness if measurement noise is below a certain level. The relation between the damage severity and the proposed damage index is linear. The wavelet-transform (WT) and the EMD with intermittency check are also applied to the same building for the comparison of detection efficiency between the proposed approach, the WT and the EMD.