• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.396-399
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• 1995

This paper presents a new formulation of the kinematics of closed-chain mechanisms and its applications to obtaining the kinematic solutions and analyzing the singularities. Closed-chain mechanisms under consideration may have the redundancy in the number of joints. A closed-chain mechanism can be treated as the parallel connection of two open-chains with respect to a point of interest. The kinematics of a closed-chain mechanism is then obtained by imposing the kinematic constraints of the closed-chain on the kinematics of the two open-chains. First, we formulate the kinematics of a closed-chain mechanism using the kinematic constraint between the controllable active joints and the rest of joints, instead of the kinematic constraint between the two open-chains. The kinematic formulation presented in this paper is valid for closed-chain mechanisms with and without the redundancy. Next, based on the derived kinematics of a closed-chain mechanism, we provide the kinematic solutions which are more physically meaningful and less sensitive to numerical instability, and also suggest an effective way to analyze the singularities. Finally, the computational cost associated with the kinematic formulation is analyzed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.3
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• pp.475-482
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• 2001

In this paper, I describe the implementation of the distributed lists based on socket and on RMI(Remote Method Invocation). First, I describe and implement an interface of distributed list based on socket using object stream in a distributed environment, when encapsulating the message in the distributed list. Second, the major purpose to implement a distributed list in RMI is to compare advantages and disadvantages with other networking mechanisms by implementing complicated applications. The major advantage in using RMI is to implement simply the programs without using application-level protocol. In terms of program efficiency, the applications using HMI can degrade the performance due to many TCP/IP connections generated every update. TCP/IP connection requires much less cost than RMI. Even though RMI has the mechanism processing many method calls using a sing]e network connection, RMI is less efficient than the direct use of socket. However, RMI makes it possible to communicate beyond firewall using HTTP proxying mechanism. Consequently, I present a modeling of networking mechanism in finding out optimization solution by comparing and analyzing the two systems.

• Steel and Composite Structures
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• v.28 no.2
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• pp.167-177
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• 2018

In order to investigate mechanical properties in the core area of Square Hollow Section(SHS) column connection with external stiffening ring, four specimens were tested under the static tension load. The failure modes, load-displacement curves and strain distribution were analyzed to study the mechanical properties and the load transfer mechanism of the core area of connections. The connections behave good ductility and load-bearing capacity under the static tension load. Parametric analysis was also conducted, in which the thickness of steel tube, extended width and thickness of the stiffening ring were considered as the parameters to investigate the effects on mechanical properties of the connections. Based on the experimental results, an analytical method for the bearing capacity of connection with external stiffening ring under the static tension load was proposed. The theoretical results and the experimental results are in good agreement, which indicates that the theoretical calculation method of the bearing capacity is advisable.

• Journal of Korean Society of Steel Construction
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• v.10 no.1 s.34
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• pp.25-35
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• 1998

A moment connection of H beam-to-rectangular tube column with external stiffeners was proposed. A formula to predict the ultimate strength of the connection was derived based on the yield line mechanism. Experimental investigation was performed to determine the applicability of the connection type and the strength formula. The ultimate strengths computed by the formula agreed well with the experimental values.

• Steel and Composite Structures
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• v.50 no.2
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• pp.217-235
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• 2024

Concrete-filled steel tubes (CFSTs) nowadays are widely used as the main parts of momentous structures, and its connection has gained increasing attention as the complexity in configuration and load transfer mechanism. This paper proposes a novel CFST pier-to-footing incorporating tube-confined RC encasement. Such an innovative approach offers several benefits, including expedited on-site assembly, effective confinement, and collision resistance and corrosion resistance. The seismic behavior of such CFST pier-to-footing connection was studied by testing eight specimens under quasi-static cyclic lateral load. In the experimental research, the influences on the seismic behavior and the order of plastic hinge formation were discussed in detail by changing the footing height, axial compression ratio, number and length of anchored bars, and type of confining tube. All the specimens showed sufficient ductility and energy dissipation, without significant strength degradation. There is no obvious failure in the confined footing, while local buckling can be found in the critical section of the pier. It suggests that the footing provides satisfactory strength protection for the connection.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.12 s.243
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• pp.1645-1652
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• 2005

