• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1045-1049
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• 2005

In this paper, the dynamic crawling of a five-bar planar mechanism is investigated. One complete cycle of the crawling selected in this study consists of four different steps, i) sliding at one contact point between the mechanism and the ground, ii) changing its configuration without sliding at two contact points, iii) sliding at the other contact point, and iv) again changing its configuration without sliding at two contact points. In this type of crawling, the crawling mechanism maintains the shape of the parallel structure throughout a complete crawling cycle. The modeling algorithm for serial manipulators proposed by M. Thomas and et al.[1] is employed by introducing imaginary joints and links which represent the contact interfaces between the one end of the mechanism and the ground, while the other end of the mechanism is regarded as an end-effector of the imaginary serial manipulator which treats the reaction force and torque at the contact point as external forces. Then, a complete cycle of dynamic crawling of the mechanism is investigated through various computer simulations. The simulation result show that the stable crawling characteristics of the mechanism could be secured when the proper configurations depending on specified frictional constraints are met.

• Structural Engineering and Mechanics
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• v.35 no.1
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• pp.99-117
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• 2010

Beam-column joints are the key structural elements, which dictate the behavior of structures subjected to earthquake loading. Though large experimental work has been conducted in the past, still various issues regarding the post-yield behavior, ductility and failure modes of the joints make it a highly important research topic. This paper presents experimental results obtained for eight beam-column joints of different sizes and configuration under cyclic loads along with the analytical evaluation of their response using a simple and effective analytical procedure based on nonlinear static pushover analysis. It is shown that even the simplified analysis can predict, to a good extent, the behavior of the joints by giving the important information on both strength and ductility of the joints and can even be used for prediction of failure modes. The results for four interior and four exterior joints are presented. One confined and one unconfined joint for each configuration were tested and analyzed. The experimental and analytical results are presented in the form of load-deflection. Analytical plots are compared with envelope of experimentally obtained hysteretic loops for the joints. The behavior of various joints under cyclic loads is carefully examined and presented. It is also shown that the procedure described can be effectively utilized to analytically gather the information on behavior of joints.

• Journal of the Korean Society of Propulsion Engineers
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• v.1 no.2
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• pp.12-21
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• 1997

Nowadays, non-pollution energy sources have been strongly needed because of the exhaustion of fossil fuels and serious environmental problems. Because wind energy can be enormously obtained from natural atmosphere, this type of energy has lots of advantages in a economic and pollution point of view. This study has established the aerodynamic and structural design procedure of the rotor blade with an appropriate aerodynamic performance and structural strength for the 500㎾ medium class wind turbine system. The aerodynamic configuration of the rotor blade was determined by considering the wind condition in the typical local operation region, and based on this configuration aerodynamic performance analysis was performed. The rotor blade has the shell-spar structure based on glass/epoxy composite material and is composed of shank including metal joint parts and blade. Structural design was done by the developed design program in this study and structural analysis, for instance stress analysis, mode analysis and fatigue life estimation, was performed by the finite element method. As a result, a medium scale wind turbine rotor blade with starting characteristics of 4m/s wind speed, rated power of 500㎾ at 12m/s wind speed and over 20 years fatigue life has been designed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.6
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• pp.2831-2847
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• 2017

In this paper, a joint destination-relay selection and antenna mode selection scheme for full-duplex (FD) relay network is investigated, which consists of one source node, N FD amplify-and-forward (AF) relays and M destination nodes. Multiple antennas are configured at the source node, and beamforming technique is adopted. Two antennas are employed at each relay, one for receiving and the other for transmitting. Only one antenna is equipped at each destination node. In the proposed scheme, the best destination node is firstly selected according to the direct links between the source node and destination nodes. Then the transmit and receive mode of two antennas at each relay is adaptively selected based on the relaying link condition. Meanwhile, the best relay with the optimal Tx/Rx antenna configuration is selected to forward the signals. To characterize the performance of the proposed scheme, the closed-form expression of the outage probability is derived; meanwhile, the simple asymptotic expressions are also obtained. Our analysis shows that the proposed scheme obtains the benefits of multi-relay diversity and multi-destination diversity. Moreover, extra space diversity in the medium SNR region can be achieved due to the antenna selection at the relay. Finally, Monte-Carlo simulations are provided to consolidate the analytical results, and show the effectiveness of the proposed scheme.

• Steel and Composite Structures
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• v.37 no.1
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• pp.15-26
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• 2020

The top-and-seat angles with double web angles are commonly used in the design of beam-to-column joints in Asian and North American countries. The seismic behavior analysis of these joints with large cross-section size of beam and column (often connected by four or more bolts) is a challenge due to the effects from the relatively larger size of stiffened angles and the composite action from the adjacent concrete slab. This paper presents an experimental investigation on the seismic performance of exterior composite beam-to-column joints with stiffened angles under cyclic loading. Four full-scale composite joints with different configuration (only one specimen contain top angle in concrete slab) were designed and tested. The joint specimens were designed by considering the effects of top angles, longitudinal reinforcement bars and arrangement of bolts. The behavior of the joints was carefully investigated, in terms of the failure modes, slippage, backbone curves, strength degradation, and energy dissipation abilities. It was found that the slippage between top-and-seat angles and beam flange, web angle and beam web led to a notable pinching effect, in addition, the ability of the energy dissipation was significantly reduced. The effect of anchored beams on the behavior of the joints was limited due to premature failure in concrete, the concrete slab that closes to the column flange and upper flange of beam plays an significant role when the joint subjected to the sagging moment. It is demonstrated that the ductility of the joints was significantly improved by the staggered bolts and welded longitudinal reinforcement bars.

