• Proceedings of the Korean Geotechical Society Conference
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• 2010.03a
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• pp.448-456
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• 2010

The mechanical behavior of granular soils is affected by particle bonding including natural cementation. This study addresses a simple model of small strain stiffness and salt concentration based on wave measurements of salt-cemented particulate media. Published models of artificially cemented soils with different curing methods and several types of cementation agents are reviewed. Glass beads with the median diameter of D50 = 0.5mm are prepared in rectangular cells using the water-pluviated method in salt water with different concentrations. Piezo disk elements and bender elements embedded in the cell are used for the measurements of compressional and shear waves. The relationships between elastic wave velocities and salt concentration show an exponential function. The measured small strain stiffness matches well the predicted small strain stiffness based on micromechanics for simple cubic monosized sphere particles. This study demonstrates that the salt concentration in salt-cemented specimen may be evaluated by using elastic wave velocities.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.19-26
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• 2021

The lattice structure is attracting attention from industry because of its excellent strength and stiffness, ultra-lightweight, and energy absorption capability. Despite these advantages, widespread commercialization is limited by the difficult manufacturing processes for complex shapes. Additive manufacturing is attracting attention as an optimal technology for manufacturing lattice structures as a technology capable of fabricating complex geometric shapes. In this study, a unit cell was formed using a three-dimensional coordinate method. The relative density relational equation according to the boundary box size and strut radius of the unit cell was derived. Simple cubic (SC), body-centered cubic (BCC), and face-centered cubic (FCC) with a controlled relative density were designed using modeling software. The accuracy of the equations for calculating the relative density proposed in this study secured 98.3%, 98.6%, and 96.2% reliability in SC, BCC, and FCC, respectively. A simulation of the lattice structure revealed an increase in compressive yield load with increasing relative density under the same cell arrangement condition. The compressive yield load decreased in the order of SC, BCC, and FCC under the same arrangement conditions. Finally, structural optimization for the compressive load of a 20 mm × 20 mm × 20 mm structure was possible by configuring the SC unit cells in a 3 × 3 × 3 array.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.2
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• pp.184-191
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• 2003

A parallel manipulator has high stiffness and all the joint errors on the device are not accumulated at the end -effector unlike a serial manipulator. These are the reasons why the parallel manipulator has been widely used in many fields of industry. In the parallel manipulator, it is very important to predict the exact pose of the end-effector when we want to control the end-effector motion. Installation errors have to be determined in order to predict and control the actual position and pose of the end-effector. This paper presents an algorithm to find the whole 36 joint error components with joint clearance errors and measurement errors considered, when a link length measurement sensor is used and data more than 36 times are acquired for 36 different configurations. A simulation test using this algorithm is performed with a Matlab program which uses the Levenberg-Marquardt method that is known to be efficient for non-linear optimization.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.496-504
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• 2023

This paper recognizes the motion intention of the wearer using a muscle stiffness sensor and proposes a control system for a wearable robot based on this. The proposed system recognizes the onset time of the motion using sensor data, determines the assistance mode, and provides assistive torque to the hip flexion/extension motion of the wearer through the generated reference trajectory according to the determined mode. The onset time of motion was detected using the CUSUM algorithm from the muscle stiffness sensor, and by comparing the detection results of the onset time with the EMG sensor and IMU, it verified its applicability as an input device for recognizing the intention of the wearer before motion. In addition, the stability of the proposed method was confirmed by comparing the results detected according to the walking speed of two subjects (1 male and 1 female). Based on these results, the assistance mode (gait assistance mode and muscle strengthening mode) was determined based on the detection results of onset time, and a reference trajectory was generated through cubic spline interpolation according to the determined assistance mode. And, the practicality of the proposed system was also confirmed by applying it to an actual wearable robot.

