• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2008년도 학술발표회 논문집
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• pp.1111-1115
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• 2008

The relative magnitudes of the individual terms of the momentum equation are analyzed and compared by the analytical methods in open channel flow. The temporal variations of each term(local acceleration term, convective acceleration term, pressure force term, gravity force term, and friction force term) are analyzed for the influence factors to runoff expressed by the parameters of the momentum equation, stream slopes and roughness coefficients. The magnitudes of each term vary with the channel characteristics, especially when the roughness coefficients are dominant or for the mild stream slopes the pressure term can not be negligible. As a result of the characteristics of momentum equation in open channel flow, the acceleration terms are very small compared with the other terms. The magnitudes of local acceleration and convective acceleration offsets each other. The peak time of each term except the gravity term coincides with inflection point of the hydrograph rising limb each other.

• 한국지하수토양환경학회:학술대회논문집
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• 한국지하수토양환경학회 2003년도 총회 및 춘계학술발표회
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• pp.43-46
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• 2003

We consider influences of the aperture variation and the ambient groundwater flow on the migration of DNAPL within a fracture network. In context of a modified invasion percolation (MIP) growth algorithm, we formulate a mechanistic model that includes capillary and gravity forces as well as viscous forces within the DNAPL and the ambient groundwater. The MIP model is verified against laboratory experiments, which is conducted using a two-dimensional random fracture network model. The results show that the aperture variation and ambient groundwater flow can be significant factors controlling DNAPL migration path within fracture networks.

• Structural Engineering and Mechanics
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• 제53권2호
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• pp.277-296
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• 2015

The objective of this paper is to investigate the surface waves in fibre-reinforced anisotropic thermoelastic medium subjected to gravity field. The theory of generalized surface waves has firstly developed and then it has been employed to investigate particular cases of waves, viz., Stoneley waves, Rayleigh waves and Love waves. The analytical expressions for displacement components, force stress and temperature distribution are obtained in the physical domain by using the harmonic vibrations. The wave velocity equations have been obtained in different cases. The numerical results are given and presented graphically in Green-Lindsay and Lord-Shulman theory of thermoelasticity. Comparison was made with the results obtained in the presence and absence of gravity, anisotropy, relaxation times and parameters for fibrereinforced of the material medium. The results indicate that the effect of gravity, anisotropy, relaxation times and parameters for fibre-reinforced of the material medium are very pronounced.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권5호
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• pp.257-263
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• 2000

One of the basic assumptions in the static gait design for a walking robot is that the weight of leg should be negligible compared to that of body, so that the total gravity center is not affected by swing of a leg. Based on the ideal assumption of zero leg-weight, conventional static gait has been simply designed for the gravity center of body to be inside the support polygon, consisting of each support leg's tip position. In case that the weight of leg is relatively heavy, however, while the gravity center of body is kept inside the support polygon, the total gravity center of walking robot can be out of the polygon due to weight of a swinging leg, which causes instability in walking. Thus, it is necessary in the static gait design of a real robot a compensation scheme for the fluctuation in the gravity center. In this paper, a body impedance control is proposed to obtain the total gravity center based on foot forces measured from load cells of a real walking robot and to adjust its position to track the pre-designed trajectory of the corresponding ideal robot's body center. Therefore, the walking stability is secured even in case that the weight of leg has serious influence on the total gravity center of robot.

• 전기학회논문지
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• 제64권1호
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• pp.136-142
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• 2015

In the paper, a design method of knee and pelvis joint in the biped robot is proposed for shock absorption and gravity compensation. Similarly to the human's body, the knee joints of the biped robot support most body weight and get a shock from the landing motion of the foot on the floor. The torque of joint motor is also increased sharply to keep the balance of the robot. Knee and pelvis joints with the spring are designed to compensate the gravity force and reduce the contact shock of the robot. To verify the efficiency of the proposed design method, we develope a biped robot with the joint mechanism using springs. At first, we experiment with the developed robot on the static motions such as the bent-knee posture both without load and with load on the flat ground, and the balance posture on the incline plane. The current of knee joint is measured to analyze the impact force and energy consumption of the joint motors. Also, we observe the motor current of knee and pelvis joints for the walking motion of the biped robot. The current responses of joint motors show that the proposed method has an effect on shock reduction and gravity compensation, and improve the energy efficiency of walking motions for the biped robot.