• Korean Journal of Applied Biomechanics
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• v.20 no.4
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• pp.437-445
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• 2010

This study was aimed at comparing selected joint angles at the golf address stance by categorizing three different body types. 43 elite male golfers were selected and 9 of them turned out to be the ectoderm while 24 of them to be the mesoderm. The remaining 10 subjects were the endoderm. The measurement was carried out at the address stance with the number 7 iron and the driver. The result showed that the angle of trunk flexion did not different among body types. The trunk tilting angle became more inclined to the right side, which confirmed the guidelines from most of golf lesson books, for bigger people since they tended to put more weight on the right foot. The angle of both knees showed similar but the right knee was bent more than the left knee. The target direction and body alignment faced more to the left side than the target spot because of the influence of open stance and natural aiming position. It seems that pelvis and knees turned a little bit more to the right side than the target direction in order to maintain the parallel. Overall, significant differences among body types were found at the trunk tilting angle and pelvis-target alignment and golf address configuration can be differentiate by these factors.

• Proceedings of the KIEE Conference
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• 1999.07d
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• pp.1720-1722
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• 1999

In this paper, we studied the properties of small-size disk-type ultrasonic motor using travelling wave for the application to the precise control robotic joint motor and fabricated it. The diameter of the ultrasonic motor fabricated was 13mm. Also, the piezoelectric vibrator was constructed by piezoelectric ceramic and elastic material. The piezoelectric ceramic was composed to PZ-PT-PMN which was shown the high electromechanical stability under high vibration level and stainless steel was used as the elastic material in which configuration was disk-type. To conform the capability of application to robotic motor, we measured the change of rotational speed according to applied voltage and applied frequency. As the results, the small-size disk-type ultrasonic motor was able to fabricate, and the revolution speed was 350 [rpm] when input voltage was 55 [Vrms] and applied frequency 160.4 [kHz] under pre-load.

• Computers and Concrete
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• v.21 no.3
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• pp.335-344
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• 2018

More and more special-shaped structural systems have been widely used in various industrial and civil buildings in order to satisfy the new structural system and the increasing demand for architectural beauty. With the popularity of the special-shaped structure system, its seismic performance and damage form have also attracted extensive attention. In the current research, an experimental analysis of six groups of (2/3 scale) T-shaped column joints was conducted to investigate the seismic performance of T-shaped column joints. Effects of the beam cross section, transverse stirrup ratio and axial compression ratio on bearing capacity and energy dissipation capacity of column joints were obtained. The crack pattern of T-shaped column joints under low cyclic load was presented and showed a reversed "K" mode. According to the crack configurations, a tensile-shear failure model to determine the shear bearing capacity and crack propagation mechanisms is developed.

• Journal of Korean Institute of Industrial Engineers
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• v.11 no.1
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• pp.21-32
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• 1985

Presented in this paper is a procedure of developing graphical simulation software for planning robot welding processes. Welding is by far the highest application area for industrial robots, and it has been in great need of such a simulator in designing robot work cells, in justifying the economics of robot welding and in planning robotized welding operations. The model of a robot welding cell consists of four components: They are an welding structure which is a collection of plates to be welded, a positioner to hold the welding structure, a robot with a weld torch, and a set of welding lines (in case of arc welding). Welding structure is modeled by using the reference plane concept and is represented as boundary file which is widely used in solid modeling. Robot itself is modeled as a kinematic linkage system. Also included in the model are such technical constraints as weaving patterns and inclination allowances for each weld joint type. An interactive means is provided to input the welding structure and welding lines on a graphics terminal. Upon completion of input, the program displays the welding structure and welding lines and calculates the center of mass which is used in determining positioner configurations. For a given positioner and robot configuration, the welding line segments that can be covered by the robot are identified, enabling to calculate the robot weld ratio and cycle time. The program is written in FORTRAN for a VAX computer with a Tektronix 4114 graphic terminal.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1664-1670
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• 1991

For kinematically redundant manipulators, conventional dynamic control methods of local torque optimization showed the instability which resulted in physically unachievable torque requirements. In order to guarantee stability of the null space vector method which resolves redundancy at the acceleration level, Maciejewski[1] analyzed the kinetic behavior of homogeneous solution component and proposed the condition to identify regions of stability and instability for this method. 'In this paper, a modified null space vector method is first presented based on the Maciejewski's condition which is a function of a manipulator's configuration. Secondly, a new control method which is based on the concept of aspects is proposed. It was shown by computer simulations that the modified null space vector method and the proposed method have a common property that a preferred aspect is preserved during the execution of a task. It was also illustrated that both methods demonstrate a drastic reduction of torque loadings at the joints in the tracking motion of a long trajectory when compared with the null space vector method, and thus guarantee the stability of joint torque.