• Journal of the Korean Society for Advanced Composite Structures
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• v.2 no.3
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• pp.1-11
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• 2011

The typical truss-lattice material successively packed by repeated cubic symmetric unit cells consists of sub-elements (SE) proposed in this study. The representative continuum model for this truss-lattice material such as the effective strain and stress relationship can be formulated by the homogenization procedure based on the notation of averaged mechanical properties. The volume fractions of micro-scale struts have a significant influence on the effective strength as well as the relative density in the lattice plate with replicable unit cell structures. Most of the strength contribution in the lattice material is induced by axial stiffness under uniform stretching or compression responses. Therefore, continuum based constitutive models composed of homogenized member stiffness include these mechanical characteristics with respect to strength, internal stress state, material density based on the volume fraction and even failure modes. It can be also recognized that the stress state of micro-scale struts is directly associated with the continuum constitutive model. The plastic flow at the micro-scale stress can extend the envelope of the analytical stress function on the surface of macro-scale stress derived from homogenized constitutive equations. The main focus of this study is to investigate the basic topology of unit cell structures with the cubic symmetric system and to formulate the plastic models to predict pressure dependent macro-scale stress surface functions.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.3
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• pp.32-38
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• 2006

During stereolithography processes, the shape errors such as curl distortion and distortion of side face are generated due to the shrinkage of liquid resins. In this study, the effects of dimension of part and structure of supports on the shape error are examined. Cubic specimens which have different thicknesses are manufactured and their deformations are measured with CMM. Thicker part generates smaller curl distortion of top face and larger of bottom face. Also thicker part generates larger distortion of side face until part thickness increases to about 20mm. Larger stiffness of supports which is obtained by shorter spacing of the supports and line type contact instead of point type contact generates smaller shape error of the part.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1997.10a
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• pp.239-246
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• 1997

The general formulation of free vibration and stability analysis of unsymmetric thin-walled space frames and beam-columns is presented. The kinetic and total potential energy is derived by applying the extended virtual work principle, introducing displacement parameters defined at the arbitrarily chosen axis and including second order terms of finite semitangential rotations. In formulating the finite element procedure, cubic Hermitian polynomials are utilized as shape functions of the two node space frame element. Mass, elastic stiffness, and geometric stiffness matrices for the unsymmetric thin-walled section are evaluated. In order to illustrate the accuracy and practical usefulness of this formulation, finite element solutions for the free vibration and stability problems of thin-walled beam-columns and space frames are presented and compared with available solutions.

• Structural Engineering and Mechanics
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• v.22 no.2
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• pp.151-167
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• 2006

A p-version of the finite element method in conjunction with the modeling dynamic method using the arc-length stretch deformation is considered to determine the bending natural frequencies of a cantilever flexible plate mounted on the periphery of a rotating hub. The plate Fourier p-element is used to set up the linear equations of motion. The transverse displacements are formulated in terms of cubic polynomials functions used generally in FEM plus a variable number of trigonometric shapes functions representing the internals DOF for the plate element. Trigonometric enriched stiffness, mass and centrifugal stiffness matrices are derived using symbolic computation. The convergence properties of the rotating plate Fourier p-element proposed and the results are in good agreement with the work of other investigators. From the results of the computation, the influences of rotating speed, aspect ratio, Poisson's ratio and the hub radius on the natural frequencies are investigated.

• Journal of Korean Society of Steel Construction
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• v.13 no.6
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• pp.703-713
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• 2001

Derivation procedures of exact dynamic stiffness matrices of thin-walled straight beams subjected to eccentrically axial forces are rigorously presented for the spatial free vibration analysis. An exact dynamic stiffness matrix is established from governing equations for a uniform beam element with nonsymmetric thin-walled cross section. First this numerical technique is accomplished via a generalized linear eigenvalue problem by introducing 14 displacement parameters and a system of linear algebraic equations with complex matrices. Thus, the displacement functions of displacement parameters are exactly derived and finally exact stiffness matrices are determined using element force-displacement relationships. The natural frequencies of nonsymmetric thin-walled straight beams are evaluated and compared with analytical solutions or results by thin-walled beam element using the cubic Hermitian polynomials and ABAQU's shell elements in order to demonstrate the validity of this study.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.4
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• pp.129-135
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• 1996

The area of gear vibration and noise, has recently been the focus of many studies. The proper kinematic and geometric design of gears, the mathematical modeling of gear system are essential for a good design. This work present a gear disign for reducing noise, and practical approaches used for machinery noise reduction slong with the summary of methods available for predicting gear noise in terms of the transmis- sion error, and show a comparative study with other methods. A new tooth profile modification is proposed for reducing vibration and noise of involute gears. The method is based on the use of cubic spline curves. The tooth profile is constrained to assume an involute shape during the loaded operation. Thus the new gear profile assures conjugate motion at all points along the line of action. The new profile is found to result in a more uniform static transmission error compared to not only standard involute profile but also modificated profile therby contributing to the improvement of vibration and noise characteristics of the gear.