• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1316-1319
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• 1996

This paper proposes the algorithm for the correction of a position and orientation of small object such as chip in the precise construction process. In the past, it is general to correct position and orientation of object using human sight and simple vision sensors. But recently, researches using image processing devices have been studied to improve the corrective precision of a position and orientation of object. In this piper, maximum-axis moment and p-theta algorithm are used to correct the position and orientation. Algorithm of maximum-axis moment is widely applied to hetero-object except being applied to a perfect rectangle. This is reason that moments of the X and Y-axis are equal. Therefore, being the shape of a perfect rectangle, the object is applied to other algorithm. In the light of time problem, real-time control is as important as correction of object. To solve it, we use the DSP(Digital Signal Processing) which is far more fast than PC.

• Structural Engineering and Mechanics
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• 제38권6호
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• pp.825-847
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• 2011

This paper investigates the design using wind-moment method for semi-rigid un-braced steel frames bending on weak axis. A limiting sway method has been proposed to reduce the frame sway. Allowance for steel section optimization between moment of inertia on minor axis column and major axis beam was used in conjunction with slope-deflection analysis to derive equations for optimum design in the proposed method. A series of un-braced steel frames comprised of two, four, and six bays ranging in height of two and four storey were studied on minor axis framing. The frames were designed for minimum gravity load in conjunction with maximum wind load and vice-versa. The accuracy of the design equation was found to be in good agreement with linear elastic computer analysis up to second order analysis. The study concluded that the adoption of wind-moment method and the proposed limiting sway method for semi-rigid steel frame bending on weak axis should be restricted to low-rise frames not more than four storey.

• Structural Engineering and Mechanics
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• 제56권5호
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• pp.745-765
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• 2015

This paper presents the design of reinforced concrete combined footings of trapezoidal form subjected to axial load and moments in two directions to each column using a new model to consider soil real pressure acting on the contact surface of the footing; such pressure is presented in terms of an axial load, moment around the axis "X" and moment around the axis "Y" to each column. The classical model considers an axial load and moment around the axis "X" (transverse axis) applied to each column, and when the moments in two directions are taken into account, the maximum pressure throughout the contact surface of the footing is considered the same. The main part of this research is that the proposed model considers soil real pressure and the classical model takes into account the maximum pressure, and also is considered uniform. We conclude that the proposed model is more suited to the real conditions and is more economical.

• 한국운동역학회지
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• 제28권4호
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• pp.227-236
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• 2018

Objective: The purpose of this study was to investigate the effects of a 12-week combined exercise program on gait parameters in elderly women with osteoarthritis. Method: The subjects of this study were 11 elderly women (age: $67.09{\pm}2.47$, height: $157.35{\pm}4.30cm$, weight: $62.49{\pm}6.36kg$) with knee osteoarthritis. The combined exercise program of this study was divided into aerobic exercise and lower extremity strengthening exercises. The exercises were performed for 60 minutes per session, three times a week, for a total of 12 weeks. The maximum joint moments of the hip, knee, and ankle joints with walking were obtained with 8-3D cameras (MX-T20, Vicon, USA) and 2-force plate (AMTI OR6-7-400, AMTI, USA). SPSS Windows version 23.0 was used for statistical analysis. A paired t-test was used for pre-post comparison. An alpha level of .05 was utilized in all tests. Results: The maximum extension moment was significantly higher in the hip joint after P1 on the X axis. The maximum joint moment of P3 in extension was statistically significantly lower after intervention. On the Z axis, the maximum joint moment was significantly lower after the exercise intervention at P3. There was a statistically significant increase in the extension moment of the left and right knee joints in the X axis after exercise intervention. In the right ankle joint, P1 (plantar flexion moment) showed a statistically significant high moment after exercise intervention. Conclusion: These results suggest that combined exercise, including lower limb and aerobic exercise, may have a positive effect on mobility and walking moments in patients with osteoarthritis of the knee.

• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.612-618
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• 2009

This study is concerned about the optimal design of the arm 1 and arm 2 in the SCARA robot. The mass and inertia moment of the arm I and arm 2 in a SCARA robot is greatly affected on the performance such as a cycle time, and torques loaded on $1^{st}$ axis and $2^{nd}$ axis. To reduce the mass and inertia moment, this study carried out optimal design by FEM analysis using parametric variables, which is a width, a height of the rib and a thickness of arm in the arm. The rib is adapted instead of reducing the thickness in the arm. And the simulation by computer was conducted on two given paths in X direction and Y direction. After optimal design, the result showed that maximum torque of $1^{st}$ axis and $2^{nd}$ axis reduced to maximum 9.5% on a given path.

• 센서학회지
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• 제20권5호
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• pp.351-356
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• 2011

Stroke patients should exercise for the rehabilitation of their fingers, because they can't use their hand and fingers. Their hand and fingers are fixed on the hand fixing system for rehabilitation exercise of them. But the hands clenched the fist of stroke patients are difficult to fix on it. In order to fix the hands and fingers, their palms are pressed with pressing bars and are controlled by reference force. The fixing system must have a five-axis force/moment sensor to force control. In this paper, the five-axis force/moment sensor was developed for the hand fixing system of finger-rehabilitation exercising system. The structure of the five-axis force/moment sensor was modeled, and designed using finite element method(FEM). And it was fabricated with strain-gages, then, its characteristic test was carried out. As a result, the maximum interference error is less than 2.43 %.

