• Steel and Composite Structures
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• v.11 no.4
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• pp.273-290
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• 2011

In current ductility-based earthquake-resistant design, the estimation of design forces continues to be carried out with the application of response modification factors on elastic design spectra. It is well-known that the response modification factor (R) takes into account the force reduction, strength, redundancy, and damping of structural systems. The key components of the response modification factor (R) are force reduction ($R_{\mu}$) and strength ($R_S$) factors. However, the response modification and strength factors for structural systems presented in design codes were based on professional judgment and experiences. A numerical study has been accomplished to evaluate force reduction, strength, and response modification factors for special steel moment resisting frames. A total of 72 prototype steel frames were designed based on the recommendations given in the AISC Seismic Provisions and UBC Codes. Number of stories, soil profiles, seismic zone factors, framing systems, and failure mechanisms were considered as the design parameters that influence the response. The effects of the design parameters on force reduction ($R_{\mu}$), strength ($R_S$), and response modification (R) factors were studied. Based on the analysis results, these factors for special steel moment resisting frames are evaluated.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.7 s.196
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• pp.90-97
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• 2007

This paper describes the development of 6-axis force/moment sensor considered adult weight far an intelligent foot of humanoid robot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself and control the foot using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body. Each sensor should get the deferent rated load, because the applied forces and moments to foot in walking are deferent. Therefore, one of the important things in the sensor is to design each sensor with the deferent rated load and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of Fx and Fy are 500Nm and Fz sensor is 1000N, and those of Mx and My are 18Nm, Mz sensor is 8Nm) for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using by ANSYS software (FEM (Finite Element Method) program). Then, a 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• Korean Journal of Applied Biomechanics
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• v.26 no.2
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• pp.153-159
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• 2016

Objective: The purpose of this study was to investigate the effects of joint mobilization on foot pressure, ankle moment, and vertical ground reaction force in subjects with ankle instability. Method: Twenty male subjects (age, $25.38{\pm}3.62yr$; height, $170.92{\pm}5.41cm$; weight, $60.74{\pm}9.63kg$; body mass index (BMI), $19.20{\pm}1.67kg/m^2$) participated and underwent ankle joint mobilization. Weight-bearing distribution, ankle dorsi/plantar flexion moment, and vertical ground reaction force were measured using a GPS 400 and a VICON Motion System (Oxford, UK), and subsequently analyzed. SPSS 20.0 for Windows was used for data processing and paired t-tests were used to compare pre- and post-mobilization measurements. The significance level was set at ${\alpha}$ = .05. Results: The results indicated changes in weight-bearing, ankle dorsi/plantar flexion moment, and vertical ground reaction force. The findings showed changes in weight-bearing distribution on the left (pre $29.51{\pm}6.31kg$, post $29.57{\pm}5.02kg$) and right foot (pre $32.40{\pm}6.30kg$, post $31.18{\pm}5.47kg$). There were significant differences in dorsi/plantar flexion moment (p < .01), and there were significant increases in vertical ground reaction forces at initial stance (Fz1) and terminal stance (Fz2, p < .05). Additionally, there was a significant reduction in vertical ground reaction force at midstance (Fz2, p < .001). Conclusion: Joint mobilization appears to alter weight-bearing distribution in subjects with ankle instability, with resultant improvements in stability.

• Structural Engineering and Mechanics
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• v.23 no.5
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• pp.563-577
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• 2006

This study involves a series of experiments on the buckling strength of eccentrically compressed cold-formed stainless steel square hollow-section columns. The principal parameters in this study are slenderness ratios ($L_k/r$ = 30, 50, 70) and magnitude of eccentricity e (0, 25, 50, 75, 100 mm) on the symmetrical end-moment. The objectives of this paper are to obtain the buckling loads by conducting a series of experiments and to compare the behavior of the eccentrically compressed cold-formed stainless steel square hollow-section columns with the results of the analysis. The ultimate buckling strength of the square-section members were determined with the use of a numerical method in accordance with the bending moment-axial force (M-P) interaction curves. The behavior of each specimen was displayed in the form of a moment-radian (M-${\theta}$) relationship. The numerically obtained ultimate-buckling interaction curves of the beam columns coincided with the results of the experiments.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.200-208
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• 1999