• Ocean Systems Engineering
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• 제4권2호
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• pp.99-115
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• 2014

When caissons are mounted on a floating transportation barge and towed by a tug boat in waves, motion of the floating dock creates inertia and gravity-induced slip forces on the caisson. If its magnitude exceeds the corresponding friction force between the two surfaces, a slip may occur, which can lead to an unwanted accident. In oblique waves, both pitch and roll motions occur simultaneously and their coupling effects for slip and friction forces become more complicated. With the presence of strong winds, the slip force can appreciably be increased to make the situation worse. In this regard, the safety of the transportation process of a caisson mounted on a floating dock for various wind-wave conditions is investigated. The analysis is done by both frequency-domain approach and time-domain approach, and their differences as well as pros and cons are discussed. It is seen that the time-domain approach is more direct and accurate and can include nonlinear contributions as well as viscous effects, which are typically neglected in the linear frequency-domain approach.

• 전산구조공학
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• 제11권1호
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• pp.251-259
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• 1998

개구부를 갖는 콘크리트 전단벽을 두께가 얇은 직사각형 평판으로 모델화하였다. 판의 두가지 경계조건에 대한 안정해석 결과를 판좌굴계수 k로 표시하였다. 경계조건이 다른 변수로는 휨으로 인한 힘/연직하중비 .alpha., 수평 전단력/연직하중비 .betha. 및 개구부의 위치 및 크기 변화이다. 유한요소법에 의한 결과를 얻기 위하여 예제의 판을 27*9의 정사각형 요소로 분할하였으며 node에서 3가지 자유도를 갖는 c.deg. 유한요소를 택하였다. 일반적으로 개구부의 크기가 증가함에 따라 판 개구부가 판 중앙에서 자유연(free edge)으로 접근할수록 좌굴계수는 감소하는 현상을 보이고 있다.

• 제어로봇시스템학회논문지
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• 제19권3호
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• pp.233-239
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• 2013

This paper presents the analysis and control of the position of the COG (Center of Gravity) for a two-wheel balancing robot. The two-wheel balancing robot is required to maintain balance by driving two wheels only. Since the robot is not exactly symmetrical and its dynamics is changing with respect to moving parts, robust balancing control is difficult. Balancing performance becomes difficult when two arms hold a heavy object since the center of gravity is shifted out of the wheel axis. Novel design of a sliding waist mechanism allows the robot to react against the shift of the COG by moving the whole upper body to compensate for the imbalance of the mass as a counter balancer. To relocate the COG position accurately, the COG is analyzed by force data measured from two force sensors. Then the sliding COG mechanism is utilized to control the sliding waist position. Experimental studies are conducted to confirm the proposed design and method.

• Computers and Concrete
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• 제31권1호
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• pp.23-32
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• 2023

Reinforced concrete flat slab (RCFS) with columns is a standard gravity floor system for tall buildings in North America. Typically, RCFS-column connections are designed to resist gravity loads, and their contribution to resisting seismic forces is ignored. However, past experimental research has shown that RCFS-column connections have some strength and ductility, which may not be ignored. Advanced numerical models have been developed in the past to determine the nonlinear cyclic behavior of RCFS-column connections. However, these models are either too complicated for nonlinear dynamic analysis of an entire building or not developed to model the behavior of modern RCFS-column connections. This paper proposes a new nonlinear model suitable for modern RCFS-column connections. The numerical model is verified using experimental data of specimens with various material and reinforcement properties. A 40-story RC shear wall building was designed and analyzed to investigate the influence of RCFS on the global response of tall concrete buildings. The seismic responses of the building with and without the RCFS were modelled and compared. The results show that the modelling of RCFS has a significant impact on the inter-story drifts and force demands on both the seismic force-resisting and gravity elements.

• 한국정밀공학회지
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• 제24권3호
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• pp.47-54
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• 2007

This paper describes the development of the intelligent gripper with two 3-axis force sensor that can measure forces Fx, Fy, Fz simultaneously, for stably grasping an unknown object. In order to grasp an unknown object using an intelligent gripper softly, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured farces. Thus, the intelligent gripper should be composed of 3-axis force sensor that can measure forces Fx, Fy, Fz at the same time. In this paper, the intelligent gripper with two 3-axis force sensor was manufactured and its characteristic test was carried out. The fabricated gripper could grasp an unknown object stably. Also, the sensing element of 3-axis force sensor was modeled and designed with five parallel-plate beams, and 3-axis force sensor for the intelligent gripper was fabricated. The characteristic test of the made sensor was carried out.