Pick-and-place systems using suction cups have been being widely used and continuously developed in production automation. There are, however, some drawbacks in constructing such systems. One of them is that it generates high level noise due to air compressors. And the system must have complex constitutions of mechanical component such as air compressors, air tubes, air valves, etc. Moreover, it needs continuous air supply to maintain vacuum in suction cups. If there is a failure in any suction cup, the total suction system may fail owing to air leakage. To overcome these drawbacks, we propose PMS (Permanent Magnet Suction) mechanism which has permanent magnets for vacuuming suction cups with no air compressor. The basic concept of PMS mechanism is to rotate permanent magnets with fixed angle. Simple rotation of permanent magnets changes the direction of the magnetic force applied at the suction cups. Since each suction cup has no direct connection with any of the others, the air leakage at one suction cup is not critical. The proposed suction mechanism was designed and fabricated. With some experiments, the feasibility and performance of the PMS mechanism was shown. The strong points of the PMS mechanism are in its simple structure, generating low noise, high energy efficiency, and no need of continuous energy supply.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.7
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• pp.1321-1328
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• 2009

In this paper, an electromagnetic force driving actuator (EMFA) and three-link mechanism are proposed as a driving mechanism and connection device for low voltage air circuit breaker (ACB). As the result of dynamic characteristic analysis, the actuator and link mechanism are designed from the simulation and manufactured. The magneitc field of the EMFA is analyzed using the finite element method (FEM). The dynamic characteristic analysis with calculation of the circuit equation and kinetical equation is performed by the time difference method (TDM). Also, the result of the analysis is verified through the experiment of the fabrication model. In this paper, the EMFA size is smaller than the actuator for high voltage circuit breaker. Thus, the dynamic characteristic is analyzed with end-winding inductance that is calculated by the same method which is applied on the circle type end-winding of motors. The designed model for 1600 ampere-frame ACB and the three-link mechanism for connecting contact part with actuating part are manufactured. It is confirmed that the three-link mechanism is possible for improving the circuit breaker efficiency and reducing the size of the EMFA. It is proved that the improved 2-D analysis is more accurate than established method.

• Structural Engineering and Mechanics
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• v.46 no.4
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• pp.487-504
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• 2013

In the present work a new friction device, with a set of single or double rotational friction flanges and a link element, is described and tested. The mechanism may be applied for the strengthening of existing r/c or steel buildings as well as in new constructed buildings. The device has selectable variable behavior in different levels of displacement and an interlock mechanism that is provided by the link element. The link element may be designed to lock at preselected level of displacement, offering in this way an extra safety reserve against strong earthquakes. A summary of the existing literature about other similar mechanisms is initially presented in this paper. The proposed mechanism is presented and described in details. Laboratory experiments are presented in detail and the resulted response that proves the efficiency of the mechanism at selectable levels of strength capacity is discussed. Drawings of the mechanism attached to a r/c frame with connection details are also included. Finally a dynamic analysis of two r/c frames, with and without the proposed mechanism attached, is performed and the resulted response is given. The main conclusion is that the proposed mechanism is a cheap and efficient devise for the improvement of the performance of new or existing framed buildings to seismic loads.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.179-180
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• 2009

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.5
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• pp.543-550
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• 2010

Earthquake resistant design should provide a description of the structural failure mechanism under earthquakes as well as satisfy the requirement of other designs, e.g. design strengths of each structural member should be equal or greater than the required strengths. The reason of such a requirement is the randomness of seimic loads different from other loads. In this study, a typical bridge is selected as an analysis bridge and the procedure is given to get the ductile failure mechanism through connection design. It is shown with the procedure that the earthquake resistant capacity can be ensured within structural member's strengths required by other designs, without cost raise by strength increase of structural members or by use of shock absorbing device e.g. shock transfer unit.