• 한국정밀공학회지
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• 제27권10호
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• pp.61-68
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• 2010

In order to let the humanoid robot walk on the uneven terrains, the robot's foot should have the similar structure and function as human's. The intelligent foot should be made up of toes and heel. When it walks on the uneven terrains, the foot's sole senses the force and adjusts foot's position before robot losing his balance. In this paper, the force sensors of robot's intelligent foot for having the similar structure and function like human are developed. The heel 3-axis force/moment sensor and toe force sensors for humanoid robot's intelligent foot is developed, and the characteristic tests of them are carried out. As a result of characteristic test, the interference error of the heel 3-axis force/moment sensor is less than 2.2%. It is thought that the developed force sensors could be used to measure the reaction forces which is applied the toes and the heel of a humanoid robot.

• The Journal of Korean Physical Therapy
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• 제26권2호
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• pp.117-122
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• 2014

Purpose: The purpose of this study was to compare the effects of force of ipsilateral versus contralateral cane usage on knee moments in healthy young adults. Methods: A convenience sample of 10 subjects volunteered for this study. Subjects walked over a force plate under three different conditions; unaided and ipsilateral cane and contralateral cane. Analysis of data on moment of the knee joint and ground reaction force was performed using the OrthoTrak program. Results: Flexion moment of the knee was decreased with the contralateral cane, but increased with the ipsilateral cane compared with normal gait. Extension moment of the knee was decreased with the contralateral cane compared with normal gait(p<0.05) and it was showed a greater decrease with the contralateral cane than with the ipsilateral cane gait(p=0.00). Valgus moment of the knee joint was increased with the ipsilateral cane but decreased with the contralateral cane. Vertical ground peak force was decreased with the ipsilateral cane compared with normal gait (p<0.05). Conclusion: The following conclusions were drawn from our data. Contralateral cane gait is more efficacious for persons with weakness of knee extensors, however, for a patient with varus deformity, the cane should be used in the ipsilateral hand.

• Structural Engineering and Mechanics
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• 제78권5호
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• pp.623-635
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• 2021

Previous studies have suggested the maximum experimental story shear force of beam-column joint frame does not reach its theoretical value due to beam-column joint failure when the column-to-beam moment capacity ratio was close to 1.0. It was also pointed out that under a certain amount of axial force, an axial collapse and a sudden decrease of lateral load-carrying capacity may occur at the joint. Although increasing joint transverse reinforcement could improve the lateral load-carrying capacity and axial load-carrying capacity of beam-column joint frame, the conditions considering varying axial force were still not well investigated. For this purpose, 7 full-scale specimens with no-axial force and 14 half-scale specimens with varying axial force are designed and subjected to static loading tests. Comparing the experimental results of the two types of specimens, it has indicated that introducing the varying axial force leads to a reduction of the required joint transverse reinforcement ratio which can avoid the beam-column joint failure. For specimens with varying axial force, to prevent beam-column joint failure and axial collapse, the lower limit of joint transverse reinforcement ratio is acquired when given a column-to-beam moment capacity ratio.

• Structural Engineering and Mechanics
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• 제9권5호
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• pp.469-482
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• 2000

A numerical study using nonlinear finite element analysis is performed to investigate the behavior of isolated reinforced concrete walls subjected to combined axial force and in-plane and out-of-plane bending moments. For a nonlinear finite element analysis, a computer program addressing material and geometric nonlinearities was developed. Through numerical studies, the internal force distribution in the cross-section is idealized, and then a new design method, different from the existing methods based on the plane section hypothesis was developed. According to the proposed method, variations in the interaction curve of the in-plane bending moment and axial force depends on the range of the permissible axial force per unit length, that is determined by a given amount of out-of-plane bending moment. As the out-of-plane bending moment increases, the interaction curve shrinks, indicating a decrease in the ultimate strength. The proposed method is then compared with an existing method, using the plane section hypothesis. Compared with the proposed method, the existing method overestimates the ultimate strength for the walls subjected to low out-of-plane bending moments, while it underestimates the ultimate strength for walls subject to high out-of-plane bending moments. The proposed method can address the out-of-plane local behavior of the individual wall segments that may govern the ultimate strength of the entire wall.

• 한국정밀공학회지
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• 제25권10호
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• pp.115-121
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• 2008

This paper presents bisymmetric dual iron core lineal motor stage for heavy-duty high precision applications such as large area micro-grooving machines or high precision roll die machines. In this stage, two iron core linear motors are installed in laterally symmetric way to cancel out the attractive forces. Main focus was given to analyzing the effect of cogging force and moment for two different layouts, which are symmetric and half-pitch shifted ones. Experimental results showed that the symmetric layout is more adequate for high precision applications because of its clear moment cancellation effect. It was also verified that the effect of the residual cogging moment can be suppressed further by increasing the bearing stiffness. One problem of the symmetric layout is added cogging force which hinders smooth motion, but its effect was relatively small compared with that of moment cancellation.