• Geomechanics and Engineering
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• 제14권1호
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• pp.61-69
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• 2018

The first part shows the optimal contact surface for T-shaped combined footings to obtain the most economical dimensioning on the soil (optimal area). This paper presents the second part of a new model for T-shaped combined footings, this part shows a the mathematical model for design of such foundations subject to axial load and moments in two directions to each column considering the soil real pressure acting on the contact surface of the footing with one or two property lines restricted, the pressure is presented in terms of an axial load, moment around the axis "X" and moment around the axis "Y" to each column, and the methodology is developed using the principle that the derived of the moment is the shear force. The classic model considers an axial load and a moment around the axis "X" (transverse axis) applied to each column, i.e., the resultant force from the applied loads is located on the axis "Y" (longitudinal axis), and its position must match with the geometric center of the footing, and when the axial load and moments in two directions are presented, the maximum pressure and uniform applied throughout the contact surface of the footing is considered the same. To illustrate the validity of the new model, a numerical example is presented to obtain the design for T-shaped combined footings subjected to an axial load and moments in two directions applied to each column. The mathematical approach suggested in this paper produces results that have a tangible accuracy for all problems.

• Computers and Concrete
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• 제20권2호
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• pp.129-143
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• 2017

Seismic design of reinforced concrete (RC) structures requires a certain minimum level of flexural ductility. For example, Eurocode EN1998-1 directly specifies a minimum flexural ductility for RC beams, while Chinese code GB50011 limits the equivalent rectangular stress block depth ratio at peak resisting moment to achieve a certain nominal minimum flexural ductility indirectly. Although confinement is effective in improving the ductility of RC beams, most design codes do not provide any guidelines due to the lack of a suitable theory. In this study, the confinement for desirable flexural ductility performance of both normal- and high-strength concrete beams is evaluated based on a rigorous full-range moment-curvature analysis. An effective strategy is proposed for flexural ductility design of RC beams taking into account confinement. The key parameters considered include the maximum difference of tension and compression reinforcement ratios, and maximum neutral axis depth ratio at peak resisting moment. Empirical formulae and tables are then developed to provide guidelines accordingly.

• 한국강구조학회 논문집
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• 제20권4호
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• pp.483-491
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• 2008

1994년 노스리지 지진 이후, 철골모멘트골조 강축방향 접합부의 내진성능 평가에 관한 연구가 국내 외에서 활발하게 진행되어온 반면, 국내 철골모멘트골조 내진설계 및 시공의 실무에 관행적으로 적용되고 있는 철골모멘트골조 약축방향 접합부의 내진성능 평가 연구가 국내는 물론 국외에서도 그 사례를 찾아보기 힘든 상황이다. 따라서 본 연구에서는 국내에서 내진성능 확보 여부가 확인되지 않은 상태에서 내진설계 실무에서 가장 많이 사용되고 있는 브라켓 형식 및 WUF-B 형식의 접합상세를 갖는 철골모멘트골조 약축접합부의 실물대(Full scale) 실험체를 제작 및 실험하여 이와 같은 형상의 접합부에 대한 내진성능을 평가하여 향후 이와 같은 형상을 갖는 철골모멘트골조 약축접합부의 설계를 위한 기초자료를 제공하는 것을 목적으로 한다. 이러한 목적을 달성하기 위하여, 현장조사 및 설계도서등의 기존 자료를 통해 총 2개의 실험체를 제작하여 내진성능을 평가 실험연구를 수행하였다. 실험결과로부터 최대내력 비교, 하중-변위 이력 및 응력도 등에 대한 거동을 비교 분석 하였다. 실험결과 층간변위각 5%의 BR-W 실험체가 층간변위각 4%를 갖는 WUF-B 실험체에 비해 우수한 구조적 거동을 보여주었으며, 설계 내력을 상회하는 내력을 보유하고 있는 것을 알 수 있었다. 또한 브라켓 형식의 실험체는 최대내력 도달 이후 완만한 강도 저하를 나타내었으나, WUF-B 형식의 실험체는 최대내력 도달 이후 급격한 하중 저하를 나타내며 취성적인 거동을 보였다.

• Steel and Composite Structures
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• 제30권2호
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• pp.109-121
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• 2019

This paper presents the second part of the modeling for the strap combined footings, this part shows a mathematical model for design of strap combined footings subject to axial load and moments in two directions to each column considering the soil real pressure acting on the contact surface of the footing for one and/or two property lines of sides opposite restricted, the pressure is presented in terms of an axial load, moment around the axis "X" and moment around the axis "Y" to each column, and the methodology is developed using the principle that the derived of the moment is the shear force. The first part shows the optimal contact surface for the strap combined footings to obtain the most economical dimensioning on the soil (optimal area). The classic model considers an axial load and a moment around the axis "X" (transverse axis) applied to each column, i.e., the resultant force from the applied loads is located on the axis "Y" (longitudinal axis), and its position must match with the geometric center of the footing, and when the axial load and moments in two directions are presented, the maximum pressure and uniform applied throughout the contact surface of the footing is considered the same. A numerical example is presented to obtain the design of strap combined footings subject to an axial load and moments in two directions applied to each column. The mathematical approach suggested in this paper produces results that have a tangible accuracy for all problems and it can also be used for rectangular and T-shaped combined footings.