The statics relation of the Stewart platform has been investigated from the viewpoint of the forward and inverse force transmission analyses. Two eigenvalue problems corresponding to the forward and inverse force transmission analyses have been formulated. The forward force transmission analysis is to determine the ranges of the magnitudes of the force and moment generated at the end-effector for the given magnitude of linear actuator forces. In reverse order, the inverse force transmission analysis is to find the range of the magnitude of actuator forces for the given ranges of the magnitudes of the force and moment at the end-effector. The inverse force transmission analysis is important since it can provide a designer with a valuable information about how to choose the linear actuators. It has been proved that two eigenvalue problems have a reciprocal relation, which implies that solving either of the eigenvalue problems may complete the forward/inverse force transmission analysis. A numerical example has been also presented.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.4
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• pp.109-121
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• 1996

This paper presents how the input forces along the prismatic joints of a parallel manipulator are transmitted to the upper platform. In order to consider force transmission and moment transmission seperately the Jacobian matrix for parallel manipulators is splitted into two parts. Magnitudes of input forces on the six actuators at a given manipulator configuration which generate maximum/minimum output force with no moment generated on the platform are obtained through the singular value decomposition of a matrix involving the Jacobian. Similarly the directions of the input forces to obtain only the rotation of the platform have been analyzed. Using the singular values a simple equation for the volume of ellipsoid which is a good tool for manipulability measure is provided. Obtained results could be useful in determinimg design parameters like radius of plaform, angles between joints, etc. Simulations are porvided.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.7
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• pp.79-86
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• 2008

This paper describes the development of wearing intelligent shoe system to measure applied forces and moments (ground reaction forces and moments) on the soles of feet during human walking. In order to walk safely, robot must get the intelligent feet with 6-axis force/moment sensors (Fx sensor (x-direction force sensor), Fy sensor, Fz sensor, Mx sensor (Mx : x-direction moment sensor), My sensor, and Mz sensor) and detect the forces and moments data from the sensors. And the feet must be controlled with the data and controllers. While a human is walking, the forces and moments should be measured and analyzed for robot's intelligent feet. Therefore, the wearing intelligent shoe system should be developed. In this paper, four 6-axis farce/moment sensors and two high speed measuring devices were designed and fabricated, and the wearing intelligent shoe system was made using these. The characteristic tests of the wearing intelligent shoe system were performed, and the forces and moments were detected using it.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.5
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• pp.529-536
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• 2013

Most serious stroke patients have the paralysis on their wrists, and can't use their hands freely. But their wrists can be recovered by rehabilitation exercises. Recently, professional rehabilitation therapeutists help stroke patients exercise their wrists in hospital. But it is difficult for them to rehabilitate their wrists, because the therapeutists are much less than stroke patients in number. Therefore, the wrist twist-exercise rehabilitation robot that can measure the twist force of the patients' wrists is needed and developed. In this paper, the six-axis force/moment sensor was designed appropriately for the robot. As a test result, the interference error of the six-axis force/moment sensor was less than 0.85%. It is thought that the sensor can be used to measure the wrist twist force of the patient.

• Journal of the Korean Geotechnical Society
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• v.23 no.10
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• pp.85-96
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• 2007

The application of soil nailing method has increased because it provides easier construction, economic efficiency, and stability than existing support methods. The mechanical comprehension of the soil-nailing system has not been established and the resisting shear force and bending moment of the soil-nail have been disregarded for the design of soil-nailing system. The soil nail consists of cement associated with rebar and resists shear force and bending moment mobilized by applied loading or soil-self weight. In this study, the slope analysis in the consideration of the resisting shear force and bending moment of the nail has been performed using $FLAC^{2D}$, which is programed by the finite difference method.

• Steel and Composite Structures
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• v.21 no.2
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• pp.357-371
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• 2016

Column base connections are critical components in steel structures because they transfer axial forces, shear forces and moments to the foundation. Exposed column bases are quite commonly used in low- to medium-rise buildings. To investigate shear transfer in exposed column base plates, four large scale specimens were subjected to a combination of axial load (compression or tension) and lateral shear deformations. The main parameters examined experimentally include the number of anchor rod, arrangement of anchor rod, type of lateral loading, and axial force ratio. It is observed that the shear resisting mechanism of exposed column base changed as the axial force changed. When the axial force is in compression, the resisting mechanism is rotation type, and the shear force will be resisted by friction force between base plate and mortar layer. The specimens could sustain inelastic deformation with minimal strength deterioration up to column rotation angle of 3%. The moment resistance and energy dissipation will be increased as the number of anchor rods increased. Moreover, moment resistance could be further increased if the anchor rods were arranged in details. When the axial force is in tension, the resisting mechanism is slip type, and the shear force will be resisted by the anchor rods. And the shear resistance was reduced significantly when the axial force was changed from compression to tension. The test results indicated that the current design approach could estimate the moment resistance within reasonable acceptance, but overestimate the shear resistance of exposed column base.