• 대한조선학회논문집
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• 제59권5호
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• pp.288-295
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• 2022

In this study, the force and moment acting on a Joubert BB2 submarine model at depths near the free surface were measured through a captive model test with the scale ratio of 1/15. Based on the experiment, the pitch moment and heave force due to the "Tail suction effect", including the change in surge force with depth near the free surface, were quantitatively analyzed. The change of force and moment according to the relative position of the sail and the free surface was reviewed with the free surface waves generated for each depths. As a result, the angle of attack of the hull to counteract the pitch moment induced by the tail suction effect was derived. The effect of the hydrostatic moment component according to the angle of attack on the equilibrium of pitch moment was also taken into account. The control plane performance tests for the X-type rudder and sail plane were conducted in snorkel and surface depth conditions to figure out the control plane angles for the neutral level flight of the submarine at near free surface. The results of this study are expected to be used as a reference data for the neutral level flight of the submarine at near free surface operation in the free running model test as well as numerical studies.

• 대한치과교정학회지
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• 제30권4호
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• pp.467-473
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• 2000

각형 호선이 edgewise 브라켓에 삽입되면 first, second order는 bending에 의해, third order는 torsion(비틀림)에 의해 3차원적인 force system이 발생한다. Bending에 관하여는 분석적 그리고 실험적인 많은 연구가 보고 되어 있는 반면 비틀림에 관해서는 상대적으로 많은 연구가 이루어 지지 않았다. 본 연구의 목적은 각형 와이어의 재료와 단면의 형태가 와이어의 비틀림 모멘트에 어떻게 영향을 주는지를 이론적, 실험적으로 밝혀서 임상적으로 적절한 모멘트를 가할 때 호선의 재료와 굵기를 합리적으로 선택할 수 있도록 하는데 있다. 실험재료로는 third order조절을 위해 가장 많이 사용하는 호선을 사용하였다. 크기별로 0.016x0.022, 0.017x0.025, 0.019x0.025인치 그리고 재료로는 stainless steel (Ormco), TMA(Ormco), NiTi(Ormco), 그리고 braided stainless steel(DentaFlex, Dentauum) 네 가지를 사용하여 총 12개의 조합을 사용하였다. Torsion formula를 이용하여 비틀림 강성 (torque/twist rate)을 계산하였고 torque gauge를 이용하여 비틀림 강성, 항복 비틀림 모멘트 (yield torsional moment), 그리고 최대 비틀림 모멘트 (ultimate torsional moment)를 측정하였다. Torsion formula에 의하면 비틀림 강성 (T/$\theta$)은 재료적인 특성(G)과 호선의 단면의 특성(J)에 비례하고 호선의 길이(L)에 반비례한다. 대부분의 실험치는 이론적인 값과 비슷하게 나타났다.

• 한국운동역학회지
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• 제27권2호
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• pp.125-132
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• 2017

Objective: The aim of this study was to investigate the effect of targeted knee flexion angle on biomechanical factors of knee joint between upward and downward phases during the forward lunge. Method: Eight elderly subjects (age: $22.23{\pm}1.51years$, weight: $69{\pm}6.63kg$, height: $174.88{\pm}6.85cm$) participated in this study. All reflective marker data and ground reaction force during a forward lunge were collected. The knee joint movement and reaction force and joint moment at maximum knee flexion angle were compared by repeated measures one-way analysis of variance (ANOVA) (p<.05). The peak knee joint reaction force and joint moment between upward and downward phases were compared by repeated measures two-way ANOVA (p<.05). Results: The anterior and vertical knee joint movements, reaction force, and extensor moment of $80^{\circ}$ targeted knee flexion condition at maximum knee flexion angle was greater than both $90^{\circ}$ and $100^{\circ}$ conditions (p<.05). The $80^{\circ}$ knee flexed angle condition had greater peak joint reaction force and extensor moment compared with both $90^{\circ}$ and $100^{\circ}$ conditions between upward and downward phases during the forward lunge. Conclusion: As the targeted knee joint flexion angle increases, knee joint movement and kinetic variables become greater during the forward lunge exercise.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.246-250
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• 1995

This paper presents a method in analyzing the output force/moments transmission form the applied input forces of the paralled manipulator. Like a serial manipulator the Jacobian matrix introduced in the paper plays role in relating the output forces/monents with the input forces. The force/moment manipulability have been investigated by considering the force transmission and momen transmission independently. Sensitivity analysis has been done and an illuatrating example is given.

• International Journal of Fluid Machinery and Systems
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• 제3권1호
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• pp.67-79
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• 2010

Severe flexural vibration of the rotor shaft of a Francis turbine runner was experienced in the past. It was shown that the vibration was caused by the fluid forces and moments on the backshroud of the runner associated with the leakage flow through the back chamber. The aim of the present paper is to study the self-excited rotor vibration caused by the fluid force moments on the backshroud of a Francis turbine runner. The rotor vibration includes two fundamental motions, one is a whirling motion which only has a linear displacement and the other is a precession motion which only has an angular displacement. Accordingly, two types of fluid force moment are exerted on the rotor, the moment due to whirl and the moment due to precession. The main focus of the present paper is to clarify the contribution of each moment to the self-excited vibration of an overhung rotor. The runner was modeled by a disk and the whirl and the precession moments on the backshroud of the runner caused by the leakage flow were evaluated from the results of model tests conducted before. A lumped parameter model of a cantilevered rotor was used for the vibration analysis. By examining the frequency, the damping rate, the amplitude ratio of lateral and angular displacements for the cases with longer and shorter overhung rotor, it was found that the precession moment is more important for smaller overhung rotors and the whirl moment is more important for larger overhung rotors, although both types of moment due to the leakage flow can cause self-excited vibration of an overhung rotor.